Quadrotor

/*

 *  Udp.cpp: Library to send/receive UDP packets with the Arduino ethernet shield.

 *  This version only offers minimal wrapping of socket.c/socket.h

 *  Drop Udp.h/.cpp into the Ethernet library directory at hardware/libraries/Ethernet/ 

 *

 * NOTE: UDP is fast, but has some important limitations (thanks to Warren Gray for mentioning these)

 * 1) UDP does not guarantee the order in which assembled UDP packets are received. This

 * might not happen often in practice, but in larger network topologies, a UDP

 * packet can be received out of sequence. 

 * 2) UDP does not guard against lost packets - so packets *can* disappear without the sender being

 * aware of it. Again, this may not be a concern in practice on small local networks.

 * For more information, see http://www.cafeaulait.org/course/week12/35.html

 *

 * MIT License:

 * Copyright (c) 2008 Bjoern Hartmann

 * Permission is hereby granted, free of charge, to any person obtaining a copy

 * of this software and associated documentation files (the "Software"), to deal

 * in the Software without restriction, including without limitation the rights

 * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell

 * copies of the Software, and to permit persons to whom the Software is

 * furnished to do so, subject to the following conditions:

 * 

 * The above copyright notice and this permission notice shall be included in

 * all copies or substantial portions of the Software.

 * 

 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR

 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,

 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE

 * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER

 * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,

 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN

 * THE SOFTWARE.

 *

 * bjoern@cs.stanford.edu 12/30/2008

 */

#ifndef ethernetudp_h

#define ethernetudp_h

#include <Udp.h>

#define UDP_TX_PACKET_MAX_SIZE 24

class EthernetUDP : public UDP {

private:

  uint8_t _sock;  // socket ID for Wiz5100

  uint16_t _port; // local port to listen on

  IPAddress _remoteIP; // remote IP address for the incoming packet whilst it's being processed

  uint16_t _remotePort; // remote port for the incoming packet whilst it's being processed

  uint16_t _offset; // offset into the packet being sent

public:

  EthernetUDP();  // Constructor

  virtual uint8_t begin(uint16_t);        // initialize, start listening on specified port. Returns 1 if successful, 0 if there are no sockets available to use

  virtual void stop();  // Finish with the UDP socket

  // Sending UDP packets

  // Start building up a packet to send to the remote host specific in ip and port

  // Returns 1 if successful, 0 if there was a problem with the supplied IP address or port

  virtual int beginPacket(IPAddress ip, uint16_t port);

  // Start building up a packet to send to the remote host specific in host and port

  // Returns 1 if successful, 0 if there was a problem resolving the hostname or port

  virtual int beginPacket(const char *host, uint16_t port);

  // Finish off this packet and send it

  // Returns 1 if the packet was sent successfully, 0 if there was an error

  virtual int endPacket();

  // Write a single byte into the packet

  virtual size_t write(uint8_t);

  // Write size bytes from buffer into the packet

  virtual size_t write(const uint8_t *buffer, size_t size);

  using Print::write;

  // Start processing the next available incoming packet

  // Returns the size of the packet in bytes, or 0 if no packets are available

  virtual int parsePacket();

  // Number of bytes remaining in the current packet

  virtual int available();

  // Read a single byte from the current packet

  virtual int read();

  // Read up to len bytes from the current packet and place them into buffer

  // Returns the number of bytes read, or 0 if none are available

  virtual int read(unsigned char* buffer, size_t len);

  // Read up to len characters from the current packet and place them into buffer

  // Returns the number of characters read, or 0 if none are available

  virtual int read(char* buffer, size_t len) { return read((unsigned char*)buffer, len); };

  // Return the next byte from the current packet without moving on to the next byte

  virtual int peek();

  virtual void flush();        // Finish reading the current packet

  // Return the IP address of the host who sent the current incoming packet

  virtual IPAddress remoteIP() { return _remoteIP; };

  // Return the port of the host who sent the current incoming packet

  virtual uint16_t remotePort() { return _remotePort; };

};

#endif