Squashed 'third_party/allwpilib_2019/' content from commit bd05dfa1c
Change-Id: I2b1c2250cdb9b055133780c33593292098c375b7
git-subtree-dir: third_party/allwpilib_2019
git-subtree-split: bd05dfa1c7cca74c4fac451e7b9d6a37e7b53447
diff --git a/wpiutil/src/main/native/cpp/UDPClient.cpp b/wpiutil/src/main/native/cpp/UDPClient.cpp
new file mode 100644
index 0000000..aafdf47
--- /dev/null
+++ b/wpiutil/src/main/native/cpp/UDPClient.cpp
@@ -0,0 +1,237 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2017-2018 FIRST. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#include "wpi/UDPClient.h"
+
+#ifdef _WIN32
+#include <WinSock2.h>
+#include <Ws2tcpip.h>
+#pragma comment(lib, "Ws2_32.lib")
+#else
+#include <arpa/inet.h>
+#include <fcntl.h>
+#include <netinet/in.h>
+#include <unistd.h>
+#endif
+
+#include "wpi/Logger.h"
+#include "wpi/SocketError.h"
+
+using namespace wpi;
+
+UDPClient::UDPClient(Logger& logger) : UDPClient("", logger) {}
+
+UDPClient::UDPClient(const Twine& address, Logger& logger)
+ : m_lsd(0), m_port(0), m_address(address.str()), m_logger(logger) {}
+
+UDPClient::UDPClient(UDPClient&& other)
+ : m_lsd(other.m_lsd),
+ m_port(other.m_port),
+ m_address(std::move(other.m_address)),
+ m_logger(other.m_logger) {
+ other.m_lsd = 0;
+ other.m_port = 0;
+}
+
+UDPClient::~UDPClient() {
+ if (m_lsd > 0) {
+ shutdown();
+ }
+}
+
+UDPClient& UDPClient::operator=(UDPClient&& other) {
+ if (this == &other) return *this;
+ shutdown();
+ m_logger = other.m_logger;
+ m_lsd = other.m_lsd;
+ m_address = std::move(other.m_address);
+ m_port = other.m_port;
+ other.m_lsd = 0;
+ other.m_port = 0;
+ return *this;
+}
+
+int UDPClient::start() { return start(0); }
+
+int UDPClient::start(int port) {
+ if (m_lsd > 0) return 0;
+
+#ifdef _WIN32
+ WSAData wsaData;
+ WORD wVersionRequested = MAKEWORD(2, 2);
+ WSAStartup(wVersionRequested, &wsaData);
+#endif
+
+ m_lsd = socket(AF_INET, SOCK_DGRAM, 0);
+
+ if (m_lsd < 0) {
+ WPI_ERROR(m_logger, "could not create socket");
+ return -1;
+ }
+
+ struct sockaddr_in addr;
+ std::memset(&addr, 0, sizeof(addr));
+ addr.sin_family = AF_INET;
+ if (m_address.size() > 0) {
+#ifdef _WIN32
+ SmallString<128> addr_copy(m_address);
+ addr_copy.push_back('\0');
+ int res = InetPton(PF_INET, addr_copy.data(), &(addr.sin_addr));
+#else
+ int res = inet_pton(PF_INET, m_address.c_str(), &(addr.sin_addr));
+#endif
+ if (res != 1) {
+ WPI_ERROR(m_logger, "could not resolve " << m_address << " address");
+ return -1;
+ }
+ } else {
+ addr.sin_addr.s_addr = INADDR_ANY;
+ }
+ addr.sin_port = htons(port);
+
+ if (port != 0) {
+#ifdef _WIN32
+ int optval = 1;
+ setsockopt(m_lsd, SOL_SOCKET, SO_EXCLUSIVEADDRUSE,
+ reinterpret_cast<char*>(&optval), sizeof optval);
+#else
+ int optval = 1;
+ setsockopt(m_lsd, SOL_SOCKET, SO_REUSEADDR,
+ reinterpret_cast<char*>(&optval), sizeof optval);
+#endif
+ }
+
+ int result = bind(m_lsd, reinterpret_cast<sockaddr*>(&addr), sizeof(addr));
+ if (result != 0) {
+ WPI_ERROR(m_logger, "bind() failed: " << SocketStrerror());
+ return result;
+ }
+ m_port = port;
+ return 0;
+}
+
+void UDPClient::shutdown() {
+ if (m_lsd > 0) {
+#ifdef _WIN32
+ ::shutdown(m_lsd, SD_BOTH);
+ closesocket(m_lsd);
+ WSACleanup();
+#else
+ ::shutdown(m_lsd, SHUT_RDWR);
+ close(m_lsd);
+#endif
+ m_lsd = 0;
+ m_port = 0;
+ }
+}
+
+int UDPClient::send(ArrayRef<uint8_t> data, const Twine& server, int port) {
+ // server must be a resolvable IP address
+ struct sockaddr_in addr;
+ std::memset(&addr, 0, sizeof(addr));
+ addr.sin_family = AF_INET;
+ SmallVector<char, 128> addr_store;
+ StringRef remoteAddr = server.toNullTerminatedStringRef(addr_store);
+ if (remoteAddr.empty()) {
+ WPI_ERROR(m_logger, "server must be passed");
+ return -1;
+ }
+
+#ifdef _WIN32
+ int res = InetPton(AF_INET, remoteAddr.data(), &(addr.sin_addr));
+#else
+ int res = inet_pton(AF_INET, remoteAddr.data(), &(addr.sin_addr));
+#endif
+ if (res != 1) {
+ WPI_ERROR(m_logger, "could not resolve " << server << " address");
+ return -1;
+ }
+ addr.sin_port = htons(port);
+
+ // sendto should not block
+ int result =
+ sendto(m_lsd, reinterpret_cast<const char*>(data.data()), data.size(), 0,
+ reinterpret_cast<sockaddr*>(&addr), sizeof(addr));
+ return result;
+}
+
+int UDPClient::send(StringRef data, const Twine& server, int port) {
+ // server must be a resolvable IP address
+ struct sockaddr_in addr;
+ std::memset(&addr, 0, sizeof(addr));
+ addr.sin_family = AF_INET;
+ SmallVector<char, 128> addr_store;
+ StringRef remoteAddr = server.toNullTerminatedStringRef(addr_store);
+ if (remoteAddr.empty()) {
+ WPI_ERROR(m_logger, "server must be passed");
+ return -1;
+ }
+
+#ifdef _WIN32
+ int res = InetPton(AF_INET, remoteAddr.data(), &(addr.sin_addr));
+#else
+ int res = inet_pton(AF_INET, remoteAddr.data(), &(addr.sin_addr));
+#endif
+ if (res != 1) {
+ WPI_ERROR(m_logger, "could not resolve " << server << " address");
+ return -1;
+ }
+ addr.sin_port = htons(port);
+
+ // sendto should not block
+ int result = sendto(m_lsd, data.data(), data.size(), 0,
+ reinterpret_cast<sockaddr*>(&addr), sizeof(addr));
+ return result;
+}
+
+int UDPClient::receive(uint8_t* data_received, int receive_len) {
+ if (m_port == 0) return -1; // return if not receiving
+ return recv(m_lsd, reinterpret_cast<char*>(data_received), receive_len, 0);
+}
+
+int UDPClient::receive(uint8_t* data_received, int receive_len,
+ SmallVectorImpl<char>* addr_received,
+ int* port_received) {
+ if (m_port == 0) return -1; // return if not receiving
+
+ struct sockaddr_in remote;
+ socklen_t remote_len = sizeof(remote);
+ std::memset(&remote, 0, sizeof(remote));
+
+ int result =
+ recvfrom(m_lsd, reinterpret_cast<char*>(data_received), receive_len, 0,
+ reinterpret_cast<sockaddr*>(&remote), &remote_len);
+
+ char ip[50];
+#ifdef _WIN32
+ InetNtop(PF_INET, &(remote.sin_addr.s_addr), ip, sizeof(ip) - 1);
+#else
+ inet_ntop(PF_INET, reinterpret_cast<in_addr*>(&(remote.sin_addr.s_addr)), ip,
+ sizeof(ip) - 1);
+#endif
+
+ ip[49] = '\0';
+ int addr_len = std::strlen(ip);
+ addr_received->clear();
+ addr_received->append(&ip[0], &ip[addr_len]);
+
+ *port_received = ntohs(remote.sin_port);
+
+ return result;
+}
+
+int UDPClient::set_timeout(double timeout) {
+ if (timeout < 0) return -1;
+ struct timeval tv;
+ tv.tv_sec = timeout; // truncating will give seconds
+ timeout -= tv.tv_sec; // remove seconds portion
+ tv.tv_usec = timeout * 1000000; // fractions of a second to us
+ int ret = setsockopt(m_lsd, SOL_SOCKET, SO_RCVTIMEO,
+ reinterpret_cast<char*>(&tv), sizeof(tv));
+ if (ret < 0) WPI_ERROR(m_logger, "set timeout failed");
+ return ret;
+}