socket.hpp

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// Copyright 2025 ICUBE Laboratory, University of Strasbourg
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
//     http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
//
// Author: Thibault Poignonec (thibault.poignonec@gmail.fr)
 
#ifndef STAUBLI_ROBOT_DRIVER__COMMUNICATION__SOCKET_HPP_
#define STAUBLI_ROBOT_DRIVER__COMMUNICATION__SOCKET_HPP_
 
#include <string>
#include <vector>
#include <functional>
#include <memory>
 
namespace staubli_robot_driver {
 
constexpr size_t MAX_SOCKET_PACKET_SIZE = 1024;
 
class Socket {
public:
    Socket() = default;
 
    virtual ~Socket() = default;
 
    virtual bool connect(
        const std::string& remote_address, uint16_t remote_port, uint16_t local_port) = 0;
 
    virtual bool connect(
        const std::string& remote_address, uint16_t remote_port,
        const std::string& local_address, uint16_t local_port) = 0;
 
    virtual bool disconnect() = 0;
 
    virtual bool is_connected() const = 0;
 
    virtual bool send(std::vector<uint8_t>& data) = 0;
 
    virtual bool receive_once(int timeout_ms, std::vector<uint8_t>& data) = 0;
 
    virtual bool start_receive_thread(
        std::function<void(
            std::vector<uint8_t>& /*reception buffer*/,
            size_t /*bytes_transferred*/)> reception_callback) = 0;
 
    virtual bool stop_receive_thread() = 0;
 
    virtual bool is_receiving() const = 0;
};
 
class SocketFactory {
public:
    enum class ProtocolType {
        UDP,   
        TCP,   
    };
 
    static std::shared_ptr<Socket> create(ProtocolType type);
};
 
}  // namespace staubli_robot_driver
 
#endif  // STAUBLI_ROBOT_DRIVER__COMMUNICATION__SOCKET_HPP_