ardupilot/libraries/AP_HAL/utility/Socket.h

77 lines
2.2 KiB
C++

/*
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program 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 General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
/*
simple socket handling class for systems with BSD socket API
*/
#ifndef HAL_SOCKET_H
#define HAL_SOCKET_H
#include <AP_HAL/AP_HAL.h>
#if HAL_OS_SOCKETS
#include <fcntl.h>
#include <unistd.h>
#include <sys/ioctl.h>
#include <sys/socket.h>
#include <netinet/in.h>
#include <netinet/tcp.h>
#include <arpa/inet.h>
#include <sys/select.h>
class SocketAPM {
public:
SocketAPM(bool _datagram);
SocketAPM(bool _datagram, int _fd);
~SocketAPM();
bool connect(const char *address, uint16_t port);
bool bind(const char *address, uint16_t port);
void reuseaddress();
void set_blocking(bool blocking);
void set_broadcast(void);
ssize_t send(const void *pkt, size_t size);
ssize_t sendto(const void *buf, size_t size, const char *address, uint16_t port);
ssize_t recv(void *pkt, size_t size, uint32_t timeout_ms);
// return the IP address and port of the last received packet
void last_recv_address(const char *&ip_addr, uint16_t &port);
// return true if there is pending data for input
bool pollin(uint32_t timeout_ms);
// return true if there is room for output data
bool pollout(uint32_t timeout_ms);
// start listening for new tcp connections
bool listen(uint16_t backlog);
// accept a new connection. Only valid for TCP connections after
// listen has been used. A new socket is returned
SocketAPM *accept(uint32_t timeout_ms);
private:
bool datagram;
struct sockaddr_in in_addr {};
int fd = -1;
void make_sockaddr(const char *address, uint16_t port, struct sockaddr_in &sockaddr);
};
#endif // HAL_OS_SOCKETS
#endif // HAL_SOCKET_H