z1_controller/include/message/udp.h

68 lines
1.7 KiB
C++

#ifndef _UDP_H
#define _UDP_H
#include <arpa/inet.h>
#include <termios.h>
#include <string>
#include <string.h>
#include <vector>
#include "common/utilities/timer.h"
enum class BlockYN{
YES,
NO
};
class IOPort{
public:
IOPort(std::string name, BlockYN blockYN, size_t recvLength, size_t timeOutUs, bool showInfo)
:_name(name){
resetIO(blockYN, recvLength, timeOutUs, showInfo);
}
virtual ~IOPort(){}
virtual size_t send(uint8_t *sendMsg, size_t sendLength) = 0;
virtual size_t recv(uint8_t *recvMsg, size_t recvLength) = 0;
virtual size_t recv(uint8_t *recvMsg) = 0;
void resetIO(BlockYN blockYN, size_t recvLength, size_t timeOutUs, bool showInfo = true);
bool isDisConnect = false;
protected:
bool _showInfo;
std::string _name;
BlockYN _blockYN = BlockYN::NO;
size_t _recvLength;
timeval _timeout;
timeval _timeoutSaved;
uint16_t _isDisConnectCnt;
};
class UDPPort : public IOPort{
public:
UDPPort(std::string name, std::string toIP, uint toPort, uint ownPort,
size_t recvLength = 0,
BlockYN blockYN = BlockYN::NO,
size_t timeOutUs = 20000,
bool showInfo = true);
~UDPPort();
size_t send(uint8_t *sendMsg, size_t sendMsgLength);
size_t recv(uint8_t *recvMsg, size_t recvLength);
size_t recv(uint8_t *recvMsg);
private:
size_t _recvBlock(uint8_t *recvMsg, size_t recvLength);
size_t _recvUnBlock(uint8_t *recvMsg, size_t recvLength);
sockaddr_in _ownAddr, _toAddr, _fromAddr;
socklen_t _sockaddrSize;
int _sockfd;
int _on = 1;
size_t _sentLength;
uint8_t _sendBytes[238]; // 7 motors
uint8_t _recvBytes[546]; // 7 motors
fd_set _rSet;
};
#endif