Diff: embeddedRTPS/include/rtps/communication/UdpDriver.h

Revision:

0:580aba13d1a1

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/embeddedRTPS/include/rtps/communication/UdpDriver.h	Thu Dec 30 21:06:29 2021 +0900
@@ -0,0 +1,64 @@
+/*
+The MIT License
+Copyright (c) 2019 Lehrstuhl Informatik 11 - RWTH Aachen University
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+The above copyright notice and this permission notice shall be included in
+all copies or substantial portions of the Software.
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+THE SOFTWARE
+
+This file is part of embeddedRTPS.
+
+Author: i11 - Embedded Software, RWTH Aachen University
+*/
+
+#ifndef RTPS_UDPDRIVER_H
+#define RTPS_UDPDRIVER_H
+
+#include "UdpConnection.h"
+#include "lwip/udp.h"
+#include "rtps/common/types.h"
+#include "rtps/communication/PacketInfo.h"
+#include "rtps/config.h"
+#include "rtps/storages/PBufWrapper.h"
+
+#include <array>
+
+namespace rtps {
+
+class UdpDriver {
+
+public:
+  typedef void (*udpRxFunc_fp)(void *arg, udp_pcb *pcb, pbuf *p,
+                               const ip_addr_t *addr, Ip4Port_t port);
+
+  UdpDriver(udpRxFunc_fp callback, void *args);
+
+  const rtps::UdpConnection *createUdpConnection(Ip4Port_t receivePort);
+  bool joinMultiCastGroup(ip4_addr_t addr) const;
+  void sendPacket(PacketInfo &info);
+
+  static bool isSameSubnet(ip4_addr_t addr);
+
+private:
+  std::array<UdpConnection, Config::MAX_NUM_UDP_CONNECTIONS> m_conns;
+  std::size_t m_numConns = 0;
+  udpRxFunc_fp m_rxCallback = nullptr;
+  void *m_callbackArgs = nullptr;
+
+  bool sendPacket(const UdpConnection &conn, ip4_addr_t &destAddr,
+                  Ip4Port_t destPort, pbuf &buffer);
+};
+} // namespace rtps
+
+#endif // RTPS_UDPDRIVER_H