UDPSharedListener.h

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// ----------------------------------------------------------------------------
//
// $Id$
//
// Copyright 2008, 2009, 2010, 2011, 2012  Antonio Franchi and Paolo Stegagno    
//
// This file is part of MIP.
//
// MIP 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 3 of the License, or
// (at your option) any later version.
//
// MIP 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 MIP. If not, see <http://www.gnu.org/licenses/>.
//
// Contact info: antonio.franchi@tuebingen.mpg.de stegagno@diag.uniroma1.it
//
// ----------------------------------------------------------------------------




#ifndef __UDP_SHARED_LISTENER_INCLUDED_
#define __UDP_SHARED_LISTENER_INCLUDED_

#ifdef MIP_HOST_APPLE
#include <applePatch.h>
#endif

#include <Time.h>
#include <socketUDP.h>
#include <SharedListener.h>

//#define ROBOT_BASE_PORT 56000 //TODO take it from options

using namespace std;
 
/* @{ */

namespace MipBaselib{
 
class UDPSharedListener : public SharedListener {
 private:
  
  static bool _instanceFlag;
  static UDPSharedListener *_singleInst;

  ListenerUDP* _listener;
  
  UDPSharedListener();
  
  void _receive(string& message, string& address);
  
  template <class T> friend void* sharedListenerThread(void* p);
 
 public:
  
  ~UDPSharedListener();
  
  static UDPSharedListener* getInstance();
  
  static int getPort(int robotId);
  
};




/* @} */
 
};// end namespace MipResources{


#endif