mirror of https://github.com/ArduPilot/ardupilot
74 lines
2.2 KiB
C++
74 lines
2.2 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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#pragma once
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#include <AP_HAL/AP_HAL.h>
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#if HAL_OS_SOCKETS
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#include <fcntl.h>
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#include <unistd.h>
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#include <sys/ioctl.h>
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#include <sys/socket.h>
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#include <netinet/in.h>
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#include <netinet/tcp.h>
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#include <arpa/inet.h>
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#include <sys/select.h>
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class SocketAPM {
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public:
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SocketAPM(bool _datagram);
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SocketAPM(bool _datagram, int _fd);
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~SocketAPM();
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bool connect(const char *address, uint16_t port);
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bool bind(const char *address, uint16_t port);
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void reuseaddress();
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void set_blocking(bool blocking);
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void set_broadcast(void);
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ssize_t send(const void *pkt, size_t size);
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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);
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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);
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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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SocketAPM *accept(uint32_t timeout_ms);
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private:
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bool datagram;
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struct sockaddr_in in_addr {};
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int fd = -1;
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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 // HAL_OS_SOCKETS
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