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ethReceiver.h
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1// -*- mode:C++; tab-width:4; c-basic-offset:4; indent-tabs-mode:nil -*-
2
3/*
4 * Copyright (C) 2017 iCub Facility - Istituto Italiano di Tecnologia
5 * Author: Alberto Cardellino, Marco Accame
6 * email: alberto.cardellino@iit.it, marco.accame@iit.it
7 * website: www.robotcub.org
8 * Permission is granted to copy, distribute, and/or modify this program
9 * under the terms of the GNU General Public License, version 2 or any
10 * later version published by the Free Software Foundation.
11 *
12 * A copy of the license can be found at
13 * http://www.robotcub.org/icub/license/gpl.txt
14 *
15 * This program is distributed in the hope that it will be useful, but
16 * WITHOUT ANY WARRANTY; without even the implied warranty of
17 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General
18 * Public License for more details
19*/
20
21// - include guard ----------------------------------------------------------------------------------------------------
22
23#ifndef _ETHRECEIVER_H_
24#define _ETHRECEIVER_H_
25
26// -- class EthReceiver
27// -- it is a rate thread created by singleton TheEthManager.
28// -- it regularly wakes up to see if a packet is in its listening socket and it parses that with methods made available by TheEthManager.
29
30//#include <ethManager.h>
31
32#include <ace/SOCK_Dgram.h>
33
34#include <yarp/os/PeriodicThread.h>
35
36
37#ifdef NETWORK_PERFORMANCE_BENCHMARK
39#endif
40
41
42namespace eth {
43
44 class TheEthManager;
45
46 class EthReceiver : public yarp::os::PeriodicThread
47 {
48 private:
49 int rateofthread;
50
51 ACE_SOCK_Dgram *recv_socket;
52 eth::TheEthManager *ethManager;
53 double statPrintInterval;
54#ifdef NETWORK_PERFORMANCE_BENCHMARK
55 Tools::Emb_PeriodicEventVerifier m_perEvtVerifier;
56#endif
57
58 public:
59
61
62 EthReceiver(int rxrate);
64 bool config(ACE_SOCK_Dgram *pSocket, eth::TheEthManager* _ethManager);
65 bool threadInit();
66 void run();
67 void onStop();
68 };
69
70} // namespace eth
71
72
73#endif // include-guard
74
75
76// - end-of-file (leave a blank line after)----------------------------------------------------------------------------
77
78
79
80
81
82
83
Tools::Emb_PeriodicEventVerifier.
bool config(ACE_SOCK_Dgram *pSocket, eth::TheEthManager *_ethManager)