Visual Servoing Platform version 3.5.0
vpUDPClient.cpp
1/****************************************************************************
2 *
3 * ViSP, open source Visual Servoing Platform software.
4 * Copyright (C) 2005 - 2019 by Inria. All rights reserved.
5 *
6 * This software is free software; you can redistribute it and/or modify
7 * it under the terms of the GNU General Public License as published by
8 * the Free Software Foundation; either version 2 of the License, or
9 * (at your option) any later version.
10 * See the file LICENSE.txt at the root directory of this source
11 * distribution for additional information about the GNU GPL.
12 *
13 * For using ViSP with software that can not be combined with the GNU
14 * GPL, please contact Inria about acquiring a ViSP Professional
15 * Edition License.
16 *
17 * See http://visp.inria.fr for more information.
18 *
19 * This software was developed at:
20 * Inria Rennes - Bretagne Atlantique
21 * Campus Universitaire de Beaulieu
22 * 35042 Rennes Cedex
23 * France
24 *
25 * If you have questions regarding the use of this file, please contact
26 * Inria at visp@inria.fr
27 *
28 * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
29 * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
30 *
31 * Description:
32 * UDP Client
33 *
34 *****************************************************************************/
35
36#include <cstring>
37#include <sstream>
38
39#include <visp3/core/vpConfig.h>
40
41// inet_ntop() not supported on win XP
42#ifdef VISP_HAVE_FUNC_INET_NTOP
43
44#if !defined(_WIN32) && (defined(__unix__) || defined(__unix) || (defined(__APPLE__) && defined(__MACH__))) // UNIX
45#include <arpa/inet.h>
46#include <errno.h>
47#include <netdb.h>
48#include <unistd.h>
49#define DWORD int
50#else
51#if defined(__MINGW32__)
52# ifndef _WIN32_WINNT
53# define _WIN32_WINNT _WIN32_WINNT_VISTA // 0x0600
54# endif
55#endif
56#include <Ws2tcpip.h>
57#endif
58
59#include <visp3/core/vpUDPClient.h>
60
67 : m_is_init(false), m_serverAddress(), m_serverLength(0), m_socketFileDescriptor()
68#if defined(_WIN32)
69 , m_wsa()
70#endif
71{
72}
73
80vpUDPClient::vpUDPClient(const std::string &hostname, int port)
81 : m_is_init(false), m_serverAddress(), m_serverLength(0), m_socketFileDescriptor()
82#if defined(_WIN32)
83 , m_wsa()
84#endif
85{
86 init(hostname, port);
87}
88
93
97void vpUDPClient::close()
98{
99 if (m_is_init) {
100#if !defined(_WIN32) && (defined(__unix__) || defined(__unix) || (defined(__APPLE__) && defined(__MACH__))) // UNIX
101 ::close(m_socketFileDescriptor);
102#else
103 closesocket(m_socketFileDescriptor);
104 WSACleanup();
105#endif
106 m_is_init = false;
107 }
108}
109
116void vpUDPClient::init(const std::string &hostname, int port)
117{
118 // Close connexion if already initialized
119 close();
120
121#if defined(_WIN32)
122 if (WSAStartup(MAKEWORD(2, 2), &m_wsa) != 0) {
123 std::stringstream ss;
124 ss << "Failed WSAStartup for the server, error code: " << WSAGetLastError();
125 throw vpException(vpException::fatalError, ss.str());
126 }
127#endif
128
129 /* socket: create the socket */
130 m_socketFileDescriptor = socket(AF_INET, SOCK_DGRAM, 0);
131#if defined(_WIN32)
132 if (m_socketFileDescriptor == INVALID_SOCKET)
133#else
134 if (m_socketFileDescriptor < 0)
135#endif
136 throw vpException(vpException::fatalError, "Error opening UDP socket for the client!");
137
138 /* build the server's Internet address */
139 memset(&m_serverAddress, 0, sizeof(m_serverAddress));
140 std::stringstream ss;
141 ss << port;
142 struct addrinfo hints;
143 struct addrinfo *result = NULL;
144 struct addrinfo *ptr = NULL;
145
146 memset(&hints, 0, sizeof(hints));
147 hints.ai_family = AF_INET;
148 hints.ai_socktype = SOCK_DGRAM;
149 hints.ai_protocol = IPPROTO_UDP;
150
151 DWORD dwRetval = getaddrinfo(hostname.c_str(), ss.str().c_str(), &hints, &result);
152 if (dwRetval != 0) {
153 ss.str("");
154 ss << "getaddrinfo failed with error: " << dwRetval;
155 throw vpException(vpException::fatalError, ss.str());
156 }
157
158 for (ptr = result; ptr != NULL; ptr = ptr->ai_next) {
159 if (ptr->ai_family == AF_INET && ptr->ai_socktype == SOCK_DGRAM) {
160 m_serverAddress = *(struct sockaddr_in *)ptr->ai_addr;
161 break;
162 }
163 }
164
165 freeaddrinfo(result);
166
167 m_serverLength = sizeof(m_serverAddress);
168 m_is_init = true;
169}
170
193int vpUDPClient::receive(std::string &msg, int timeoutMs)
194{
195 if (!m_is_init) {
196 throw(vpException(vpException::notInitialized, "UDP client is not initialized"));
197 }
198 fd_set s;
199 FD_ZERO(&s);
200 FD_SET(m_socketFileDescriptor, &s);
201 struct timeval timeout;
202 if (timeoutMs > 0) {
203 timeout.tv_sec = timeoutMs / 1000;
204 timeout.tv_usec = (timeoutMs % 1000) * 1000;
205 }
206 int retval = select((int)m_socketFileDescriptor + 1, &s, NULL, NULL, timeoutMs > 0 ? &timeout : NULL);
207
208 if (retval == -1) {
209 std::cerr << "Error select!" << std::endl;
210 return -1;
211 }
212
213 if (retval > 0) {
214 /* recvfrom: receive a UDP datagram from the server */
215 int length = static_cast<int>(recvfrom(m_socketFileDescriptor, m_buf, sizeof(m_buf), 0, (struct sockaddr *)&m_serverAddress,
216 (socklen_t *)&m_serverLength));
217 if (length <= 0) {
218 return length < 0 ? -1 : 0;
219 }
220
221 msg = std::string(m_buf, length);
222 return length;
223 }
224
225 // Timeout
226 return 0;
227}
228
239int vpUDPClient::receive(void *msg, size_t len, int timeoutMs)
240{
241 if (!m_is_init) {
242 throw(vpException(vpException::notInitialized, "UDP client is not initialized"));
243 }
244 fd_set s;
245 FD_ZERO(&s);
246 FD_SET(m_socketFileDescriptor, &s);
247 struct timeval timeout;
248 if (timeoutMs > 0) {
249 timeout.tv_sec = timeoutMs / 1000;
250 timeout.tv_usec = (timeoutMs % 1000) * 1000;
251 }
252 int retval = select((int)m_socketFileDescriptor + 1, &s, NULL, NULL, timeoutMs > 0 ? &timeout : NULL);
253
254 if (retval == -1) {
255 std::cerr << "Error select!" << std::endl;
256 return -1;
257 }
258
259 if (retval > 0) {
260 /* recvfrom: receive a UDP datagram from the server */
261 int length = static_cast<int>(recvfrom(m_socketFileDescriptor, (char *)msg, (int)len, 0, (struct sockaddr *)&m_serverAddress,
262 (socklen_t *)&m_serverLength));
263 if (length <= 0) {
264 return length < 0 ? -1 : 0;
265 }
266
267 return length;
268 }
269
270 // Timeout
271 return 0;
272}
273
274
300int vpUDPClient::send(const std::string &msg)
301{
302 if (!m_is_init) {
303 throw(vpException(vpException::notInitialized, "UDP client is not initialized"));
304 }
305 if (msg.size() > VP_MAX_UDP_PAYLOAD) {
306 std::cerr << "Message is too long!" << std::endl;
307 return 0;
308 }
309
310/* send the message to the server */
311#if !defined(_WIN32) && (defined(__unix__) || defined(__unix) || (defined(__APPLE__) && defined(__MACH__))) // UNIX
312 return static_cast<int>(sendto(m_socketFileDescriptor, msg.c_str(), msg.size(), 0, (struct sockaddr *)&m_serverAddress,
313 m_serverLength));
314#else
315 return sendto(m_socketFileDescriptor, msg.c_str(), (int)msg.size(), 0, (struct sockaddr *)&m_serverAddress,
316 m_serverLength);
317#endif
318}
319
329int vpUDPClient::send(const void *msg, size_t len)
330{
331 if (!m_is_init) {
332 throw(vpException(vpException::notInitialized, "UDP client is not initialized"));
333 }
334 if (len > VP_MAX_UDP_PAYLOAD) {
335 std::cerr << "Message is too long!" << std::endl;
336 return 0;
337 }
338
339/* send the message to the server */
340#if !defined(_WIN32) && (defined(__unix__) || defined(__unix) || (defined(__APPLE__) && defined(__MACH__))) // UNIX
341 return static_cast<int>(sendto(m_socketFileDescriptor, msg, len, 0, (struct sockaddr *)&m_serverAddress,
342 m_serverLength));
343#else
344 return sendto(m_socketFileDescriptor, (char *)msg, (int)len, 0, (struct sockaddr *)&m_serverAddress,
345 m_serverLength);
346#endif
347}
348
349#elif !defined(VISP_BUILD_SHARED_LIBS)
350// Work arround to avoid warning: libvisp_core.a(vpUDPClient.cpp.o) has no symbols
351void dummy_vpUDPClient(){};
352#endif
error that can be emited by ViSP classes.
Definition: vpException.h:72
@ notInitialized
Used to indicate that a parameter is not initialized.
Definition: vpException.h:98
@ fatalError
Fatal error.
Definition: vpException.h:96
int receive(std::string &msg, int timeoutMs=0)
virtual ~vpUDPClient()
Definition: vpUDPClient.cpp:92
void init(const std::string &hostname, int port)
bool m_is_init
Definition: vpUDPClient.h:186
int send(const std::string &msg)