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135 lines
2.9 KiB
135 lines
2.9 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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#include <AP_HAL.h> |
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#if HAL_OS_SOCKETS |
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#include <unistd.h> |
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#include <fcntl.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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#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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} |
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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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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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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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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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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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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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