mirror of
https://gitlab.com/obbart/universal_robots_ros_driver.git
synced 2026-04-10 18:10:47 +02:00
56 lines
1.4 KiB
C++
56 lines
1.4 KiB
C++
/*
|
|
* 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
|