mirror of https://github.com/ArduPilot/ardupilot
138 lines
3.1 KiB
C++
138 lines
3.1 KiB
C++
/*
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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/*
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simple socket handling class for systems with BSD socket API
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*/
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#include <AP_HAL.h>
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#if HAL_OS_SOCKETS
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#include "Socket.h"
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/*
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constructor
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*/
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SocketAPM::SocketAPM(bool _datagram) :
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datagram(_datagram)
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{
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fd = socket(AF_INET, datagram?SOCK_DGRAM:SOCK_STREAM, 0);
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fcntl(fd, F_SETFD, FD_CLOEXEC);
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int one = 1;
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setsockopt(fd, IPPROTO_TCP, TCP_NODELAY, &one, sizeof(one));
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}
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void SocketAPM::make_sockaddr(const char *address, uint16_t port, struct sockaddr_in &sockaddr)
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{
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memset(&sockaddr, 0, sizeof(sockaddr));
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#ifdef HAVE_SOCK_SIN_LEN
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sockaddr.sin_len = sizeof(sockaddr);
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#endif
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sockaddr.sin_port = htons(port);
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sockaddr.sin_family = AF_INET;
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sockaddr.sin_addr.s_addr = inet_addr(address);
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}
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/*
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connect the socket
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*/
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bool SocketAPM::connect(const char *address, uint16_t port)
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{
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struct sockaddr_in sockaddr;
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make_sockaddr(address, port, sockaddr);
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if (::connect(fd, (struct sockaddr *)&sockaddr, sizeof(sockaddr)) != 0) {
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return false;
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}
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return true;
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}
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/*
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bind the socket
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*/
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bool SocketAPM::bind(const char *address, uint16_t port)
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{
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struct sockaddr_in sockaddr;
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make_sockaddr(address, port, sockaddr);
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if (::bind(fd, (struct sockaddr *)&sockaddr, sizeof(sockaddr)) != 0) {
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return false;
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}
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return true;
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}
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/*
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set SO_REUSEADDR
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*/
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void SocketAPM::reuseaddress(void)
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{
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int one = 1;
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setsockopt(fd, SOL_SOCKET, SO_REUSEADDR, &one, sizeof(one));
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}
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/*
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set blocking state
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*/
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void SocketAPM::set_blocking(bool blocking)
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{
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if (blocking) {
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fcntl(fd, F_SETFL, fcntl(fd, F_GETFL, 0) & ~O_NONBLOCK);
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} else {
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fcntl(fd, F_SETFL, fcntl(fd, F_GETFL, 0) | O_NONBLOCK);
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}
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}
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/*
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send some data
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*/
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ssize_t SocketAPM::send(void *buf, size_t size)
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{
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return ::send(fd, buf, size, 0);
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}
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/*
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send some data
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*/
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ssize_t SocketAPM::sendto(void *buf, size_t size, const char *address, uint16_t port)
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{
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struct sockaddr_in sockaddr;
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make_sockaddr(address, port, sockaddr);
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return ::sendto(fd, buf, size, 0, (struct sockaddr *)&sockaddr, sizeof(sockaddr));
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}
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/*
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receive some data
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*/
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ssize_t SocketAPM::recv(void *buf, size_t size, uint32_t timeout_ms)
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{
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fd_set fds;
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struct timeval tv;
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FD_ZERO(&fds);
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FD_SET(fd, &fds);
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tv.tv_sec = timeout_ms / 1000;
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tv.tv_usec = (timeout_ms % 1000) * 1000UL;
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if (select(fd+1, &fds, NULL, NULL, &tv) != 1) {
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return -1;
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}
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return ::recv(fd, buf, size, 0);
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}
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#endif // HAL_OS_SOCKETS
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