simple_socket.h

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#ifndef SIMPLE_SOCKET_H
#define SIMPLE_SOCKET_H

#ifdef ROS

#include "sys/socket.h"
#include "arpa/inet.h"
#include "string.h"
#include "unistd.h"
#include "netinet/tcp.h"
#include "errno.h"

#include "simple_message/log_wrapper.h"
#include "simple_message/shared_types.h"
#include "simple_message/smpl_msg_connection.h"

#define SOCKET(domain, type, protocol) socket(domain, type, protocol)
#define BIND(sockfd, addr, addrlen) bind(sockfd, addr, addrlen)
#define SET_NO_DELAY(sockfd, val) setsockopt(sockfd, IPPROTO_TCP, TCP_NODELAY, &val, sizeof(val))
#define SET_REUSE_ADDR(sockfd, val) setsockopt(sockfd, SOL_SOCKET, SO_REUSEADDR, &val, sizeof(val))
#define LISTEN(sockfd, n) listen(sockfd, n)
#define ACCEPT(sockfd, addr, addrlen) accept(sockfd, addr, addrlen)
#define CONNECT(sockfd, dest_addr ,addrlen) connect(sockfd, dest_addr, addrlen)
#define SEND_TO(sockfd, buf, len, flags, dest_addr, addrlen) sendto(sockfd, buf, len, flags, dest_addr, addrlen)
#define SEND(sockfd, buf, len, flags) send(sockfd, buf, len, flags)
#define RECV_FROM(sockfd, buf, len, flags, src_addr, addrlen) recvfrom(sockfd, buf, len, flags, src_addr, addrlen)
#define RECV(sockfd, buf, len, flags) recv(sockfd, buf, len, flags)
#define SELECT(n, readfds, writefds, exceptfds, timeval) select(n, readfds, writefds, exceptfds, timeval)
#define CLOSE(fd) close(fd)
#ifndef HTONS // OSX defines HTONS
#define HTONS(num) htons(num)
#endif
#define INET_ADDR(str) inet_addr(str)
#define SOCKLEN_T socklen_t

#endif

#ifdef MOTOPLUS

#include "motoPlus.h"

#include "errno.h"
#include "log_wrapper.h"
#include "shared_types.h"
#include "smpl_msg_connection.h"

// Including os defintion for set socket option.  The motoplus wrappers do not give access to socket
// options.  In order to remove system delays the nagel algorithm must be disabled using the
// TPC_NO_DELAY option
extern "C" STATUS setsockopt (   /* remove "extern C", if you're using C instead of C++ */
    int    s,                 /* target socket */
    int    level,             /* protocol level of option */
    int    optname,           /* option name */
    char * optval,            /* pointer to option value */
    int    optlen             /* option length */
    );

#define SOCKET(domain, type, protocol) mpSocket(domain, type, protocol)
#define BIND(sockfd, addr, addrlen) mpBind(sockfd, addr, addrlen)

// Motoplus compliant version (i.e. a NOOP)
// #define SET_NO_DELAY(sockfd, val) -1 //MOTOPLUS does not allow for setting the "no delay" socket option
// Raw OS call, not Motoplus compliant and might not be allowed in future versions. (taking a risk at this point)
#define SET_NO_DELAY(sockfd, val) setsockopt(sockfd, SOL_SOCKET, TCP_NODELAY, (char *)&val, sizeof(val))

#define SET_REUSE_ADDR(sockfd, val) -1 //MOTOPLUS does not support this function.
#define LISTEN(sockfd, n) mpListen(sockfd, n)
#define ACCEPT(sockfd, addr, addrlen) mpAccept(sockfd, addr, addrlen)
#define CONNECT(sockfd, dest_addr ,addrlen) mpConnect(sockfd, dest_addr, addrlen)
#define SEND_TO(sockfd, buf, len, flags, dest_addr, addrlen) mpSendTo(sockfd, buf, len, flags, dest_addr, addrlen)
#define SEND(sockfd, buf, len, flags) mpSend(sockfd, buf, len, flags)
#define RECV_FROM(sockfd, buf, len, flags, src_addr, addrlen) mpRecvFrom(sockfd, buf, len, flags, src_addr, (int*)addrlen)
#define RECV(sockfd, buf, len, flags) mpRecv(sockfd, buf, len, flags)
#define SELECT(n, readfds, writefds, exceptfds, timeval) mpSelect(n, readfds, writefds, exceptfds, timeval)
#define CLOSE(fd) mpClose(fd)
#define HTONS(num) mpHtons(num)
#define INET_ADDR(str) mpInetAddr(str)
#define SOCKLEN_T unsigned int

#endif

namespace industrial
{
namespace simple_socket
{

namespace StandardSocketPorts
{
enum StandardSocketPort
{
  MOTION = 11000, SYSTEM = 11001, STATE = 11002, IO = 11003
};
}
typedef StandardSocketPorts::StandardSocketPort StandardSocketPort;

class SimpleSocket : public industrial::smpl_msg_connection::SmplMsgConnection
{
public:

  SimpleSocket(){}

  virtual ~SimpleSocket(){}

  bool isConnected()
  {
    return connected_;
  }

protected:

  int sock_handle_;

  sockaddr_in sockaddr_;
  
  bool connected_;

  static const int SOCKET_FAIL = -1;

  static const int MAX_BUFFER_SIZE = 1024;
  char buffer_[MAX_BUFFER_SIZE + 1];

  int  getSockHandle() const
  {
    return sock_handle_;
  }

  void setSockHandle(int sock_handle_)
  {
    this->sock_handle_ = sock_handle_;
  }
  
  virtual void setConnected(bool connected)
  {
    this->connected_ = connected;
  }

  void logSocketError(char* msg, int rc)
  {
    LOG_ERROR("%s, rc: %d, errno: %d", msg, rc, errno);
  }
  
  bool isReadyReceive(int timeout);
  
  // Send/Receive functions (inherited classes should override raw methods
  // Virtual
  bool sendBytes(industrial::byte_array::ByteArray & buffer);
  bool receiveBytes(industrial::byte_array::ByteArray & buffer,
      industrial::shared_types::shared_int num_bytes);
  // Virtual
  virtual int rawSendBytes(char *buffer,
      industrial::shared_types::shared_int num_bytes)=0;
  virtual int rawReceiveBytes(char *buffer,
      industrial::shared_types::shared_int num_bytes)=0;

};

} //simple_socket
} //industrial

#endif /* SIMPLE_SOCKET_H */