renamed package

include/ur_rtde_driver/ur/stream.h

@@ -0,0 +1,64 @@
+/*
+ * 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 <mutex>
+#include <string>
+#include "ur_rtde_driver/log.h"
+#include "ur_rtde_driver/tcp_socket.h"
+
+class URStream : public TCPSocket
+{
+private:
+  std::string host_;
+  int port_;
+  std::mutex write_mutex_, read_mutex_;
+
+protected:
+  virtual bool open(int socket_fd, struct sockaddr* address, size_t address_len)
+  {
+    return ::connect(socket_fd, address, address_len) == 0;
+  }
+
+public:
+  URStream(std::string& host, int port) : host_(host), port_(port)
+  {
+  }
+
+  bool connect()
+  {
+    return TCPSocket::setup(host_, port_);
+  }
+  void disconnect()
+  {
+    LOG_INFO("Disconnecting from %s:%d", host_.c_str(), port_);
+    TCPSocket::close();
+  }
+
+  bool closed()
+  {
+    return getState() == SocketState::Closed;
+  }
+
+  bool read(uint8_t* buf, size_t buf_len, size_t& read);
+  bool write(const uint8_t* buf, size_t buf_len, size_t& written);
+};