udp.hh

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#pragma once
 
#include <atomic>
#include <thread>
#include <vector>
 
#include "details/legacy/ip.hh"
 
namespace multisense{
namespace legacy{
 
struct NetworkSocket
{
    std::unique_ptr<sockaddr_in> sensor_address = nullptr;
    socket_t sensor_socket;
    uint16_t server_socket_port = 0;
};
 
class UdpReceiver
{
public:
 
    UdpReceiver(const NetworkSocket &socket,
                size_t max_mtu,
                std::function<void(const std::vector<uint8_t>&)> receive_callback);
 
    ~UdpReceiver();
 
private:
 
    void rx_thread();
 
    socket_t m_socket;
 
    std::thread m_rx_thread;
 
    std::atomic_bool m_stop{false};
 
    size_t m_max_mtu = 0;
 
    std::vector<uint8_t> m_incoming_buffer;
 
    std::function<void(const std::vector<uint8_t>&)> m_receive_callback;
};
 
 
int64_t publish_data(const NetworkSocket &socket, const std::vector<uint8_t> &data);
 
}
}