udp_client.cpp

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/*
 * Software License Agreement (BSD License)
 *
 * Copyright (c) 2011, Yaskawa America, Inc.
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
 *       * Redistributions of source code must retain the above copyright
 *       notice, this list of conditions and the following disclaimer.
 *       * Redistributions in binary form must reproduce the above copyright
 *       notice, this list of conditions and the following disclaimer in the
 *       documentation and/or other materials provided with the distribution.
 *       * Neither the name of the Yaskawa America, Inc., nor the names
 *       of its contributors may be used to endorse or promote products derived
 *       from this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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#ifdef ROS
#include "simple_message/socket/udp_client.h"
#include "simple_message/log_wrapper.h"
#endif

#ifdef MOTOPLUS
#include "udp_client.h"
#include "log_wrapper.h"
#endif


using namespace industrial::byte_array;
using namespace industrial::shared_types;

namespace industrial
{
namespace udp_client
{

UdpClient::UdpClient()
{
}

UdpClient::~UdpClient()
{
}

bool UdpClient::init(char *buff, int port_num)
{

  int rc;
  bool rtn;

  /* Create a socket using:
   * AF_INET - IPv4 internet protocol
   * SOCK_DGRAM - UDP type
   * protocol (0) - System chooses
   */
  rc = SOCKET(AF_INET, SOCK_DGRAM, 0);
  if (this->SOCKET_FAIL != rc)
  {
    this->setSockHandle(rc);

    // Initialize address data structure
    memset(&this->sockaddr_, 0, sizeof(this->sockaddr_));
    this->sockaddr_.sin_family = AF_INET;
    this->sockaddr_.sin_addr.s_addr = INET_ADDR(buff);
    this->sockaddr_.sin_port = HTONS(port_num);

    rtn = true;

  }
  else
  {
    LOG_ERROR("Failed to create socket, rc: %d", rc);
    rtn = false;
  }
  return rtn;
}


bool UdpClient::makeConnect()
{
  ByteArray send;
  char sendHS = this->CONNECT_HANDSHAKE;
  char recvHS = 0;
  bool rtn = false;
  const int timeout = 1000;  // Time (ms) between handshake sends
  int bytesRcvd = 0;
  
  if (!this->isConnected())
  {
    this->setConnected(false);
    send.load((void*)&sendHS, sizeof(sendHS));
  
    do
    {
      ByteArray recv;
      recvHS = 0;
      LOG_DEBUG("UDP client sending handshake");
      this->rawSendBytes(send.getRawDataPtr(), send.getBufferSize());
      if (this->isReadyReceive(timeout))
      {
        bytesRcvd = this->rawReceiveBytes(this->buffer_, 0);
        LOG_DEBUG("UDP client received possible handshake");    
        recv.init(&this->buffer_[0], bytesRcvd);
        recv.unload((void*)&recvHS, sizeof(recvHS));
      }
    }
    while(recvHS != sendHS);
    LOG_INFO("UDP client connected");
    rtn = true;
    this->setConnected(true);
    
  }
  else
  {
    rtn = true;
    LOG_WARN("Tried to connect when socket already in connected state");
  }

  return rtn;
}
} //udp_client
} //industrial