ListeningSocket.hh

/*  
    Copyright (C) 2005, ActivMedia Robotics LLC <http://www.activmedia.com>
    Copyright (C) 2006-2010 MobileRobots, Inc. <http://www.mobilerobots.com>
    Copyright (C) 2011-2015 Adept Technology
    Copyright (C) 2016-2017 Omron Adept Technologies

    This is free software; you can redistribute it and/or modify
    it under the terms of the GNU General Public License as published by
    the Free Software Foundation; either version 2 of the License, or
    (at your option) any later version.

    This software is distributed in the hope that it will be useful,
    but WITHOUT ANY WARRANTY; without even the implied warranty of
    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
    GNU General Public License for more details.

    You should have received a copy of the GNU General Public License
    along with this software; if not, write to the Free Software
    Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
*/


#ifndef LISTENING_SOCKET_HH_
#define LISTENING_SOCKET_HH_

#include "ArASyncTask.h"
#include "ArSocket.h"

class RobotFactory;  // Forward declare the class, so that it can be linked

/** Interface for a class to listen on a port, creating a new robot in the simulator with an attached
 *  EmulatePioneer object for each client that connects.
 */
class ListeningSocket : public ArASyncTask
{
public:
  ListeningSocket();
  ~ListeningSocket();

  virtual ArSocket *init(int port, RobotFactory *parentFactory, const char *listenAddress = NULL);
  virtual void * runThread(void *arg);

protected:

  /// Performs one cycle of the thread's execution loop.
  virtual void runLoop();

  int myPort;
  ArSocket mySocket;
  RobotFactory *myFactory;
};



#endif /* LISTENING_SOCKET_HH_ */