Visual Servoing Platform  version 3.6.1 under development (2024-03-18)
testUDPClient.cpp

Example of a UDP client.

/****************************************************************************
*
* ViSP, open source Visual Servoing Platform software.
* Copyright (C) 2005 - 2023 by Inria. All rights reserved.
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* Campus Universitaire de Beaulieu
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*
* Description:
* Test for UDP client.
*
*****************************************************************************/
#include <cstdlib>
#include <cstring>
#include <iostream>
#include <visp3/core/vpUDPClient.h>
namespace
{
struct vpDataType_t {
double double_val;
int int_val;
vpDataType_t() : double_val(0.0), int_val(0) {}
vpDataType_t(double dbl, int i) : double_val(dbl), int_val(i) {}
};
} // namespace
int main(int argc, char **argv)
{
// inet_ntop() used in vpUDPClient is not supported on win XP
#ifdef VISP_HAVE_FUNC_INET_NTOP
try {
std::string servername = std::string("127.0.0.1");
for (int i = 1; i < argc; i++) {
if (std::string(argv[i]) == "--ip" && i + 1 < argc) {
servername = std::string(argv[i + 1]);
} else if (std::string(argv[i]) == "--help" || std::string(argv[i]) == "-h") {
std::cout << argv[0] << " [--ip <address> (default: 127.0.0.1)] [--help] [-h]"
<< "\n";
return EXIT_SUCCESS;
}
}
unsigned int port = 50037;
vpUDPClient client(servername, port);
// Send custom data type
vpDataType_t 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;
msg.clear();
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;
(void)argc;
(void)argv;
return EXIT_SUCCESS;
#endif
}
error that can be emitted by ViSP classes.
Definition: vpException.h:59
const char * what() const
Definition: vpException.cpp:70
This class implements a basic (IPv4) User Datagram Protocol (UDP) client.
Definition: vpUDPClient.h:165