added reverse client to publish targets to the robot

include/ur_rtde_driver/comm/server.h

@@ -0,0 +1,55 @@
+/*
+ * 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.
+ */
+
+#pragma once
+#include <netdb.h>
+#include <sys/socket.h>
+#include <sys/types.h>
+#include <atomic>
+#include <cstdlib>
+#include <mutex>
+#include <string>
+#include "ur_rtde_driver/comm/tcp_socket.h"
+
+namespace ur_driver
+{
+namespace comm
+{
+#define MAX_SERVER_BUF_LEN 50
+
+class URServer : private comm::TCPSocket
+{
+private:
+  int port_;
+  comm::TCPSocket client_;
+
+protected:
+  virtual bool open(int socket_fd, struct sockaddr* address, size_t address_len);
+
+public:
+  URServer(int port);
+  ~URServer();
+  std::string getIP();
+  bool bind();
+  bool accept();
+  void disconnectClient();
+  bool readLine(char* buffer, size_t buf_len);
+  bool write(const uint8_t* buf, size_t buf_len, size_t& written);
+};
+}  // namespace comm
+}  // namespace ur_driver