mirror of https://github.com/ArduPilot/ardupilot
107 lines
3.4 KiB
C++
107 lines
3.4 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/AP_HAL.h>
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#include <AP_Networking/AP_Networking_Config.h>
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#if AP_NETWORKING_SOCKETS_ENABLED || defined(AP_SOCKET_NATIVE_ENABLED)
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#ifndef SOCKET_CLASS_NAME
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#error "Don't include Socket.hpp directly"
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#endif
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#define IP4_STR_LEN 16
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class SOCKET_CLASS_NAME {
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public:
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SOCKET_CLASS_NAME(bool _datagram);
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SOCKET_CLASS_NAME(bool _datagram, int _fd);
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~SOCKET_CLASS_NAME();
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bool connect(const char *address, uint16_t port);
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bool connect_timeout(const char *address, uint16_t port, uint32_t timeout_ms);
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bool bind(const char *address, uint16_t port);
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bool reuseaddress() const;
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bool set_blocking(bool blocking) const;
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bool set_cloexec() const;
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void set_broadcast(void) const;
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ssize_t send(const void *pkt, size_t size) const;
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ssize_t sendto(const void *buf, size_t size, const char *address, uint16_t port);
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ssize_t recv(void *pkt, size_t size, uint32_t timeout_ms);
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// return the IP address and port of the last received packet
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void last_recv_address(const char *&ip_addr, uint16_t &port) const;
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// return the IP address and port of the last received packet, using caller supplied buffer
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const char *last_recv_address(char *ip_addr_buf, uint8_t buflen, uint16_t &port) const;
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// return true if there is pending data for input
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bool pollin(uint32_t timeout_ms);
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// return true if there is room for output data
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bool pollout(uint32_t timeout_ms);
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// start listening for new tcp connections
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bool listen(uint16_t backlog) const;
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// close socket
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void close(void);
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// accept a new connection. Only valid for TCP connections after
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// listen has been used. A new socket is returned
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SOCKET_CLASS_NAME *accept(uint32_t timeout_ms);
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// get a FD suitable for read selection
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int get_read_fd(void) const {
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return fd_in != -1? fd_in : fd;
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}
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// create a new socket with same fd, but new memory
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// the old socket gets fd of -1
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SOCKET_CLASS_NAME *duplicate(void);
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bool is_connected(void) const {
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return connected;
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}
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// access to inet_ntop
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static const char *inet_addr_to_str(uint32_t addr, char *dst, uint16_t len);
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// access to inet_pton
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static uint32_t inet_str_to_addr(const char *ipstr);
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private:
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bool datagram;
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// we avoid using struct sockaddr_in here to keep support for
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// mixing native sockets and lwip sockets in SITL
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uint32_t last_in_addr[4];
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bool is_multicast_address(struct sockaddr_in &addr) const;
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int fd = -1;
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// fd_in is used for multicast UDP
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int fd_in = -1;
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bool connected;
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void make_sockaddr(const char *address, uint16_t port, struct sockaddr_in &sockaddr);
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};
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#endif // AP_NETWORKING_SOCKETS_ENABLED
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