udp_socket.hpp

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#ifndef WATERLINKEDSONAR_UDP_SOCKET_HPP
#define WATERLINKEDSONAR_UDP_SOCKET_HPP
 
#include <chrono>
#include <cstddef>
#include <cstdint>
#include <optional>
#include <string>
#include <waterlinkedsonar/types.hpp>
 
namespace waterlinked::sonar {
 
struct UdpSocketConfig {
  enum class Mode : std::uint8_t { MULTICAST, UNICAST };
  Mode mode{Mode::MULTICAST};
  std::string multicast_group{MULTICAST_GROUP};  
  std::uint16_t port{MULTICAST_PORT};
  std::string interface_ip{"0.0.0.0"};
  int receive_buffer_bytes{4 << 20};  
};
 
class UdpSocket {
 public:
  struct Datagram {
    std::size_t size;
    std::string source_ip;
  };
 
  explicit UdpSocket(UdpSocketConfig config);
  ~UdpSocket();
 
  UdpSocket(const UdpSocket&) = delete;
  UdpSocket& operator=(const UdpSocket&) = delete;
 
  std::optional<Datagram> recv(std::uint8_t* buf, std::size_t buf_size,
                               std::chrono::milliseconds timeout);
 
  [[nodiscard]] std::uint16_t local_port() const;
 
 private:
  int fd_{-1};
};
 
}  // namespace waterlinked::sonar
 
#endif  // WATERLINKEDSONAR_UDP_SOCKET_HPP