#pragma once

#ifdef _WIN32
  #include <windows.h>
  #define socklen_t int
   typedef unsigned int uint32_t;
#else
  #include <arpa/inet.h>
  #include <unistd.h>
  #	define closesocket close
#endif

#include <vector>
#include <cstring>

/**
 * @brief UDP Handler
 */
class UDPHandler
{
public:
  UDPHandler(unsigned short port = 9000);
  virtual ~UDPHandler();

  int CreateSocket();
  void Close();
  bool Bind();

  int Send(const char *buf, int size, char *ip, unsigned short port);
  int Recv(char *buf, int bufsize, sockaddr_in *from);

  int SetRecvTimeout(int sec);
  int SetSendTimeout(int sec);

private:
  int usock = 0;
  unsigned short uport = 0;
};


/**
 * @brief Transform a Data Struct to UDP buffer
 *
 * @tparam DataStruct an IMUUnitree or ScanUnitree
 * @param data
 * @param buffer
 * @param msgType 
 * @return uint32_t the total bytes sent through udp
 */
template <typename DataStruct>
uint32_t dataStructToUDPBuffer(const DataStruct &data, uint32_t msgType, char *buffer);