S Morita / mbed-mros2

Porting mros2 as an Mbed library.

Dependents:   mbed-os-example-mros2 example-mbed-mros2-sub-pose example-mbed-mros2-pub-twist example-mbed-mros2-mturtle-teleop

embeddedRTPS/include/rtps/communication/UdpDriver.h@7:c80f65422d99, 2022-03-19 (annotated)

Committer:
smoritaemb
Date:
Sat Mar 19 09:23:37 2022 +0900
Revision:
7:c80f65422d99
Parent:
0:580aba13d1a1 
Merge test_assortment_of_msgs branch.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
smoritaemb 0:580aba13d1a1 1 /*
smoritaemb 0:580aba13d1a1 2 The MIT License
smoritaemb 0:580aba13d1a1 3 Copyright (c) 2019 Lehrstuhl Informatik 11 - RWTH Aachen University
smoritaemb 0:580aba13d1a1 4 Permission is hereby granted, free of charge, to any person obtaining a copy
smoritaemb 0:580aba13d1a1 5 of this software and associated documentation files (the "Software"), to deal
smoritaemb 0:580aba13d1a1 6 in the Software without restriction, including without limitation the rights
smoritaemb 0:580aba13d1a1 7 to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
smoritaemb 0:580aba13d1a1 8 copies of the Software, and to permit persons to whom the Software is
smoritaemb 0:580aba13d1a1 9 furnished to do so, subject to the following conditions:
smoritaemb 0:580aba13d1a1 10 The above copyright notice and this permission notice shall be included in
smoritaemb 0:580aba13d1a1 11 all copies or substantial portions of the Software.
smoritaemb 0:580aba13d1a1 12 THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
smoritaemb 0:580aba13d1a1 13 IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
smoritaemb 0:580aba13d1a1 14 FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
smoritaemb 0:580aba13d1a1 15 AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
smoritaemb 0:580aba13d1a1 16 LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
smoritaemb 0:580aba13d1a1 17 OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
smoritaemb 0:580aba13d1a1 18 THE SOFTWARE
smoritaemb 0:580aba13d1a1 19
smoritaemb 0:580aba13d1a1 20 This file is part of embeddedRTPS.
smoritaemb 0:580aba13d1a1 21
smoritaemb 0:580aba13d1a1 22 Author: i11 - Embedded Software, RWTH Aachen University
smoritaemb 0:580aba13d1a1 23 */
smoritaemb 0:580aba13d1a1 24
smoritaemb 0:580aba13d1a1 25 #ifndef RTPS_UDPDRIVER_H
smoritaemb 0:580aba13d1a1 26 #define RTPS_UDPDRIVER_H
smoritaemb 0:580aba13d1a1 27
smoritaemb 0:580aba13d1a1 28 #include "UdpConnection.h"
smoritaemb 0:580aba13d1a1 29 #include "lwip/udp.h"
smoritaemb 0:580aba13d1a1 30 #include "rtps/common/types.h"
smoritaemb 0:580aba13d1a1 31 #include "rtps/communication/PacketInfo.h"
smoritaemb 0:580aba13d1a1 32 #include "rtps/config.h"
smoritaemb 0:580aba13d1a1 33 #include "rtps/storages/PBufWrapper.h"
smoritaemb 0:580aba13d1a1 34
smoritaemb 0:580aba13d1a1 35 #include <array>
smoritaemb 0:580aba13d1a1 36
smoritaemb 0:580aba13d1a1 37 namespace rtps {
smoritaemb 0:580aba13d1a1 38
smoritaemb 0:580aba13d1a1 39 class UdpDriver {
smoritaemb 0:580aba13d1a1 40
smoritaemb 0:580aba13d1a1 41 public:
smoritaemb 0:580aba13d1a1 42 typedef void (*udpRxFunc_fp)(void *arg, udp_pcb *pcb, pbuf *p,
smoritaemb 0:580aba13d1a1 43 const ip_addr_t *addr, Ip4Port_t port);
smoritaemb 0:580aba13d1a1 44
smoritaemb 0:580aba13d1a1 45 UdpDriver(udpRxFunc_fp callback, void *args);
smoritaemb 0:580aba13d1a1 46
smoritaemb 0:580aba13d1a1 47 const rtps::UdpConnection *createUdpConnection(Ip4Port_t receivePort);
smoritaemb 0:580aba13d1a1 48 bool joinMultiCastGroup(ip4_addr_t addr) const;
smoritaemb 0:580aba13d1a1 49 void sendPacket(PacketInfo &info);
smoritaemb 0:580aba13d1a1 50
smoritaemb 0:580aba13d1a1 51 static bool isSameSubnet(ip4_addr_t addr);
smoritaemb 0:580aba13d1a1 52
smoritaemb 0:580aba13d1a1 53 private:
smoritaemb 0:580aba13d1a1 54 std::array<UdpConnection, Config::MAX_NUM_UDP_CONNECTIONS> m_conns;
smoritaemb 0:580aba13d1a1 55 std::size_t m_numConns = 0;
smoritaemb 0:580aba13d1a1 56 udpRxFunc_fp m_rxCallback = nullptr;
smoritaemb 0:580aba13d1a1 57 void *m_callbackArgs = nullptr;
smoritaemb 0:580aba13d1a1 58
smoritaemb 0:580aba13d1a1 59 bool sendPacket(const UdpConnection &conn, ip4_addr_t &destAddr,
smoritaemb 0:580aba13d1a1 60 Ip4Port_t destPort, pbuf &buffer);
smoritaemb 0:580aba13d1a1 61 };
smoritaemb 0:580aba13d1a1 62 } // namespace rtps
smoritaemb 0:580aba13d1a1 63
smoritaemb 0:580aba13d1a1 64 #endif // RTPS_UDPDRIVER_H