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74 lines
2.2 KiB
74 lines
2.2 KiB
/* |
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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_cloexec(); |
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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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