Visual Servoing Platform  version 3.6.1 under development (2024-07-15)
vpUDPServer.h
1 /*
2  * ViSP, open source Visual Servoing Platform software.
3  * Copyright (C) 2005 - 2023 by Inria. All rights reserved.
4  *
5  * This software is free software; you can redistribute it and/or modify
6  * it under the terms of the GNU General Public License as published by
7  * the Free Software Foundation; either version 2 of the License, or
8  * (at your option) any later version.
9  * See the file LICENSE.txt at the root directory of this source
10  * distribution for additional information about the GNU GPL.
11  *
12  * For using ViSP with software that can not be combined with the GNU
13  * GPL, please contact Inria about acquiring a ViSP Professional
14  * Edition License.
15  *
16  * See https://visp.inria.fr for more information.
17  *
18  * This software was developed at:
19  * Inria Rennes - Bretagne Atlantique
20  * Campus Universitaire de Beaulieu
21  * 35042 Rennes Cedex
22  * France
23  *
24  * If you have questions regarding the use of this file, please contact
25  * Inria at visp@inria.fr
26  *
27  * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
28  * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
29  *
30  * Description:
31  * UDP Server
32  */
33 
34 #ifndef _vpUDPServer_h_
35 #define _vpUDPServer_h_
36 
37 #include <visp3/core/vpConfig.h>
38 
39 // inet_ntop() not supported on win XP
40 #ifdef VISP_HAVE_FUNC_INET_NTOP
41 
42 #if !defined(_WIN32) && (defined(__unix__) || defined(__unix) || (defined(__APPLE__) && defined(__MACH__))) // UNIX
43 #include <netinet/in.h>
44 #include <sys/socket.h>
45 #include <sys/types.h>
46 #else
47 #include <winsock2.h>
48 #endif
49 
50 #include <visp3/core/vpException.h>
51 
52 #define VP_MAX_UDP_PAYLOAD 508
53 
202 class VISP_EXPORT vpUDPServer
203 {
204 public:
205  vpUDPServer(int port);
206  vpUDPServer(const std::string &hostname, int port);
207  virtual ~vpUDPServer();
208 
209  int receive(std::string &msg, int timeoutMs = 0);
210  int receive(std::string &msg, std::string &hostInfo, int timeoutMs = 0);
211  int send(const std::string &msg, const std::string &hostname, int port);
212 
213 private:
214  char m_buf[VP_MAX_UDP_PAYLOAD];
215  struct sockaddr_in m_clientAddress;
216  int m_clientLength;
217  struct sockaddr_in m_serverAddress;
218 #if !defined(_WIN32) && (defined(__unix__) || defined(__unix) || (defined(__APPLE__) && defined(__MACH__))) // UNIX
219  int m_socketFileDescriptor;
220 #else
221  SOCKET m_socketFileDescriptor;
222  WSADATA m_wsa;
223 #endif
224 
225  void init(const std::string &hostname, int port);
226 };
227 END_VISP_NAMESPACE
228 #endif
229 #endif
This class implements a basic (IPv4) User Datagram Protocol (UDP) server.
Definition: vpUDPServer.h:203