Line data    Source code

       1             : /*
       2             :    This program is free software: you can redistribute it and/or modify
       3             :    it under the terms of the GNU General Public License as published by
       4             :    the Free Software Foundation, either version 3 of the License, or
       5             :    (at your option) any later version.
       6             : 
       7             :    This program is distributed in the hope that it will be useful,
       8             :    but WITHOUT ANY WARRANTY; without even the implied warranty of
       9             :    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
      10             :    GNU General Public License for more details.
      11             : 
      12             :    You should have received a copy of the GNU General Public License
      13             :    along with this program.  If not, see <http://www.gnu.org/licenses/>.
      14             :  */
      15             : /*
      16             :   simple socket handling class for systems with BSD socket API
      17             :  */
      18             : 
      19             : #include <AP_HAL/AP_HAL.h>
      20             : #include <AP_Networking/AP_Networking_Config.h>
      21             : 
      22             : #if AP_NETWORKING_SOCKETS_ENABLED || defined(AP_SOCKET_NATIVE_ENABLED)
      23             : 
      24             : #ifndef SOCKET_CLASS_NAME
      25             : #error "Don't include Socket.hpp directly"
      26             : #endif
      27             : 
      28             : #define IP4_STR_LEN 16
      29             : 
      30             : class SOCKET_CLASS_NAME {
      31             : public:
      32             :     SOCKET_CLASS_NAME(bool _datagram);
      33             :     SOCKET_CLASS_NAME(bool _datagram, int _fd);
      34             :     ~SOCKET_CLASS_NAME();
      35             : 
      36             :     bool connect(const char *address, uint16_t port);
      37             :     bool connect_timeout(const char *address, uint16_t port, uint32_t timeout_ms);
      38             :     bool bind(const char *address, uint16_t port);
      39             : #if defined(AP_SOCKET_NATIVE_ENABLED)
      40             :     bool connect_unix(const char *path);
      41             :     bool bind_unix(const char *path);
      42             :     static void register_unix_path(int fd, const char *path);
      43             :     static void cleanup_unix_paths();
      44             : #endif
      45             :     bool reuseaddress() const;
      46             :     bool set_blocking(bool blocking) const;
      47             :     bool set_cloexec() const;
      48             :     void set_broadcast(void) const;
      49             : 
      50             :     /*
      51             :       set the address of the local interface to send and receive
      52             :       multicast on.  Must be called before connect().  The default of
      53             :       zero (INADDR_ANY) leaves the choice of interface to the routing
      54             :       table, which is what you want unless you have a reason to pin the
      55             :       traffic to one interface.  Address is in network byte order.
      56             :      */
      57           5 :     void set_multicast_interface_address(uint32_t addr) {
      58           5 :         multicast_interface_address = addr;
      59           5 :     }
      60             : 
      61             :     ssize_t send(const void *pkt, size_t size) const;
      62             :     ssize_t sendto(const void *buf, size_t size, const char *address, uint16_t port);
      63             :     ssize_t sendto(const void *buf, size_t size, uint32_t address, uint16_t port);
      64             :     ssize_t recv(void *pkt, size_t size, uint32_t timeout_ms);
      65             : 
      66             :     // return the IP address and port of the last received packet
      67             :     void last_recv_address(const char *&ip_addr, uint16_t &port) const;
      68             : 
      69             :     // return the IP address and port of the last received packet, using caller supplied buffer
      70             :     const char *last_recv_address(char *ip_addr_buf, uint8_t buflen, uint16_t &port) const;
      71             : 
      72             :     // return the IP address and port of the last received packet
      73             :     bool last_recv_address(uint32_t &ip_addr, uint16_t &port) const;
      74             : 
      75             :     // return true if there is pending data for input
      76             :     bool pollin(uint32_t timeout_ms);
      77             : 
      78             :     // return true if there is room for output data
      79             :     bool pollout(uint32_t timeout_ms);
      80             : 
      81             :     // start listening for new tcp connections
      82             :     bool listen(uint16_t backlog) const;
      83             : 
      84             :     // close socket
      85             :     void close(void);
      86             : 
      87             :     // accept a new connection. Only valid for TCP connections after
      88             :     // listen has been used. A new socket is returned
      89             :     SOCKET_CLASS_NAME *accept(uint32_t timeout_ms);
      90             : 
      91             :     // get a FD suitable for read selection
      92    42231470 :     int get_read_fd(void) const {
      93    42231470 :         return fd_in != -1? fd_in : fd;
      94             :     }
      95             : 
      96             :     // create a new socket with same fd, but new memory
      97             :     // the old socket gets fd of -1
      98             :     SOCKET_CLASS_NAME *duplicate(void);
      99             : 
     100           0 :     bool is_connected(void) const {
     101           0 :         return connected;
     102             :     }
     103             : 
     104           0 :     bool is_pending(void) const {
     105           0 :         return pending_connect;
     106             :     }
     107             :     
     108             :     // access to inet_ntop
     109             :     static const char *inet_addr_to_str(uint32_t addr, char *dst, uint16_t len);
     110             : 
     111             :     // access to inet_pton
     112             :     static uint32_t inet_str_to_addr(const char *ipstr);
     113             :     
     114             : private:
     115             :     bool datagram;
     116             :     // we avoid using struct sockaddr_in here to keep support for
     117             :     // mixing native sockets and lwip sockets in SITL
     118             :     uint32_t last_in_addr[4];
     119             :     bool is_multicast_address(struct sockaddr_in &addr) const;
     120             : 
     121             :     int fd = -1;
     122             : 
     123             :     // fd_in is used for multicast UDP
     124             :     int fd_in = -1;
     125             : 
     126             :     // address of the local interface to multicast on, network byte
     127             :     // order; zero (INADDR_ANY) leaves the choice to the routing table
     128             :     uint32_t multicast_interface_address;
     129             : 
     130             :     bool connected;
     131             : 
     132             :     bool pending_connect;
     133             : 
     134             :     void make_sockaddr(const char *address, uint16_t port, struct sockaddr_in &sockaddr);
     135             : };
     136             : 
     137             : #endif // AP_NETWORKING_SOCKETS_ENABLED