Program Listing for File socket_udp.hpp

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// Copyright 2024 Universidad Politécnica de Madrid
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#ifndef TELLO__SOCKET_UDP_HPP_
#define TELLO__SOCKET_UDP_HPP_

#include <arpa/inet.h>
#include <unistd.h>
#include <sys/socket.h>
#include <sys/types.h>
#include <fcntl.h>
#include <string>
#include <optional>
#include <chrono>

#define SOCKET_TIMEOUT 10000  // Socket timeout in milliseconds

namespace tello
{

class SocketUDP
{
public:
  SocketUDP(
    const std::string & server_address, uint16_t client_port, uint16_t server_port);

  ~SocketUDP();

  void closeSocket();

  bool send(
    const std::string & message, std::string & response, int timeout_milis = 0);

  bool receive(
    std::string & response, const int timeout_milis = 0);

private:
  // Server socket
  int socket_file_descriptor_;  // Socket file descriptor
  struct sockaddr_in client_address_;  // Client socket address structure
  struct sockaddr_in server_address_;  // Server socket address structure
  struct sockaddr_in command_address_;  // Command socket address structure

  // Receive buffer
  char buffer_[1024];  // Buffer to store received data
  ssize_t received_bytes_;  // Number of received bytes

  // Internal variables
  socklen_t socket_address_len_;  // Length of the socket address structure
  fd_set read_file_descriptor_;    // File descriptor set for reading

private:
  void bindSocket(const int socket_file_descriptor, const struct sockaddr_in & server_address);

  bool receive_(
    std::string & response, const int timeout_milis, const struct sockaddr_in & socket_address);
};  // class SocketUDP

}  // namespace tello

#endif  // TELLO__SOCKET_UDP_HPP_