Visual Servoing Platform  version 3.2.0 under development (2018-10-20)
testUDPClient.cpp

Example of a UDP client.

/****************************************************************************
*
* This file is part of the ViSP software.
* Copyright (C) 2005 - 2017 by Inria. All rights reserved.
*
* This software 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 2 of the License, or
* (at your option) any later version.
* See the file LICENSE.txt at the root directory of this source
* distribution for additional information about the GNU GPL.
*
* For using ViSP with software that can not be combined with the GNU
* GPL, please contact Inria about acquiring a ViSP Professional
* Edition License.
*
* See http://visp.inria.fr for more information.
*
* This software was developed at:
* Inria Rennes - Bretagne Atlantique
* Campus Universitaire de Beaulieu
* 35042 Rennes Cedex
* France
*
* If you have questions regarding the use of this file, please contact
* Inria at visp@inria.fr
*
* This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
* WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
*
* Description:
* Test for UDP client.
*
*****************************************************************************/
#include <cstdlib>
#include <cstring>
#include <iostream>
#include <visp3/core/vpUDPClient.h>
namespace
{
struct DataType {
double double_val;
int int_val;
DataType() : double_val(0.0), int_val(0) {}
DataType(const double dbl, const int i) : double_val(dbl), int_val(i) {}
};
}
int main()
{
// inet_ntop() used in vpUDPClient is not supported on win XP
#ifdef VISP_HAVE_FUNC_INET_NTOP
try {
std::string servername = "127.0.0.1";
unsigned int port = 50037;
vpUDPClient client(servername, port);
// Send custom data type
DataType data_type(1234.56789, 123450);
char data[sizeof(data_type.double_val) + sizeof(data_type.int_val)];
memcpy(data, &data_type.double_val, sizeof(data_type.double_val));
memcpy(data + sizeof(data_type.double_val), &data_type.int_val, sizeof(data_type.int_val));
std::string msg(data, sizeof(data_type.double_val) + sizeof(data_type.int_val));
if (client.send(msg) != (int)sizeof(data_type.double_val) + sizeof(data_type.int_val))
std::cerr << "Error client.send()!" << std::endl;
if (client.receive(msg)) {
data_type.double_val = *reinterpret_cast<const double *>(msg.c_str());
data_type.int_val = *reinterpret_cast<const int *>(msg.c_str() + sizeof(data_type.double_val));
std::cout << "Receive from the server double_val: " << data_type.double_val << " ; int_val: " << data_type.int_val
<< std::endl;
}
// Send user message
while (true) {
std::cout << "Enter the message to send:" << std::endl;
std::string msg = "";
std::getline(std::cin, msg);
if (client.send(msg) != (int)msg.size())
std::cerr << "Error client.send()!" << std::endl;
if (client.receive(msg))
std::cout << "Receive from the server: " << msg << std::endl;
}
return EXIT_SUCCESS;
} catch (const vpException &e) {
std::cerr << "Catch an exception: " << e.what() << std::endl;
return EXIT_FAILURE;
}
#else
std::cout << "This test doesn't work on win XP where inet_ntop() is not available" << std::endl;
return EXIT_SUCCESS;
#endif
}