udpport.h

/*
 * GearBox Project: Peer-Reviewed Open-Source Libraries for Robotics
 *               http://gearbox.sf.net/
 * Copyright (c) 2008 Geoffrey Biggs
 *
 * flexiport flexible hardware data communications library.
 *
 * This distribution is licensed to you under the terms described in the LICENSE file included in
 * this distribution.
 *
 * This work is a product of the National Institute of Advanced Industrial Science and Technology,
 * Japan. Registration number: H20PRO-881
 *
 * This file is part of flexiport.
 *
 * flexiport is free software: you can redistribute it and/or modify it under the terms of the GNU
 * Lesser General Public License as published by the Free Software Foundation, either version 3 of
 * the License, or (at your option) any later version.
 *
 * flexiport is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without
 * even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
 * Lesser General Public License for more details.
 *
 * You should have received a copy of the GNU Lesser General Public License along with flexiport.
 * If not, see <http://www.gnu.org/licenses/>.
 */

#ifndef __UDPPORT_H
#define __UDPPORT_H

#include "port.h"
#include "flexiport_config.h"

#include <map>
#include <string>
#if !defined (WIN32)
        #include <netinet/in.h>
#endif

namespace flexiport
{

class FLEXIPORT_EXPORT UDPPort : public Port
{
        public:
                UDPPort (std::map<std::string, std::string> options);
                ~UDPPort ();

                void Open ();
                void Close ();
                ssize_t Read (void * const buffer, size_t count);
                ssize_t ReadFull (void * const buffer, size_t count);
                ssize_t ReadUntil (void * const buffer, size_t count, uint8_t terminator);
                ssize_t ReadStringUntil (std::string &buffer, char terminator);
                ssize_t Skip (size_t count);
                ssize_t SkipUntil (uint8_t terminator, unsigned int count);
                ssize_t BytesAvailable ();
                ssize_t BytesAvailableWait ();
                ssize_t Write (const void * const buffer, size_t count);
                void Flush ();
                void Drain ();
                std::string GetStatus () const;
                void SetTimeout (Timeout timeout);
                void SetCanRead (bool canRead);
                void SetCanWrite (bool canWrite);
                bool IsOpen () const                        { return _open; }

        private:
#if !defined (WIN32)
        #if defined (FLEXIPORT_HAVE_GETADDRINFO)
                struct sockaddr _destSockAddr;
        #else
                struct sockaddr_in _destSockAddr;
        #endif
#endif // !defined (WIN32)
                int _sendSock;      // Socket to send data from.
                int _recvSock;      // Socket to receive data on.

                std::string _destIP;
                unsigned int _destPort;
                std::string _recvIP;
                unsigned int _recvPort;
                bool _open;

                void CheckPort (bool read);

                bool ProcessOption (const std::string &option, const std::string &value);

                void OpenSender ();
                void CloseSender ();
                void OpenReceiver ();
                void CloseReceiver ();
                typedef enum {TIMED_OUT, DATA_AVAILABLE, CAN_WRITE} WaitStatus;
                WaitStatus WaitForDataOrTimeout ();
                bool IsDataAvailable ();
                WaitStatus WaitForWritableOrTimeout ();
                void SetSocketBlockingFlag ();
};

} // namespace flexiport

#endif // __UDPPORT_H