tcp_client.cpp
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00001 /*
00002  * Software License Agreement (BSD License)
00003  *
00004  * Copyright (c) 2011, Southwest Research Institute
00005  * All rights reserved.
00006  *
00007  * Redistribution and use in source and binary forms, with or without
00008  * modification, are permitted provided that the following conditions are met:
00009  *
00010  *      * Redistributions of source code must retain the above copyright
00011  *      notice, this list of conditions and the following disclaimer.
00012  *      * Redistributions in binary form must reproduce the above copyright
00013  *      notice, this list of conditions and the following disclaimer in the
00014  *      documentation and/or other materials provided with the distribution.
00015  *      * Neither the name of the Southwest Research Institute, nor the names
00016  *      of its contributors may be used to endorse or promote products derived
00017  *      from this software without specific prior written permission.
00018  *
00019  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00020  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00021  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
00022  * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
00023  * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
00024  * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
00025  * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
00026  * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
00027  * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
00028  * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00029  * POSSIBILITY OF SUCH DAMAGE.
00030  */
00031 #ifdef ROS
00032 #include "simple_message/socket/tcp_client.h"
00033 #include "simple_message/log_wrapper.h"
00034 #endif
00035 
00036 #ifdef MOTOPLUS
00037 #include "tcp_client.h"
00038 #include "log_wrapper.h"
00039 #endif
00040 
00041 
00042 namespace industrial
00043 {
00044 namespace tcp_client
00045 {
00046 
00047 TcpClient::TcpClient()
00048 {
00049 
00050 }
00051 
00052 TcpClient::~TcpClient()
00053 {
00054   LOG_DEBUG("Destructing TCPClient");
00055 }
00056 
00057 bool TcpClient::init(char *buff, int port_num)
00058 {
00059 
00060   int rc;
00061   bool rtn;
00062   int disableNodeDelay = 1;
00063 
00064   rc = SOCKET(AF_INET, SOCK_STREAM, 0);
00065   if (this->SOCKET_FAIL != rc)
00066   {
00067     this->setSockHandle(rc);
00068 
00069     // The set no delay disables the NAGEL algorithm
00070     rc = SET_NO_DELAY(this->getSockHandle(), disableNodeDelay);
00071     if (this->SOCKET_FAIL == rc)
00072     {
00073       LOG_WARN("Failed to set no socket delay, sending data can be delayed by up to 250ms");
00074     }
00075 
00076     // Initialize address data structure
00077     memset(&this->sockaddr_, 0, sizeof(this->sockaddr_));
00078     this->sockaddr_.sin_family = AF_INET;
00079     this->sockaddr_.sin_addr.s_addr = INET_ADDR(buff);
00080     this->sockaddr_.sin_port = HTONS(port_num);
00081 
00082     rtn = true;
00083 
00084   }
00085   else
00086   {
00087     LOG_ERROR("Failed to create socket, rc: %d", rc);
00088     rtn = false;
00089   }
00090   return rtn;
00091 }
00092 
00093 bool TcpClient::makeConnect()
00094 {
00095   bool rtn = false;
00096   int rc = this->SOCKET_FAIL;
00097   SOCKLEN_T addrSize = 0;
00098 
00099   if (!this->isConnected())
00100   {
00101     addrSize = sizeof(this->sockaddr_);
00102     rc = CONNECT(this->getSockHandle(), (sockaddr *)&this->sockaddr_, addrSize);
00103     if (this->SOCKET_FAIL != rc)
00104     {
00105       LOG_INFO("Connected to server");
00106       this->setConnected(true);
00107       rtn = true;
00108     }
00109     else
00110     {
00111       this->logSocketError("Failed to connect to server", rc);
00112       rtn = false;
00113     }
00114   }
00115 
00116   else
00117   {
00118     LOG_WARN("Tried to connect when socket already in connected state");
00119   }
00120 
00121   return rtn;
00122 
00123 }
00124 
00125 } //tcp_client
00126 } //industrial
00127 


simple_message
Author(s): Shaun Edwards
autogenerated on Fri Jan 3 2014 11:26:56