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Class nebula::drivers::connections::UdpSocket::Builder

ClassList > nebula > drivers > connections > UdpSocket > Builder

  • #include <udp.hpp>

Public Functions

Type Name
Builder (const std::string & host_ip, uint16_t host_port)
Build a UDP socket with timestamp measuring enabled. The minimal way to start receiving on the socket is UdpSocket::Builder(...). bind() .subscribe(...); .
UdpSocket bind ()
Bind the socket to host IP and port given in init() . Ifjoin_multicast_group() was called before this function, the socket will be bound togroup_ip instead. At leastinit() has to have been called before.
Builder && join_multicast_group (const std::string & group_ip)
Join an IP multicast group. Only one group can be joined by the socket.
Builder && limit_to_sender (const std::string & sender_ip, uint16_t sender_port)
Set the socket to drop all packets not coming from sender_ip andsender_port .
Builder && set_mtu (size_t bytes)
Set the MTU this socket supports. While this can be set arbitrarily, it is best set to the MTU of the network interface, or to the maximum expected packet length.
Builder && set_polling_interval (int32_t interval_ms)
Set the interval at which the socket polls for new data. THis should be longer than the expected interval of packets arriving in order to not poll unnecessarily often, and should be shorter than the acceptable time delay for unsubscribe() . Theunsubscribe() function blocks up to one full poll interval before returning.
Builder && set_socket_buffer_size (size_t bytes)
Set the internal socket receive buffer size. See SO_RCVBUF inman 7 socket for more information.

Public Functions Documentation

function Builder

Build a UDP socket with timestamp measuring enabled. The minimal way to start receiving on the socket is UdpSocket::Builder(...). bind() .subscribe(...); . 

inline nebula::drivers::connections::UdpSocket::Builder::Builder (
    const std::string & host_ip,
    uint16_t host_port
)

Parameters:

  • host_ip The address to bind to.
  • host_port The port to bind to.

function bind

Bind the socket to host IP and port given in init() . Ifjoin_multicast_group() was called before this function, the socket will be bound togroup_ip instead. At leastinit() has to have been called before. 

inline UdpSocket nebula::drivers::connections::UdpSocket::Builder::bind ()

function join_multicast_group

Join an IP multicast group. Only one group can be joined by the socket. 

inline Builder && nebula::drivers::connections::UdpSocket::Builder::join_multicast_group (
    const std::string & group_ip
)

Parameters:

  • group_ip The multicast IP. It has to be in the multicast range 224.0.0.0/4 (between 224.0.0.0 and 239.255.255.255).

function limit_to_sender

Set the socket to drop all packets not coming from sender_ip andsender_port . 

inline Builder && nebula::drivers::connections::UdpSocket::Builder::limit_to_sender (
    const std::string & sender_ip,
    uint16_t sender_port
)

Parameters:

  • sender_ip The only allowed sender IP. Cannot be a multicast or broadcast address.
  • sender_port The only allowed sender port.

function set_mtu

Set the MTU this socket supports. While this can be set arbitrarily, it is best set to the MTU of the network interface, or to the maximum expected packet length. 

inline Builder && nebula::drivers::connections::UdpSocket::Builder::set_mtu (
    size_t bytes
)

Parameters:

  • bytes The MTU size. The default value is 1500.

function set_polling_interval

Set the interval at which the socket polls for new data. THis should be longer than the expected interval of packets arriving in order to not poll unnecessarily often, and should be shorter than the acceptable time delay for unsubscribe() . Theunsubscribe() function blocks up to one full poll interval before returning. 

inline Builder && nebula::drivers::connections::UdpSocket::Builder::set_polling_interval (
    int32_t interval_ms
)

Parameters:

  • interval_ms The desired polling interval. See man poll for the meanings of 0 and negative values.

function set_socket_buffer_size

Set the internal socket receive buffer size. See SO_RCVBUF inman 7 socket for more information. 

inline Builder && nebula::drivers::connections::UdpSocket::Builder::set_socket_buffer_size (
    size_t bytes
)

Parameters:

  • bytes The desired buffer size in bytes.

The documentation for this class was generated from the following file nebula_hw_interfaces/include/nebula_hw_interfaces/nebula_hw_interfaces_common/connections/udp.hpp