udp_socket.cpp

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#ifdef ROS
#include "simple_message/socket/udp_socket.h"
#include "simple_message/log_wrapper.h"
#include "simple_message/simple_message.h"
#endif

#ifdef MOTOPLUS
#include "udp_socket.h"
#include "log_wrapper.h"
#include "simple_message.h"
#endif


using namespace industrial::smpl_msg_connection;
using namespace industrial::byte_array;
using namespace industrial::simple_message;
using namespace industrial::shared_types;

namespace industrial
{
namespace udp_socket
{

UdpSocket::UdpSocket()
// Constructor for UDP socket object
{
  this->setSockHandle(this->SOCKET_FAIL);
  memset(&this->sockaddr_, 0, sizeof(this->sockaddr_));

}

UdpSocket::~UdpSocket()
// Destructor for UDP socket object
// Closes socket
{
  CLOSE(this->getSockHandle());
}

bool UdpSocket::receiveMsg(SimpleMessage & message)
{
  ByteArray msgBuffer;

  bool rtn = false;
  shared_int size = 0;

  rtn = this->receiveBytes(msgBuffer, 0);

  if (rtn)
  {
    LOG_DEBUG("Receive message bytes: %u", msgBuffer.getBufferSize());
    if (msgBuffer.getBufferSize() >= sizeof(shared_int))
    {
            LOG_DEBUG("Unloading message length from front of the buffer");
            msgBuffer.unloadFront((void*)(&size), sizeof(shared_int));

            if ( size != (shared_int) msgBuffer.getBufferSize() )
            {
              LOG_WARN("readBytes returned a message other than the expected size");
            }
            rtn = message.init(msgBuffer);

            if (rtn)
            {
              rtn = true;
            }
            else
            {
              LOG_ERROR("Failed to initialize message");
              rtn = false;
            }
     }
     else
     {
        LOG_ERROR("Receive bytes returned small: %d message", rtn);
        LOG_ERROR("Possible handshake or other connection issue, setting disconnected");
        this->setConnected(false);
        rtn = false;
     }

  }
  else
  {
    LOG_ERROR("Failed to receive message");
    rtn = false;
  }

  return rtn;
}

int UdpSocket::rawSendBytes(char *buffer, shared_int num_bytes)
{
  int rc = this->SOCKET_FAIL;

  rc = SEND_TO(this->getSockHandle(), buffer,
        num_bytes, 0, (sockaddr *)&this->sockaddr_,
        sizeof(this->sockaddr_));
  
  return rc;
}

int UdpSocket::rawReceiveBytes(char *buffer, shared_int num_bytes)
{
  int rc = this->SOCKET_FAIL;
  SOCKLEN_T addrSize = 0;

  addrSize = sizeof(this->sockaddr_);

  rc = RECV_FROM(this->getSockHandle(), &this->buffer_[0], this->MAX_BUFFER_SIZE,
      0, (sockaddr *)&this->sockaddr_, &addrSize);
  
  return rc;
}


} //udp_socket
} //industrial