diff options
Diffstat (limited to 'LIDAR/sdk/src/sl_udp_channel.cpp')
| -rw-r--r-- | LIDAR/sdk/src/sl_udp_channel.cpp | 129 |
1 files changed, 129 insertions, 0 deletions
diff --git a/LIDAR/sdk/src/sl_udp_channel.cpp b/LIDAR/sdk/src/sl_udp_channel.cpp new file mode 100644 index 0000000..df0808d --- /dev/null +++ b/LIDAR/sdk/src/sl_udp_channel.cpp @@ -0,0 +1,129 @@ +/* + * Slamtec LIDAR SDK + * + * Copyright (c) 2014 - 2020 Shanghai Slamtec Co., Ltd. + * http://www.slamtec.com + * + */ + /* + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * 1. Redistributions of source code must retain the above copyright notice, + * this list of conditions and the following disclaimer. + * + * 2. Redistributions in binary form must reproduce the above copyright notice, + * this list of conditions and the following disclaimer in the documentation + * and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, + * THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; + * OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, + * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR + * OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, + * EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + * + */ + +#include "sl_lidar_driver.h" +#include "hal/abs_rxtx.h" +#include "hal/socket.h" + + +namespace sl { + class UdpChannel : public IChannel + { + public: + UdpChannel(const std::string& ip, int port) : _binded_socket(rp::net::DGramSocket::CreateSocket()) { + _ip = ip; + _port = port; + } + + bool bind(const std::string & ip, sl_s32 port) + { + _socket = rp::net::SocketAddress(ip.c_str(), port); + return true; + } + + bool open() + { + if(!bind(_ip, _port)) + return false; + return SL_IS_OK(_binded_socket->setPairAddress(&_socket)); + } + + void close() + { + _binded_socket->dispose(); + _binded_socket = NULL; + } + void flush() + { + clearReadCache(); + } + + sl_result waitForDataExt(size_t& size_hint, sl_u32 timeoutInMs) + { + u_result ans; + size_hint = 0; + ans = _binded_socket->waitforData(timeoutInMs); + + switch (ans) { + case RESULT_OK: + size_hint = 1024; //dummy value + break; + } + + return ans; + } + + bool waitForData(size_t size, sl_u32 timeoutInMs, size_t* actualReady) + { + if (actualReady) + *actualReady = size; + return (_binded_socket->waitforData(timeoutInMs) == RESULT_OK); + + } + + int write(const void* data, size_t size) + { + return _binded_socket->sendTo(nullptr, data, size); + } + + int read(void* buffer, size_t size) + { + size_t actualGet; + + u_result ans = _binded_socket->recvFrom(buffer, size, actualGet); + if (IS_FAIL(ans)) return 0; + return actualGet; + + } + + void clearReadCache() { + _binded_socket->clearRxCache(); + } + + void setStatus(_u32 flag){} + + int getChannelType() { + return CHANNEL_TYPE_UDP; + } + + private: + rp::net::DGramSocket * _binded_socket; + rp::net::SocketAddress _socket; + std::string _ip; + int _port; + }; + + Result<IChannel*> createUdpChannel(const std::string& ip, int port) + { + return new UdpChannel(ip, port); + } +}
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