Network Utilities#

These transport classes expose the lower-level UDP layer used by the SDK’s real-time path. Most application code will stay at rb::Robot<T>, but these types are useful when you need direct transport control.

Headers

Type	Header
`rb::UdpClient`	`#include <rby1-sdk/net/udp_client.h>`
`rb::UdpIPv4Client` and `rb::UdpIPv6Client`	`#include <rby1-sdk/net/udp_client.h>`
`rb::UdpServer`	`#include <rby1-sdk/net/udp_server.h>`

Public Member Functions

Type or method group	Purpose	Notes
`rb::UdpClient`	Base transport interface for `SendTo(...)` and `RecvFrom(...)`.	Implemented by the IPv4 and IPv6 client classes.
`rb::UdpIPv4Client` and `rb::UdpIPv6Client`	Connect to a specific remote UDP endpoint and send or receive packets.	Choose the variant that matches the target address family.
`rb::UdpServer`	Bind a local UDP socket, receive packets, and reply to clients.	Useful for protocol tools and custom RT experiments.

Detailed Reference

class UdpClient#

Subclassed by rb::UdpIPv4Client, rb::UdpIPv6Client

Public Functions

virtual int RecvFrom(unsigned char *buffer, size_t max_buf_size) const = 0#

virtual void SendTo(unsigned char *buffer, size_t buf_size) const = 0#

class UdpIPv4Client : public rb::UdpClient #

Public Functions

inline UdpIPv4Client(std::string ip, int port)#

inline ~UdpIPv4Client()#

inline virtual int RecvFrom(unsigned char *buffer, size_t max_buf_size) const override#

inline virtual void SendTo(unsigned char *buffer, size_t buf_size) const override#

class UdpIPv6Client : public rb::UdpClient #

Public Functions

inline UdpIPv6Client(std::string ip, int port)#

inline ~UdpIPv6Client()#

inline virtual int RecvFrom(unsigned char *buffer, size_t max_buf_size) const override#

inline virtual void SendTo(unsigned char *buffer, size_t buf_size) const override#

class UdpServer#

Public Functions

inline explicit UdpServer(const int port = 0)#

inline ~UdpServer()#

inline void ClearBuffer() const#

inline int GetPort() const#

inline int RecvFrom(unsigned char *buffer, size_t max_buf_size, struct sockaddr_storage &client_addr) const#

inline void SendTo(unsigned char *buffer, size_t buf_size, const struct sockaddr_storage &client_addr) const#

Related Types

Examples

real_time_control_command.cpp
rtcomm_protocol.cpp