Visual Servoing Platform  version 3.2.0 under development (2018-10-21)
testUDPServer.cpp

Example of a UDP server.

/****************************************************************************
*
* 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 server.
*
*****************************************************************************/
#include <cstdlib>
#include <cstring>
#include <iostream>
#include <iterator>
#include <sstream>
#include <vector>
#include <visp3/core/vpUDPServer.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 {
int port = 50037;
vpUDPServer server(port);
std::string msg = "", hostInfo = "";
// Receive and send custom data type
int res = server.receive(msg, hostInfo);
if (res) {
DataType data_type;
memcpy(&data_type.double_val, msg.c_str(), sizeof(data_type.double_val));
memcpy(&data_type.int_val, msg.c_str() + sizeof(data_type.double_val), sizeof(data_type.int_val));
std::cout << "Server received double_val: " << data_type.double_val << " ; int_val: " << data_type.int_val
<< " from: " << hostInfo << std::endl;
// Get address and port
std::istringstream iss(hostInfo);
std::vector<std::string> tokens;
std::copy(std::istream_iterator<std::string>(iss), std::istream_iterator<std::string>(),
std::back_inserter(tokens));
data_type.double_val += 1.5;
data_type.int_val += 2;
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));
msg = std::string(data, sizeof(data_type.double_val) + sizeof(data_type.int_val));
server.send(msg, tokens[1], atoi(tokens[2].c_str()));
}
// Receive and send message
while (true) {
int res = server.receive(msg, hostInfo, 5000);
if (res) {
std::cout << "Server received: " << msg << " from: " << hostInfo << std::endl;
std::cout << "Reply to the client: Echo: " << msg << std::endl;
// Get address and port
std::istringstream iss(hostInfo);
std::vector<std::string> tokens;
std::copy(std::istream_iterator<std::string>(iss), std::istream_iterator<std::string>(),
std::back_inserter(tokens));
server.send("Echo: " + msg, tokens[1], atoi(tokens[2].c_str()));
} else if (res == 0) {
std::cout << "Receive timeout" << std::endl;
} else {
std::cerr << "Error server.receive()!" << 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
}