UDPServer refactoring

include/abb_libegm/egm_udp_server.h

@@ -107,23 +107,34 @@ class UDPServer
    *
    * \param io_service for operating boost asio's asynchronous functions.
    * \param port_number for the server's UDP socket.
-   * \param p_interface that processes the received messages.
+   * \param interface UDP server that processes the received messages.
+   * 
+   * \throw \a std::exception if an error occurs.
    */
   UDPServer(boost::asio::io_service& io_service,
             unsigned short port_number,
-            AbstractUDPServerInterface* p_interface);
+            AbstractUDPServerInterface& interface);
+
 
   /**
-   * \brief A destructor.
+   * \brief Start UDP server on a specified address and port.
+   *
+   * \param io_service for operating boost asio's asynchronous functions.
+   * \param server_endpoint server's UDP endpoint.
+   * \param interface UDP server that processes the received messages.
+   * 
+   * \throw \a std::exception if an error occurs.
    */
-  ~UDPServer();
+  UDPServer(boost::asio::io_service& io_service,
+            boost::asio::ip::udp::endpoint const& server_endpoint,
+            AbstractUDPServerInterface& interface);
+
 
   /**
-   * \brief Checks if the server was successfully initialized or not.
-   *
-   * \return bool true if and only if the server was initialized correctly.
+   * \brief A destructor.
    */
-  bool isInitialized() const;
+  ~UDPServer();
+
 
 private:
   /**
@@ -155,7 +166,7 @@ class UDPServer
   /**
    * \brief The server's UDP socket.
    */
-  boost::shared_ptr<boost::asio::ip::udp::socket> p_socket_;
+  boost::asio::ip::udp::socket socket_;
 
   /**
    * \brief The address of the calling computer (e.g. an ABB robot controller or a virtual controller in RobotStudio).
@@ -170,17 +181,12 @@ class UDPServer
   /**
    * \brief Pointer to an object that is derived from AbstractUDPSeverInterface, which processes the received messages.
    */
-  AbstractUDPServerInterface* p_interface_;
+  AbstractUDPServerInterface& interface_;
 
   /**
    * \brief Container for server data.
    */
   UDPServerData server_data_;
-
-  /**
-   * \brief Flag indicating if the server was initialized successfully or not.
-   */
-  bool initialized_;
 };
 
 } // end namespace egm

src/egm_base_interface.cpp

@@ -772,7 +772,7 @@ EGMBaseInterface::EGMBaseInterface(boost::asio::io_service& io_service,
                                    const unsigned short port_number,
                                    const BaseConfiguration& configuration)
 :
-udp_server_(io_service, port_number, this),
+udp_server_(io_service, port_number, *this),
 configuration_(configuration)
 {
   if (configuration_.active.use_logging)
@@ -913,7 +913,7 @@ bool EGMBaseInterface::initializeCallback(const UDPServerData& server_data)
 
 bool EGMBaseInterface::isInitialized()
 {
-  return udp_server_.isInitialized();
+  return true;
 }
 
 bool EGMBaseInterface::isConnected()

src/egm_udp_server.cpp

@@ -48,73 +48,52 @@ namespace egm
 
 UDPServer::UDPServer(boost::asio::io_service& io_service,
                      unsigned short port_number,
-                     AbstractUDPServerInterface* p_interface)
-:
-initialized_(false),
-p_interface_(p_interface)
+                     AbstractUDPServerInterface& interface)
+: UDPServer {io_service, boost::asio::ip::udp::endpoint {boost::asio::ip::udp::v4(), port_number}, interface}
 {
-  bool success = true;
-
-  try
-  {
-    server_data_.port_number = port_number;
-    p_socket_.reset(new boost::asio::ip::udp::socket(io_service,
-                                                     boost::asio::ip::udp::endpoint(boost::asio::ip::udp::v4(),
-                                                                                    port_number)));
-  }
-  catch (std::exception e)
-  {
-    success = false;
-  }
-
-  if (success)
-  {
-    initialized_ = true;
-    startAsynchronousReceive();
-  }
 }
 
-UDPServer::~UDPServer()
+
+UDPServer::UDPServer(boost::asio::io_service& io_service,
+            boost::asio::ip::udp::endpoint const& server_endpoint,
+            AbstractUDPServerInterface& interface)
+: socket_ {io_service, server_endpoint}
+, interface_ {interface}
 {
-  if (p_socket_)
-  {
-    p_socket_->close();
-    p_socket_.reset();
-  }
+  server_data_.port_number = server_endpoint.port();
+  startAsynchronousReceive();
 }
 
-bool UDPServer::isInitialized() const
+
+UDPServer::~UDPServer()
 {
-  return initialized_;
+  socket_.close();
 }
 
 void UDPServer::startAsynchronousReceive()
 {
-  if (p_socket_)
-  {
-    p_socket_->async_receive_from(boost::asio::buffer(receive_buffer_),
-                                  remote_endpoint_,
-                                  boost::bind(&UDPServer::receiveCallback,
-                                              this,
-                                              boost::asio::placeholders::error,
-                                              boost::asio::placeholders::bytes_transferred));
-  }
+  socket_.async_receive_from(boost::asio::buffer(receive_buffer_),
+                                remote_endpoint_,
+                                boost::bind(&UDPServer::receiveCallback,
+                                            this,
+                                            boost::asio::placeholders::error,
+                                            boost::asio::placeholders::bytes_transferred));
 }
 
 void UDPServer::receiveCallback(const boost::system::error_code& error, const std::size_t bytes_transferred)
 {
   server_data_.p_data = receive_buffer_;
   server_data_.bytes_transferred = (int) bytes_transferred;
 
-  if (error == boost::system::errc::success && p_interface_)
+  if (error == boost::system::errc::success)
   {
     // Process the received data via the callback method (creates the reply message).
-    const std::string& reply = p_interface_->callback(server_data_);
+    const std::string& reply = interface_.callback(server_data_);
 
-    if (!reply.empty() && p_socket_)
+    if (!reply.empty())
     {
       // Send the response message to the robot controller.
-      p_socket_->async_send_to(boost::asio::buffer(reply),
+      socket_.async_send_to(boost::asio::buffer(reply),
                                remote_endpoint_,
                                boost::bind(&UDPServer::sendCallback,
                                            this,