MavLinkCom/src/impl/UdpSocketImpl.hpp - master - vasandi/AirSim

MavLinkCom/src/impl/UdpSocketImpl.hpp

88 строк2 KB

Андрей Васильченко

сборка под ubuntu 26.04

08 июл 2026, 10:15

08 июл 2026, 10:15d53c5a2

#ifndef MavLinkCom_UdpSocketImpl_hpp
#define MavLinkCom_UdpSocketImpl_hpp

#include "Utils.hpp"
#include "UdpSocket.hpp"
#ifdef _WIN32
// windows
#ifndef WIN32_LEAN_AND_MEAN
#define WIN32_LEAN_AND_MEAN
#endif
#include <windows.h>
#include <winsock2.h>
#include <ws2tcpip.h>
// Need to link with Ws2_32.lib
#pragma comment(lib, "Ws2_32.lib")

typedef int socklen_t;
static bool socket_initialized_ = false;
#else

// posix
#include <sys/types.h>
#include <sys/socket.h>
#include <arpa/inet.h>
#include <netinet/in.h>
#include <cerrno>
#include <netdb.h>
#include <errno.h>
#include <unistd.h>
#include <arpa/inet.h>
#include <fcntl.h>
typedef int SOCKET;
const int INVALID_SOCKET = -1;
const int ERROR_ACCESS_DENIED = EACCES;

inline int WSAGetLastError()
{
    return errno;
}
const int SOCKET_ERROR = -1;
#define E_NOT_SUFFICIENT_BUFFER ENOMEM

#endif

using namespace mavlink_utils;
using namespace mavlinkcom;

namespace mavlinkcom_impl
{

class UdpSocketImpl
{
public:
    UdpSocketImpl();
    ~UdpSocketImpl();

    int connect(const std::string& address, uint16_t port);
    int bind(const std::string& address, uint16_t port);
    bool reuseaddress();
    void set_broadcast(void);

    int send(const void* pkt, size_t size);
    int sendto(const void* buf, size_t size, const std::string& address, uint16_t port);
    int recv(void* pkt, size_t size, uint32_t timeout_ms);

    // return the IP address and port of the last received packet
    void last_recv_address(std::string& ip_addr, uint16_t& port);

    void close();

private:
    struct sockaddr_in in_addr
    {
    };

    SOCKET fd = -1;

    // return true if there is pending data for input
    bool pollin(uint32_t timeout_ms);

    // return true if there is room for output data
    bool pollout(uint32_t timeout_ms);

    void make_sockaddr(const std::string& address, uint16_t port, struct sockaddr_in& sockaddr);
};
}

#endif