/home/toby/moos-ivp/MOOS-2375-Oct0611/Core/MOOSLIB/XPCSocket.cpp

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//
//   MOOS - Mission Oriented Operating Suite
//
//   A suit of Applications and Libraries for Mobile Robotics Research
//   Copyright (C) 2001-2005 Massachusetts Institute of Technology and
//   Oxford University.
//
//   This software was written by Paul Newman at MIT 2001-2002 and Oxford
//   University 2003-2005. email: pnewman@robots.ox.ac.uk.
//
//   This file is part of a  MOOS Core Component.
//
//   This program is free software; you can redistribute it and/or
//   modify it under the terms of the GNU General Public License as
//   published by the Free Software Foundation; either version 2 of the
//   License, or (at your option) any later version.
//
//   This program is distributed in the hope that it will be useful,
//   but WITHOUT ANY WARRANTY; without even the implied warranty of
//   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
//   General Public License for more details.
//
//   You should have received a copy of the GNU General Public License
//   along with this program; if not, write to the Free Software
//   Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA
//   02111-1307, USA.
//
//   The XPC classes in MOOS are modified versions of the source provided
//   in "Making UNIX and Windows NT Talk" by Mark Nadelson and Thomas Haga
//
#include "XPCSocket.h"

XPCSocket::XPCSocket(const char *_sProtocol, int _iPort)
{
    iPort = _iPort;
    iBlocking = 0;

    try
    {
        // Retrieve the socket protocol
        XPCGetProtocol socketProtocol(_sProtocol);

        // If the protocol is UDP a UDP socket is created
        if (strcmp(socketProtocol.sGetProtocolName(), "udp") == 0)
        {
            if ((iSocket = socket(AF_INET, SOCK_DGRAM, socketProtocol.iGetProtocolNumber())) == -1)
            {
                char sMsg[512];

                sprintf(sMsg, "Error opening socket: %s", sGetError());
                XPCException socketExcept(sMsg);
                throw socketExcept;
                return;
            }
        }

        // If the protocol is TCP a TCP socket is created
        else if (strcmp(socketProtocol.sGetProtocolName(), "tcp") == 0)
        {
            if ((iSocket = socket(AF_INET, SOCK_STREAM, socketProtocol.iGetProtocolNumber())) == -1)
            {
                char sMsg[512];

                sprintf(sMsg, "Error opening socket: %s", sGetError());
                XPCException socketExcept(sMsg);
                throw socketExcept;
                return;
            }
        }
    }
    catch(XPCException &exceptObject)
    {
        char sMsg[512];

        sprintf(sMsg, "Protocol Error Definition: %s", exceptObject.sGetException());
        XPCException socketExcept(sMsg);
        throw socketExcept;
        return;
    }

    // The client address is initialized to all addresses at the specified port
    clientAddress.sin_family = AF_INET;
    clientAddress.sin_addr.s_addr = htonl(INADDR_ANY);
    clientAddress.sin_port = htons(iPort);
}

void XPCSocket::vSetDebug(int _iToggle)
{
    if (setsockopt(iSocket, SOL_SOCKET, SO_DEBUG, (char *)&_iToggle, sizeof(_iToggle)) == -1)
    {
        char sMsg[512];

        sprintf(sMsg, "Error Setting Debug Option: %s", sGetError());
        XPCException sockOptExcept(sMsg);
        throw sockOptExcept;
        return;
    }
}

void XPCSocket::vSetBroadcast(int _iToggle)
{
    if (setsockopt(iSocket, SOL_SOCKET, SO_BROADCAST, (char *)&_iToggle, sizeof(_iToggle)) == -1)
    {
        char sMsg[512];

        sprintf(sMsg, "Error Setting Broadcast Option: %s", sGetError());
        XPCException sockOptExcept(sMsg);
        throw sockOptExcept;
        return;
    }
}

void XPCSocket::vSetReuseAddr(int _iToggle)
{
    if (setsockopt(iSocket, SOL_SOCKET, SO_REUSEADDR, (char *)&_iToggle, sizeof(_iToggle)) == -1)
    {
        char sMsg[512];

        sprintf(sMsg, "Error Setting Reuseaddr Option: %s", sGetError());
        XPCException sockOptExcept(sMsg);
        throw sockOptExcept;
        return;
    }
}

void XPCSocket::vSetKeepAlive(int _iToggle)
{
    if (setsockopt(iSocket, SOL_SOCKET, SO_KEEPALIVE, (char *)&_iToggle, sizeof(_iToggle)) == -1)
    {
        char sMsg[512];

        sprintf(sMsg, "Error Setting Keepalive Option: %s", sGetError());
        XPCException sockOptExcept(sMsg);
        throw sockOptExcept;
        return;
    }
}

void XPCSocket::vSetLinger(struct linger _lingerOption)
{
    if (setsockopt(iSocket, SOL_SOCKET, SO_LINGER, (char *)&_lingerOption, sizeof(struct linger)) == -1)
    {
        char sMsg[512];

        sprintf(sMsg, "Error Setting Linger Option: %s", sGetError());
        XPCException sockOptExcept(sMsg);
        throw sockOptExcept;
        return;
    }
}

void XPCSocket::vSetSendBuf(int _iSendBufSize)
{
    if (setsockopt(iSocket, SOL_SOCKET, SO_SNDBUF, (char *)&_iSendBufSize, sizeof(_iSendBufSize)) == -1)
    {
        char sMsg[512];

        sprintf(sMsg, "Error Setting SendBufSize Option: %s", sGetError());
        XPCException sockOptExcept(sMsg);
        throw sockOptExcept;
        return;
    }
}

void XPCSocket::vSetRecieveBuf(int _iRecieveBufSize)
{
    if (setsockopt(iSocket, SOL_SOCKET, SO_SNDBUF, (char *)&_iRecieveBufSize, sizeof(_iRecieveBufSize)) == -1)
    {
        char sMsg[512];

        sprintf(sMsg, "Error Setting RecieveBufSize Option: %s", sGetError());
        XPCException sockOptExcept(sMsg);
        throw sockOptExcept;
        return;
    }
}

void XPCSocket::vSetSocketBlocking(int _iToggle)
{
    char sMsg[512];

    if (_iToggle)
    {
        if (iGetSocketBlocking())
            return;
        else
        {
            iBlocking = 1;
            // Socket blocking is turned ON
#ifdef WINDOWS_NT
            if (ioctlsocket(iSocket, FIONBIO, (unsigned long *)&iBlocking) == -1)
#else
                if (ioctl(iSocket, FIONBIO, (char *)&iBlocking) == -1)
#endif
                {
                    sprintf(sMsg, "Error Turning ON Socket Blocking Status: %s", sGetError());
                    XPCException sockOptExcept(sMsg);
                    throw sockOptExcept;
                    return;
                }

        }
    }
    else
    {
        if (!iGetSocketBlocking())
            return;
        else
        {
            iBlocking = 0;
            // Socket blocking is turned off
#ifdef WINDOWS_NT
            if (ioctlsocket(iSocket, FIONBIO, (unsigned long *)&iBlocking) == -1)
#else
                if (ioctl(iSocket, FIONBIO, (char *)&iBlocking) == -1)
#endif
                {
                    sprintf(sMsg, "Error Turning OFF Socket Blocking Status: %s", sGetError());
                    XPCException sockOptExcept(sMsg);
                    throw sockOptExcept;
                    return;
                }

        }
    }
}

int XPCSocket::iGetDebug()
{
    int iGetOption;

    int iOptionLen = sizeof(iGetOption);

    if (getsockopt(iSocket, SOL_SOCKET, SO_DEBUG, (char *)&iGetOption,(socklen_t*) &iOptionLen) == -1)
    {
        char sMsg[512];

        sprintf(sMsg, "Error Recieving Debug Option: %s", sGetError());
        XPCException sockOptExcept(sMsg);
        throw sockOptExcept;
        return -1;
    }
    return iGetOption;
}

int XPCSocket::iGetBroadcast()
{
    int iGetOption;

    int iOptionLen = sizeof(iGetOption);

    if (getsockopt(iSocket, SOL_SOCKET, SO_BROADCAST, (char *)&iGetOption,(socklen_t*) &iOptionLen) == -1)
    {
        char sMsg[512];

        sprintf(sMsg, "Error Extracting Broadcast Option: %s", sGetError());
        XPCException sockOptExcept(sMsg);
        throw sockOptExcept;
        return -1;
    }
    return iGetOption;
}

int XPCSocket::iGetReuseAddr()
{
    int iGetOption;

    int iOptionLen = sizeof(iGetOption);

    if (getsockopt(iSocket, SOL_SOCKET, SO_REUSEADDR, (char *)&iGetOption,(socklen_t*) &iOptionLen) == -1)
    {
        char sMsg[512];

        sprintf(sMsg, "Error Extracting Resuseaddr Option: %s", sGetError());
        XPCException sockOptExcept(sMsg);
        throw sockOptExcept;
        return -1;
    }
    return iGetOption;
}

int XPCSocket::iGetKeepAlive()
{
    int iGetOption;

    int iOptionLen = sizeof(iGetOption);

    if (getsockopt(iSocket, SOL_SOCKET, SO_KEEPALIVE, (char *)&iGetOption,(socklen_t*) &iOptionLen) == -1)
    {
        char sMsg[512];

        sprintf(sMsg, "Error Extracting Keepalive Option: %s", sGetError());
        XPCException sockOptExcept(sMsg);
        throw sockOptExcept;
        return -1;
    }
    return iGetOption;
}

void XPCSocket::vGetLinger(struct linger &_lingerOption)
{
    int iOptionLen = sizeof(struct linger);

    if (getsockopt(iSocket, SOL_SOCKET, SO_LINGER, (char *)&_lingerOption,(socklen_t*) &iOptionLen) == -1)
    {
        char sMsg[512];

        sprintf(sMsg, "Error Extracting Linger Option: %s", sGetError());
        XPCException sockOptExcept(sMsg);
        throw sockOptExcept;
        return;
    }
    return;
}

int XPCSocket::iGetSendBuf()
{
    int iSendBuf;

    int iOptionLen = sizeof(iSendBuf);

    if (getsockopt(iSocket, SOL_SOCKET, SO_SNDBUF, (char *)&iSendBuf,(socklen_t*) &iOptionLen) == -1)
    {
        char sMsg[512];

        sprintf(sMsg, "Error Extracting SendBuf Option: %s", sGetError());
        XPCException sockOptExcept(sMsg);
        throw sockOptExcept;
        return -1;
    }
    return iSendBuf;
}

int XPCSocket::iGetRecieveBuf()
{
    int iRcvBuf;

    int iOptionLen = sizeof(iRcvBuf);

    if (getsockopt(iSocket, SOL_SOCKET, SO_RCVBUF, (char *)&iRcvBuf,(socklen_t*) &iOptionLen) == -1)
    {
        char sMsg[512];

        sprintf(sMsg, "Error Extracting RcvBuf Option: %s", sGetError());
        XPCException sockOptExcept(sMsg);
        throw sockOptExcept;
        return -1;
    }
    return iRcvBuf;
}

int XPCSocket::iGetLastError()
{
#ifdef UNIX
    return errno;
#else
    return  WSAGetLastError();
#endif
}

void XPCSocket::vSetRecieveTimeOut(int nTimeOut)
{
    if (setsockopt(iSocket, SOL_SOCKET, SO_RCVTIMEO, (char *)&nTimeOut, sizeof(nTimeOut)) == -1)
    {
        char sMsg[512];

        sprintf(sMsg, "Error Setting ReciveTimeOut Option: %s", sGetError());
        XPCException sockOptExcept(sMsg);
        throw sockOptExcept;
        return;
    }
}