libvisp-dev 2.8.0-4 / usr / include / visp / vpNetwork.h

/****************************************************************************
 *
 * $Id: vpNetwork.h 4135 2013-02-13 16:48:19Z fspindle $
 *
 * This file is part of the ViSP software.
 * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
 * 
 * This software is free software; you can redistribute it and/or
 * modify it under the terms of the GNU General Public License
 * ("GPL") version 2 as published by the Free Software Foundation.
 * See the file LICENSE.txt at the root directory of this source
 * distribution for additional information about the GNU GPL.
 *
 * For using ViSP with software that can not be combined with the GNU
 * GPL, please contact INRIA about acquiring a ViSP Professional 
 * Edition License.
 *
 * See http://www.irisa.fr/lagadic/visp/visp.html for more information.
 * 
 * This software was developed at:
 * INRIA Rennes - Bretagne Atlantique
 * Campus Universitaire de Beaulieu
 * 35042 Rennes Cedex
 * France
 * http://www.irisa.fr/lagadic
 *
 * If you have questions regarding the use of this file, please contact
 * INRIA at visp@inria.fr
 * 
 * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
 * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
 *
 *
 * Description:
 * TCP Network
 *
 * Authors:
 * Aurelien Yol
 *
 *****************************************************************************/

#ifndef vpNetwork_H
#define vpNetwork_H

#include <visp/vpConfig.h>
#include <visp/vpRequest.h>

#include <vector>
#include <stdio.h>
#include <string.h>
#include <iostream>

#ifdef UNIX
#  include <unistd.h> 
#  include <sys/socket.h>
#  include <netinet/in.h>
#  include <arpa/inet.h>
#  include <netdb.h>
#else
#  include<io.h>
//#  include<winsock.h>
#  include<winsock2.h>
//#  pragma comment(lib, "ws2_32.lib") // Done by CMake in main CMakeLists.txt
#endif


/*! 
  \class vpNetwork
  
  \ingroup Network

  \brief This class represents a Transmission Control Protocol (TCP) network.
  
  TCP provides reliable, ordered delivery of a stream of bytes from a program 
  on one computer to another program on another computer.
  
  \warning This class shouldn't be used directly. You better use vpClient and
  vpServer to simulate your network. Some exemples are provided in these classes.

  \sa vpServer
  \sa vpNetwork
*/
class VISP_EXPORT vpNetwork
{
protected:

  struct vpReceptor{
#ifdef UNIX
    int                   socketFileDescriptorReceptor;
    socklen_t             receptorAddressSize;
#else
    SOCKET                socketFileDescriptorReceptor;
    int                   receptorAddressSize;
#endif
    struct sockaddr_in    receptorAddress;
    std::string           receptorIP;
  };
  
  struct vpEmitter{
    struct sockaddr_in    emitterAdress;
#ifdef UNIX
    int                   socketFileDescriptorEmitter;
#else
    SOCKET                socketFileDescriptorEmitter;
#endif
  };
  
  //######## PARAMETERS ########
  //#                          #
  //############################
  
  vpEmitter               emitter;
  std::vector<vpReceptor> receptor_list;
  fd_set                  readFileDescriptor;
#ifdef UNIX
  int                     socketMax;
#else
  SOCKET                  socketMax;
#endif
  
  //Message Handling 
  std::vector<vpRequest*> request_list;
  
  unsigned int            max_size_message;
  std::string             separator;
  std::string             beginning;
  std::string             end;
  std::string             param_sep;
  
  std::string             currentMessageReceived;
    
  struct timeval          tv;
  long                    tv_sec;
  long                    tv_usec;
  
  bool                    verboseMode;
  
private:
  
  std::vector<int>  _handleRequests();
  int               _handleFirstRequest();
  
  void              _receiveRequest();
  void              _receiveRequestFrom(const unsigned int &receptorEmitting);
  int               _receiveRequestOnce();
  int               _receiveRequestOnceFrom(const unsigned int &receptorEmitting);
  
public:

                    vpNetwork();
  virtual           ~vpNetwork();
  
  void              addDecodingRequest(vpRequest *);
  
  int               getReceptorIndex(const char *name);
  
  /*!
    Get the Id of the request at the index ind.

    \param ind : Index of the request.
    
    \return Id of the request.
  */
  std::string       getRequestIdFromIndex(const int &ind){ 
                        if(ind >= (int)request_list.size() || ind < 0)
                          return "";
                        return request_list[(unsigned)ind]->getId(); 
                    }
  
  /*!
    Get the maximum size that the emitter can receive (in request mode).
    
    \sa vpNetwork::setMaxSizeReceivedMessage()

    \return Acutal max size value.
  */
  unsigned int      getMaxSizeReceivedMessage(){ return max_size_message; }
  
  void      print(const char *id = "");
  
  template<typename T>
  int               receive(T* object, const unsigned int &sizeOfObject = sizeof(T));
  template<typename T>
  int               receiveFrom(T* object, const unsigned int &receptorEmitting, const unsigned int &sizeOfObject = sizeof(T));
  
  std::vector<int>  receiveRequest();
  std::vector<int>  receiveRequestFrom(const unsigned int &receptorEmitting);
  int               receiveRequestOnce();
  int               receiveRequestOnceFrom(const unsigned int &receptorEmitting);
  
  std::vector<int>  receiveAndDecodeRequest();
  std::vector<int>  receiveAndDecodeRequestFrom(const unsigned int &receptorEmitting);
  int               receiveAndDecodeRequestOnce();
  int               receiveAndDecodeRequestOnceFrom(const unsigned int &receptorEmitting);
  
  void              removeDecodingRequest(const char *);
  
  template<typename T>
  int               send(T* object, const int unsigned &sizeOfObject = sizeof(T));
  template<typename T>
  int               sendTo(T* object, const unsigned int &dest, const unsigned int &sizeOfObject = sizeof(T));
  
  int               sendRequest(vpRequest &req);
  int               sendRequestTo(vpRequest &req, const unsigned int &dest);
  
  int               sendAndEncodeRequest(vpRequest &req);
  int               sendAndEncodeRequestTo(vpRequest &req, const unsigned int &dest);
  
  /*!
    Change the maximum size that the emitter can receive (in request mode).
    
    \sa vpNetwork::getMaxSizeReceivedMessage()

    \param s : new maximum size value.
  */
  void              setMaxSizeReceivedMessage(const unsigned int &s){ max_size_message = s;}
  
  /*!
    Change the time the emitter spend to check if he receives a message from a receptor.
    Initially this value is set to 10usec.
    
    \sa vpNetwork::setTimeoutUSec()

    \param sec : new value in second.
  */
  void              setTimeoutSec(const long &sec){ tv_sec = sec; }
  
  /*!
    Change the time the emitter spend to check if he receives a message from a receptor.
    Initially this value is set to 10usec.
    
    \sa vpNetwork::setTimeoutSec()

    \param usec : new value in micro second.
  */
  void              setTimeoutUSec(const long &usec){ tv_usec = usec; }
  
  /*!
    Set the verbose mode.
    
    \param mode : Change the verbose mode. True to turn on, False to turn off.
  */
  void              setVerbose(const bool &mode){ verboseMode = mode; }
};

//######## Definition of Template Functions ########
//#                                                #
//##################################################

/*!
  Receives a object. The size of the received object is suppose to be the size of the type of the object.
  Note that a received message can correspond to a deconnection signal.
  
  \warning Using this function means that you know what kind of object you are suppose to receive, 
  and when you are suppose to receive.
  If the emitter has several receptors. It might be a problem, and in that case you better use the 
  "request" option.
  
  \sa vpNetwork::receiveRequest()
  \sa vpNetwork::receiveRequestOnce()  
  \sa vpNetwork::receiveAndDecodeRequest()
  \sa vpNetwork::receiveAndDecodeRequestOnce()

  \param object : Received object.
  \param sizeOfObject : Size of the received object.
  
  \return the number of bytes received, or -1 if an error occured.
*/
template<typename T>
int vpNetwork::receive(T* object, const unsigned int &sizeOfObject)
{
  if(receptor_list.size() == 0)
  {
    if(verboseMode)
      vpTRACE( "No receptor" );
    return -1;
  }
  
  tv.tv_sec = tv_sec;
  tv.tv_usec = tv_usec;
  
  FD_ZERO(&readFileDescriptor);        
  
  for(unsigned int i=0; i<receptor_list.size(); i++){
    FD_SET((unsigned int)receptor_list[i].socketFileDescriptorReceptor,&readFileDescriptor);

    if(i == 0)
      socketMax = receptor_list[i].socketFileDescriptorReceptor;
   
    if(socketMax < receptor_list[i].socketFileDescriptorReceptor) socketMax = receptor_list[i].socketFileDescriptorReceptor; 
  }

  int value = select((int)socketMax+1,&readFileDescriptor,NULL,NULL,&tv);
  int numbytes = 0;
  
  if(value == -1){
    if(verboseMode)
      vpERROR_TRACE( "Select error" );
    return -1;
  }
  else if(value == 0){
    //Timeout
    return 0;
  }
  else{
    for(unsigned int i=0; i<receptor_list.size(); i++){
      if(FD_ISSET((unsigned int)receptor_list[i].socketFileDescriptorReceptor,&readFileDescriptor)){
#ifdef UNIX
        numbytes = recv(receptor_list[i].socketFileDescriptorReceptor, (char*)(void*)object, sizeOfObject, 0);
#else
        numbytes = recv((unsigned int)receptor_list[i].socketFileDescriptorReceptor, (char*)(void*)object, (int)sizeOfObject, 0);
#endif
        if(numbytes <= 0)
        {
          std::cout << "Disconnected : " << inet_ntoa(receptor_list[i].receptorAddress.sin_addr) << std::endl;
          receptor_list.erase(receptor_list.begin()+(int)i);
          return numbytes;
        }
        
        break;
      }
    }
  }
  
  return numbytes;
}

/*!
  Receives a object from a receptor, by specifying its size or not.
  Note that a received message can correspond to a deconnection signal.
  
  \warning Using this function means that you know what kind of object you are suppose to receive, 
  and when you are suppose to receive.
  If the emitter has several receptors. It might be a problem, and in that case you better use the 
  "request" mode.
  
  \sa vpNetwork::getReceptorIndex()
  \sa vpNetwork::receiveRequestFrom()
  \sa vpNetwork::receiveRequestOnceFrom() 
  \sa vpNetwork::receiveAndDecodeRequestFrom()
  \sa vpNetwork::receiveAndDecodeRequestOnceFrom()

  \param object : Received object.
  \param receptorEmitting : Index of the receptor emitting the message.
  \param sizeOfObject : Size of the received object.
  
  \return the number of bytes received, or -1 if an error occured.
*/
template<typename T>
int vpNetwork::receiveFrom(T* object, const unsigned int &receptorEmitting, const unsigned int &sizeOfObject)
{
  if(receptor_list.size() == 0 || receptorEmitting > (int)receptor_list.size()-1 )
  {
    if(verboseMode)
      vpTRACE( "No receptor at the specified index" );
    return -1;
  }
  
  tv.tv_sec = tv_sec;
  tv.tv_usec = tv_usec;
  
  FD_ZERO(&readFileDescriptor);
  
  socketMax = receptor_list[receptorEmitting].socketFileDescriptorReceptor;
  FD_SET((unsigned int)receptor_list[receptorEmitting].socketFileDescriptorReceptor,&readFileDescriptor);
    
  int value = select((int)socketMax+1,&readFileDescriptor,NULL,NULL,&tv);
  int numbytes = 0;
  
  if(value == -1){
    if(verboseMode)
      vpERROR_TRACE( "Select error" );
    return -1;
  }
  else if(value == 0){
    //timeout
    return 0;
  }
  else{
    if(FD_ISSET((unsigned int)receptor_list[receptorEmitting].socketFileDescriptorReceptor,&readFileDescriptor)){
#ifdef UNIX
      numbytes = recv(receptor_list[receptorEmitting].socketFileDescriptorReceptor, (char*)(void*)object, sizeOfObject, 0);
#else
      numbytes = recv((unsigned int)receptor_list[receptorEmitting].socketFileDescriptorReceptor, (char*)(void*)object, (int)sizeOfObject, 0);
#endif
      if(numbytes <= 0)
      {
        std::cout << "Disconnected : " << inet_ntoa(receptor_list[receptorEmitting].receptorAddress.sin_addr) << std::endl;
        receptor_list.erase(receptor_list.begin()+(int)receptorEmitting);
        return numbytes;
      }
    }
  }
  
  return numbytes;
}

/*!
  Send an object. The size of the received object is suppose to be the size of its type.
  Note that sending object containing pointers, virtual methods, etc, won't probably work.
  
  \warning Using this function means that, in the other side of the network, it knows what kind of object it is suppose to receive, 
  and when it is suppose to receive.
  If the emitter has several receptors. It might be a problem, and in that case you better use the 
  "request" option.
  
  \sa vpNetwork::sendTo()
  \sa vpNetwork::sendRequest()
  \sa vpNetwork::sendRequestTo()
  \sa vpNetwork::sendAndEncodeRequest()
  \sa vpNetwork::sendAndEncodeRequestTo()

  \param object : Received object.
  \param sizeOfObject : Size of the object
  
  \return The number of bytes sent, or -1 if an error happened.
*/
template<typename T>
int vpNetwork::send(T* object, const unsigned int &sizeOfObject)
{
  if(receptor_list.size() == 0)
  {
    if(verboseMode)
      vpTRACE( "No receptor !" );
    return 0;
  }
  
  int flags = 0;
#if ! defined(APPLE) && ! defined(WIN32)
  flags = MSG_NOSIGNAL; // Only for Linux
#endif

#ifdef UNIX
  return sendto(receptor_list[0].socketFileDescriptorReceptor, (const char*)(void*)object, sizeOfObject, 
                flags, (sockaddr*) &receptor_list[0].receptorAddress,receptor_list[0].receptorAddressSize);
#else
  return sendto(receptor_list[0].socketFileDescriptorReceptor, (const char*)(void*)object, (int)sizeOfObject, 
                flags, (sockaddr*) &receptor_list[0].receptorAddress,receptor_list[0].receptorAddressSize);
#endif
  
}

/*!
  Send an object. The size has to be specified.
  
  \warning Using this function means that, in the other side of the network, it knows what kind of object it is suppose to receive, 
  and when it is suppose to receive.
  If the emitter has several receptors. It might be a problem, and in that case you better use the 
  "request" option.
  
  \sa vpNetwork::getReceptorIndex()
  \sa vpNetwork::send()
  \sa vpNetwork::sendRequest()
  \sa vpNetwork::sendRequestTo()
  \sa vpNetwork::sendAndEncodeRequest()
  \sa vpNetwork::sendAndEncodeRequestTo()

  \param object : Object to send.
  \param dest : Index of the receptor that you are sending the object.
  \param sizeOfObject : Size of the object.
  
  \return The number of bytes sent, or -1 if an error happened.
*/
template<typename T>
int vpNetwork::sendTo(T* object, const unsigned int &dest, const unsigned int &sizeOfObject)
{
  if(receptor_list.size() == 0 || dest > (int)receptor_list.size()-1 )
  {
    if(verboseMode)
      vpTRACE( "No receptor at the specified index." );
    return 0;
  }
  
  int flags = 0;
#if ! defined(APPLE) && ! defined(WIN32)
  flags = MSG_NOSIGNAL; // Only for Linux
#endif

#ifdef UNIX
  return sendto(receptor_list[dest].socketFileDescriptorReceptor, (const char*)(void*)object, sizeOfObject, 
                flags, (sockaddr*) &receptor_list[dest].receptorAddress,receptor_list[dest].receptorAddressSize);
#else
  return sendto(receptor_list[dest].socketFileDescriptorReceptor, (const char*)(void*)object, (int)sizeOfObject, 
                flags, (sockaddr*) &receptor_list[dest].receptorAddress,receptor_list[dest].receptorAddressSize);
#endif
}

#endif