UDPServerClientDefinitions.hh

#ifndef __UDPSERVERCLIENTDEFINTIONS__
#define __UDPSERVERCLIENTDEFINTIONS__

#include <bias_config.h>

#include "errno.h"

#define syscallerror(x) \
{ cerr << __FILE__ << "  -  " << x << endl; \
cerr << __FILE__ << "  -  Error code " << errno << " means: "  << strerror(errno) << endl; }

namespace BIAS
{
// the default packet size
const int UDP_PACKAGE_SIZE = 40000;
// maximum message number before restarting with 0
const int maxMessageNumber = 10000000;

/**
  @struct message_frame_header
  @brief Header for sending images over UDP connections
    @ingroup network
  @author Ingo Thomsen
*/
struct message_frame_header
{
  int message_number;
  int message_frame_number;
  int message_frames_total;
};

 //struct State {
 //   float   t[3];
 //   float   r[3];
 //   float   cov[36];
 //   double  time;
 //   bool    tValid; // four byte
 //   bool    rValid;
 //   char padding[4];
 // };

 // class DataPacket {
 // public: 
 //   State State_;
 //   char  Req_[16];
 // };


/** 
  @struct ImageHeader
  @brief Header for sending images over UDP connections
    @ingroup network
  @author Ingo Thomsen
*/
struct BIASNetworkComm_EXPORT ImageHeader {
  unsigned int Width_;
  unsigned int Height_;
  unsigned int ChannelCount_;
  // SizeAndTypeID == 0:uncompresed image, use size = width*height*channelcount
  // SizeAndTypeID != 0: compressed, use as Size
  unsigned int SizeAndTypeID_;
  double Time_;
};

}//end namespace BIAS
#endif