LCOV - code coverage report
Current view: top level - src/tools/lidar_integration/include/lidar_integration - udp_sender.hpp (source / functions) Hit Total Coverage
Test: lcov.total.filtered Lines: 3 3 100.0 %
Date: 2023-03-03 05:44:19 Functions: 0 0 -
Legend: Lines: hit not hit | Branches: + taken - not taken # not executed Branches: 0 0 -

           Branch data     Line data    Source code
       1                 :            : // Copyright 2020 Silexica GmbH, Lichtstr. 25, Cologne, Germany. All rights reserved.
       2                 :            : //
       3                 :            : // Licensed under the Apache License, Version 2.0 (the "License");
       4                 :            : // you may not use this file except in compliance with the License.
       5                 :            : // You may obtain a copy of the License at
       6                 :            : //
       7                 :            : //     http://www.apache.org/licenses/LICENSE-2.0
       8                 :            : //
       9                 :            : // Unless required by applicable law or agreed to in writing, software
      10                 :            : // distributed under the License is distributed on an "AS IS" BASIS,
      11                 :            : // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
      12                 :            : // See the License for the specific language governing permissions and
      13                 :            : // limitations under the License.
      14                 :            : //
      15                 :            : // Co-developed by Tier IV, Inc. and Apex.AI, Inc.
      16                 :            : 
      17                 :            : 
      18                 :            : #ifndef LIDAR_INTEGRATION__UDP_SENDER_HPP_
      19                 :            : #define LIDAR_INTEGRATION__UDP_SENDER_HPP_
      20                 :            : 
      21                 :            : #include <lidar_integration/visibility_control.hpp>
      22                 :            : #include <common/types.hpp>
      23                 :            : 
      24                 :            : #include <stdint.h>
      25                 :            : #include <netinet/in.h>
      26                 :            : 
      27                 :            : using autoware::common::types::bool8_t;
      28                 :            : using autoware::common::types::char8_t;
      29                 :            : 
      30                 :            : class LIDAR_INTEGRATION_PUBLIC UdpSenderBase
      31                 :            : {
      32                 :            : public:
      33                 :            :   UdpSenderBase(
      34                 :            :     const char8_t * const ip, const uint16_t port,
      35                 :            :     const bool8_t ipv6 = false);
      36                 :            : 
      37                 :            : protected:
      38                 :            :   void send(const void * const data, const size_t length) const;
      39                 :            : 
      40                 :            : private:
      41                 :            :   int m_socket;
      42                 :            :   struct sockaddr_in6 m_addr;
      43                 :            : };
      44                 :            : 
      45                 :            : template<typename Packet>
      46                 :            : class UdpSender : public UdpSenderBase
      47                 :            : {
      48                 :            : public:
      49                 :         19 :   using UdpSenderBase::UdpSenderBase;
      50                 :            : 
      51                 :            : public:
      52                 :            :   void send(Packet const & pkt) const
      53                 :            :   {
      54                 :      53082 :     UdpSenderBase::send(static_cast<const void * const>(&pkt), sizeof(pkt));
      55                 :      53082 :   }
      56                 :            : };
      57                 :            : 
      58                 :            : #endif  // LIDAR_INTEGRATION__UDP_SENDER_HPP_

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