KatanaNativeInterface
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00001 /* 00002 * Katana Native Interface - A C++ interface to the robot arm Katana. 00003 * Copyright (C) 2005 Neuronics AG 00004 * Check out the AUTHORS file for detailed contact information. 00005 * 00006 * This program is free software; you can redistribute it and/or modify 00007 * it under the terms of the GNU General Public License as published by 00008 * the Free Software Foundation; either version 2 of the License, or 00009 * (at your option) any later version. 00010 * 00011 * This program is distributed in the hope that it will be useful, 00012 * but WITHOUT ANY WARRANTY; without even the implied warranty of 00013 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 00014 * GNU General Public License for more details. 00015 * 00016 * You should have received a copy of the GNU General Public License 00017 * along with this program; if not, write to the Free Software 00018 * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA 00019 */ 00020 00021 00022 00023 #ifndef _CDLSOCKET_H_ 00024 #define _CDLSOCKET_H_ 00025 00026 #include "common/dllexport.h" 00027 #include "common/Timer.h" 00028 00029 #include "KNI/cdlBase.h" 00030 #include "KNI/cdlCOMExceptions.h" 00031 00032 //-------------------------------------------------------// 00033 #ifdef WIN32 00034 //-------------------------------------------------------// 00035 #include <windows.h> 00036 #include <winsock.h> 00037 #include <stdio.h> 00038 //-------------------------------------------------------// 00039 #else //LINUX 00040 //-------------------------------------------------------// 00041 #include <sys/types.h> 00042 #include <sys/socket.h> 00043 #include <netinet/in.h> 00044 #include <arpa/inet.h> 00045 #include <cerrno> 00046 #include <unistd.h> 00047 #include <string> 00048 //-------------------------------------------------------// 00049 #endif //WIN32 else LINUX 00050 //-------------------------------------------------------// 00051 00052 00053 //--------------------------------------------------------------------------// 00061 class DLLDIR CCdlSocket : public CCdlBase { 00062 private: 00064 00065 char* _ipAddr; 00067 int _port; 00069 int _len; 00070 //-------------------------------------------------------// 00071 #ifdef WIN32 00072 //-------------------------------------------------------// 00073 //Windows specific socket handles: 00074 SOCKET _socketfd; 00075 SOCKADDR_IN _socketAddr; 00076 00077 //-------------------------------------------------------// 00078 #else //LINUX 00079 //-------------------------------------------------------// 00080 //Unix specific socket handles: 00082 int _socketfd; 00084 struct sockaddr_in _socketAddr; 00085 //-------------------------------------------------------// 00086 #endif //WIN32 else LINUX 00087 //-------------------------------------------------------// 00088 00089 protected: 00090 00093 static char digit(const int _val) { 00094 return (char)((int)'0' + _val); 00095 } 00096 00097 public: 00105 CCdlSocket(char* adress, int port); 00106 00109 virtual ~CCdlSocket(); 00110 00113 virtual int send(const void* _buf, int _size); 00114 00117 virtual int recv(void* _buf, int _size); 00118 00121 virtual int disconnect(); 00122 }; 00123 00124 00125 #endif //_CDLSOCKET_H_ 00126