udp_com::UdpCom Class Reference

Implements the UDP methods for recieving and sending within the ROS ecosystem. More...

#include <udp_com.h>

Public Member Functions
	UdpCom (std::string computer_address, std::string sensor_address, uint16_t port, bool is_multicast, ros::Publisher publisher)
	~UdpCom ()
void	doReceive ()
size_t	send (const std::vector< u_char > &data, const std::string &ip_address, const uint16_t udp_port)
std::string	getIp ()
	Returns the src IP for the created socket.

Private Attributes
udp::endpoint	receiver_endpoint_
	UDP endpoint receiver.
udp::endpoint	sender_endpoint_
	UDP endpoint sender.
ros::Publisher	udp_packet_publisher_
	ROS publisher.
UdpPacket	udp_packet_
	UDP packet to be sent.
boost::asio::io_service	io_service_
	UDP IO service.
udp::socket	socket_
	UDP socket.
boost::thread	thread_
	Thread for service.
std::string	computer_address_
	Source (computer) IP Address.

Detailed Description

Implements the UDP methods for recieving and sending within the ROS ecosystem.

Constructor & Destructor Documentation

UdpCom()

udp_com::UdpCom::UdpCom	(	std::string	computer_address,
		std::string	sensor_address,
		uint16_t	port,
		bool	is_multicast,
		ros::Publisher	publisher
	)

Initializer constructor.

Parameters

[in]	computer_address	computer ip address
[in]	sensor_address	camera ip address
[in]	port	camera UDP port number
[in]	is_multicast	multicast flag
[in]	publisher	ROS publisher

~UdpCom()

udp_com::UdpCom::~UdpCom

(

)

Destructor.

Member Function Documentation

doReceive()

void udp_com::UdpCom::doReceive

(

)

Recieves and publishes the UDP data.

Formats the recieved UDP data and publishes it as a ROS message.

Returns

void

send()

size_t udp_com::UdpCom::send	(	const std::vector< u_char > &	data,
		const std::string &	ip_address,
		const uint16_t	udp_port
	)

Sends data through UDP protocol.

Service send function for UDP data sending.

Parameters

[in]	data	The data to be sent.
[in]	ip_address	The devide IP address.
[in]	udp_port	The device port.

Returns

size_t the number of bytes sent

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The documentation for this class was generated from the following files:

• include/udp_com.h
• src/udp_com.cpp