Big code dump

src/ur/server.cpp

@@ -0,0 +1,51 @@
+#include <cstring>
+#include <netinet/tcp.h>
+#include <unistd.h>
+#include "ur_modern_driver/log.h"
+#include "ur_modern_driver/ur/server.h"
+
+URServer::URServer(int port)
+{
+  std::string service = std::to_string(port);
+  struct addrinfo hints, *result;
+  std::memset(&hints, 0, sizeof(hints));
+
+  hints.ai_family = AF_UNSPEC;
+  hints.ai_socktype = SOCK_STREAM;
+  hints.ai_flags = AI_PASSIVE;
+
+  if (getaddrinfo(nullptr, service.c_str(), &hints, &result) != 0)
+  {
+    LOG_ERROR("Failed to setup recieving server");
+    return;
+  }
+
+    // loop through the list of addresses untill we find one that's connectable
+  for (struct addrinfo* p = result; p != nullptr; p = p->ai_next)
+  {
+    socket_fd_ = socket(p->ai_family, p->ai_socktype, p->ai_protocol);
+
+    if (socket_fd_ == -1)  // socket error?
+      continue;
+
+    if (bind(socket_fd_, p->ai_addr, p->ai_addrlen) != 0)
+      continue;
+
+    // disable Nagle's algorithm to ensure we sent packets as fast as possible
+    int flag = 1;
+    setsockopt(socket_fd_, IPPROTO_TCP, TCP_NODELAY, &flag, sizeof(flag));
+    LOG_INFO("Server awaiting connection");
+    return;
+  }
+  
+  LOG_ERROR("Failed to setup recieving server");
+  std::exit(EXIT_FAILURE);
+}
+
+URStream URServer::accept()
+{
+  struct sockaddr addr; 
+  socklen_t addr_len;
+  int client_fd = ::accept(socket_fd_, &addr, &addr_len);
+  return URStream(client_fd);
+}