From dcd2dd87ce8034a46e4150a89dc69f6ba1a22d8d Mon Sep 17 00:00:00 2001
From: Edvin <edj7467@gmail.com>
Date: Thu, 10 Apr 2025 11:35:25 +0200
Subject: Implemented code for Slamtec rplidar C1

---
 LIDAR/sdk/src/hal/socket.h | 149 +++++++++++++++++++++++++++++++++++++++++++++
 1 file changed, 149 insertions(+)
 create mode 100644 LIDAR/sdk/src/hal/socket.h

(limited to 'LIDAR/sdk/src/hal/socket.h')

diff --git a/LIDAR/sdk/src/hal/socket.h b/LIDAR/sdk/src/hal/socket.h
new file mode 100644
index 0000000..cf4fab0
--- /dev/null
+++ b/LIDAR/sdk/src/hal/socket.h
@@ -0,0 +1,149 @@
+/*
+ *  RoboPeak Project
+ *  HAL Layer - Socket Interface
+ *  Copyright 2009 - 2013 RoboPeak Project
+ */
+
+#pragma once
+
+#include <vector>
+
+namespace rp{ namespace net {
+
+class _single_thread SocketAddress 
+{
+
+public:
+    enum address_type_t {
+        ADDRESS_TYPE_UNSPEC = 0,
+        ADDRESS_TYPE_INET   = 1,
+        ADDRESS_TYPE_INET6  = 2,
+    };
+
+public:
+
+
+
+    SocketAddress();
+    SocketAddress(const char * addrString, int port, address_type_t = ADDRESS_TYPE_INET);
+    // do not use this function, internal usage
+    SocketAddress(void * platform_data);
+    SocketAddress(const SocketAddress &);
+    
+    SocketAddress & operator = (const SocketAddress &);
+
+    virtual ~SocketAddress();
+    
+    virtual int getPort() const;
+    virtual u_result setPort(int port);
+
+    virtual u_result setAddressFromString(const char * address_string,  address_type_t = ADDRESS_TYPE_INET);
+    virtual u_result getAddressAsString(char * buffer, size_t buffersize) const;
+    
+    virtual address_type_t getAddressType() const; 
+
+    virtual u_result getRawAddress(_u8 * buffer, size_t bufferSize) const;
+
+    const void * getPlatformData() const {
+        return _platform_data;
+    }
+
+    virtual void setLoopbackAddress(address_type_t = ADDRESS_TYPE_INET);
+    virtual void setBroadcastAddressIPv4();
+    virtual void setAnyAddress(address_type_t = ADDRESS_TYPE_INET);
+
+public:
+    static size_t LoopUpHostName(const char * hostname, const char * sevicename, std::vector<SocketAddress> &addresspool , bool performDNS = true, address_type_t = ADDRESS_TYPE_INET);
+
+protected:
+    void * _platform_data;
+};
+
+
+
+class SocketBase 
+{
+public:
+    enum socket_family_t {
+        SOCKET_FAMILY_INET  = 0,
+        SOCKET_FAMILY_INET6 = 1,
+        SOCKET_FAMILY_RAW   = 2,
+    };
+
+
+    enum socket_direction_mask {
+        SOCKET_DIR_RD = 0x1,
+        SOCKET_DIR_WR = 0x2,
+        SOCKET_DIR_BOTH = (SOCKET_DIR_RD | SOCKET_DIR_WR),
+    };
+
+    enum {
+        DEFAULT_SOCKET_TIMEOUT = 10000, //10sec
+    };
+
+    virtual ~SocketBase() {}
+    virtual void dispose() = 0;
+    virtual u_result bind(const SocketAddress & ) = 0;
+    
+    virtual u_result getLocalAddress(SocketAddress & ) = 0;
+    virtual u_result setTimeout(_u32 timeout, socket_direction_mask msk = SOCKET_DIR_BOTH) = 0;
+
+    virtual u_result waitforSent(_u32 timeout  = DEFAULT_SOCKET_TIMEOUT) = 0;
+    virtual u_result waitforData(_u32 timeout  = DEFAULT_SOCKET_TIMEOUT)  = 0;
+protected:
+    SocketBase() {} 
+};
+
+
+class _single_thread StreamSocket : public SocketBase
+{
+public:
+
+    enum {
+        MAX_BACKLOG = 128,
+    };
+
+    static StreamSocket * CreateSocket(socket_family_t family = SOCKET_FAMILY_INET);
+    
+    virtual u_result connect(const SocketAddress & pairAddress) = 0;
+    
+    virtual u_result listen(int backlog = MAX_BACKLOG) = 0;
+    virtual StreamSocket * accept(SocketAddress * pairAddress = NULL) = 0;
+    virtual u_result waitforIncomingConnection(_u32 timeout  = DEFAULT_SOCKET_TIMEOUT) = 0;
+
+    virtual u_result send(const void * buffer, size_t len) = 0;
+    
+    virtual u_result recv(void *buf, size_t len, size_t & recv_len) = 0;
+    
+    virtual u_result getPeerAddress(SocketAddress & ) = 0;
+
+    virtual u_result shutdown(socket_direction_mask mask) = 0;
+
+    virtual u_result enableKeepAlive(bool enable = true) = 0;
+    
+    virtual u_result enableNoDelay(bool enable = true) = 0;
+
+protected:
+    virtual ~StreamSocket() {} // use dispose();
+    StreamSocket() {}
+};
+
+class _single_thread DGramSocket: public SocketBase
+{
+
+public:
+
+    static DGramSocket * CreateSocket(socket_family_t family = SOCKET_FAMILY_INET);
+       
+    virtual u_result setPairAddress(const SocketAddress * pairAddress) = 0;
+    virtual u_result sendTo(const SocketAddress * target, const void * buffer, size_t len) = 0;
+    virtual u_result recvFrom(void *buf, size_t len, size_t & recv_len, SocketAddress * sourceAddr = NULL) = 0;
+    virtual u_result clearRxCache() = 0;
+    
+protected:
+    virtual ~DGramSocket() {} // use dispose();
+
+    DGramSocket() {}
+};
+
+}}
-- 
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