moved calibration to own repository

ur_rtde_driver/src/comm/server.cpp

@@ -0,0 +1,157 @@
+/*
+ * Copyright 2017, 2018 Jarek Potiuk (low bandwidth trajectory follower)
+ *
+ * Copyright 2017, 2018 Simon Rasmussen (refactor)
+ *
+ * Copyright 2015, 2016 Thomas Timm Andersen (original version)
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#include "ur_rtde_driver/comm/server.h"
+#include <arpa/inet.h>
+#include <netinet/tcp.h>
+#include <unistd.h>
+#include <cstring>
+#include "ur_rtde_driver/log.h"
+
+namespace ur_driver
+{
+namespace comm
+{
+URServer::URServer(int port) : port_(port)
+{
+}
+
+URServer::~URServer()
+{
+  TCPSocket::close();
+}
+
+std::string URServer::getIP()
+{
+  sockaddr_in name;
+  socklen_t len = sizeof(name);
+  int res = ::getsockname(getSocketFD(), (sockaddr*)&name, &len);
+
+  if (res < 0)
+  {
+    LOG_ERROR("Could not get local IP");
+    return std::string();
+  }
+
+  char buf[128];
+  inet_ntop(AF_INET, &name.sin_addr, buf, sizeof(buf));
+  return std::string(buf);
+}
+
+bool URServer::open(int socket_fd, struct sockaddr* address, size_t address_len)
+{
+  int flag = 1;
+  setsockopt(socket_fd, SOL_SOCKET, SO_REUSEADDR, &flag, sizeof(int));
+  return ::bind(socket_fd, address, address_len) == 0;
+}
+
+bool URServer::bind()
+{
+  std::string empty;
+  bool res = TCPSocket::setup(empty, port_);
+
+  if (!res)
+    return false;
+
+  if (::listen(getSocketFD(), 1) < 0)
+    return false;
+
+  return true;
+}
+
+bool URServer::accept()
+{
+  if (TCPSocket::getState() != comm::SocketState::Connected || client_.getSocketFD() > 0)
+    return false;
+
+  struct sockaddr addr;
+  socklen_t addr_len;
+  int client_fd = -1;
+
+  int retry = 0;
+  while ((client_fd = ::accept(getSocketFD(), &addr, &addr_len)) == -1)
+  {
+    LOG_ERROR("Accepting socket connection failed. (errno: %d)", errno);
+    if (retry++ >= 5)
+      return false;
+  }
+
+  TCPSocket::setOptions(client_fd);
+
+  return client_.setSocketFD(client_fd);
+}
+
+void URServer::disconnectClient()
+{
+  if (client_.getState() != comm::SocketState::Connected)
+    return;
+
+  client_.close();
+}
+
+bool URServer::write(const uint8_t* buf, size_t buf_len, size_t& written)
+{
+  return client_.write(buf, buf_len, written);
+}
+
+bool URServer::readLine(char* buffer, size_t buf_len)
+{
+  char* current_pointer = buffer;
+  char ch;
+  size_t total_read;
+
+  if (buf_len <= 0 || buffer == NULL)
+  {
+    return false;
+  }
+
+  total_read = 0;
+  for (;;)
+  {
+    if (client_.read(&ch))
+    {
+      if (total_read < buf_len - 1)  // just in case ...
+      {
+        total_read++;
+        *current_pointer++ = ch;
+      }
+      if (ch == '\n')
+      {
+        break;
+      }
+    }
+    else
+    {
+      if (total_read == 0)
+      {
+        return false;
+      }
+      else
+      {
+        break;
+      }
+    }
+  }
+
+  *current_pointer = '\0';
+  return true;
+}
+}  // namespace comm
+}  // namespace ur_driver