AsyncUDPClient.h

Go to the documentation of this file.

// this is for emacs file handling -*- mode: c++; indent-tabs-mode: nil -*-

// -- BEGIN LICENSE BLOCK ----------------------------------------------

// -- END LICENSE BLOCK ------------------------------------------------

//----------------------------------------------------------------------
//----------------------------------------------------------------------

#ifndef SICK_SAFETYSCANNERS_COMMUNICATION_ASYNCUDPCLIENT_H
#define SICK_SAFETYSCANNERS_COMMUNICATION_ASYNCUDPCLIENT_H

#include <ros/ros.h>

#include <functional>
#include <iostream>

#include <boost/array.hpp>
#include <boost/asio.hpp>
#include <boost/cstdint.hpp>
#include <boost/function.hpp>

#include <sick_safetyscanners/datastructure/PacketBuffer.h>


namespace sick {
namespace communication {

class AsyncUDPClient
{
public:
  typedef boost::function<void(const sick::datastructure::PacketBuffer&)> PacketHandler;

  AsyncUDPClient(const PacketHandler& packet_handler,
                 boost::asio::io_service& io_service,
                 const uint16_t& local_port = 0);

  AsyncUDPClient(const PacketHandler& packet_handler,
                 boost::asio::io_service& io_service,
                 const boost::asio::ip::address_v4 host_ip,
                 const boost::asio::ip::address_v4 multi_ip,
                 const uint16_t& local_port = 0);

  virtual ~AsyncUDPClient();

  void runService();

  unsigned short getLocalPort();

private:
  datastructure::PacketBuffer::ArrayBuffer m_recv_buffer;

  PacketHandler m_packet_handler;

  std::shared_ptr<boost::asio::io_service::work> m_io_work_ptr;
  boost::asio::io_service& m_io_service;
  std::shared_ptr<boost::asio::ip::udp::socket> m_socket_ptr;
  boost::asio::ip::udp::endpoint m_remote_endpoint;

  void startReceive();
  void handleReceive(const boost::system::error_code& error, const std::size_t& bytes_transferred);


  AsyncUDPClient(AsyncUDPClient&); // block default copy constructor
};
} // namespace communication
} // namespace sick

#endif // SICK_SAFETYSCANNERS_COMMUNICATION_ASYNCUDPCLIENT_H