From 0154c2d689628ecdc7ae5512b45ebf52384486cc Mon Sep 17 00:00:00 2001
From: Erwin Coumans <erwincoumans@google.com>
Date: Fri, 17 Feb 2017 17:27:38 -0800
Subject: [PATCH 01/12] update docs/pybullet_quickstartguide.pdf from online
 version
 https://docs.google.com/document/d/10sXEhzFRSnvFcl3XxNGhnD4N2SedqwdAvK3dsihxVUA

---
 docs/pybullet_quickstartguide.pdf | Bin 428975 -> 480900 bytes
 1 file changed, 0 insertions(+), 0 deletions(-)

diff --git a/docs/pybullet_quickstartguide.pdf b/docs/pybullet_quickstartguide.pdf
index 56cdb8af6f15c9020c28e74d2844aedd4e0d23fc..418a9beb82452826e3df51874f6fc992276b7ece 100644
GIT binary patch
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From 957266b12185cf5b4b81816906ea85839bf463b2 Mon Sep 17 00:00:00 2001
From: Erwin Coumans <erwin.coumans@gmail.com>
Date: Sun, 19 Feb 2017 10:25:55 -0800
Subject: [PATCH 02/12] add tiny cross-platform TCP socket library from
 https://github.com/DFHack/clsocket (todo: hook-up to Bullet cmake/premake
 build systems, and implement TCP alternative for UDP server)

---
 .../ThirdPartyLibs/clsocket/CMakeLists.txt    |  102 ++
 examples/ThirdPartyLibs/clsocket/README       |  143 ++
 examples/ThirdPartyLibs/clsocket/ReleaseNotes |  479 +++++++
 .../clsocket/src/ActiveSocket.cpp             |  310 +++++
 .../clsocket/src/ActiveSocket.h               |   91 ++
 examples/ThirdPartyLibs/clsocket/src/Host.h   |  257 ++++
 .../clsocket/src/PassiveSocket.cpp            |  331 +++++
 .../clsocket/src/PassiveSocket.h              |  119 ++
 .../clsocket/src/SimpleSocket.cpp             | 1187 +++++++++++++++++
 .../clsocket/src/SimpleSocket.h               |  583 ++++++++
 .../ThirdPartyLibs/clsocket/src/StatTimer.h   |  114 ++
 test/clsocket/EchoServer.cpp                  |   44 +
 test/clsocket/QueryDayTime.cpp                |   49 +
 test/clsocket/RecvAsync.cpp                   |  101 ++
 14 files changed, 3910 insertions(+)
 create mode 100644 examples/ThirdPartyLibs/clsocket/CMakeLists.txt
 create mode 100644 examples/ThirdPartyLibs/clsocket/README
 create mode 100644 examples/ThirdPartyLibs/clsocket/ReleaseNotes
 create mode 100644 examples/ThirdPartyLibs/clsocket/src/ActiveSocket.cpp
 create mode 100644 examples/ThirdPartyLibs/clsocket/src/ActiveSocket.h
 create mode 100644 examples/ThirdPartyLibs/clsocket/src/Host.h
 create mode 100644 examples/ThirdPartyLibs/clsocket/src/PassiveSocket.cpp
 create mode 100644 examples/ThirdPartyLibs/clsocket/src/PassiveSocket.h
 create mode 100644 examples/ThirdPartyLibs/clsocket/src/SimpleSocket.cpp
 create mode 100644 examples/ThirdPartyLibs/clsocket/src/SimpleSocket.h
 create mode 100644 examples/ThirdPartyLibs/clsocket/src/StatTimer.h
 create mode 100644 test/clsocket/EchoServer.cpp
 create mode 100644 test/clsocket/QueryDayTime.cpp
 create mode 100644 test/clsocket/RecvAsync.cpp

diff --git a/examples/ThirdPartyLibs/clsocket/CMakeLists.txt b/examples/ThirdPartyLibs/clsocket/CMakeLists.txt
new file mode 100644
index 000000000..5f85d0d8c
--- /dev/null
+++ b/examples/ThirdPartyLibs/clsocket/CMakeLists.txt
@@ -0,0 +1,102 @@
+cmake_minimum_required(VERSION 2.8 FATAL_ERROR)
+project(clsocket)
+
+# set up versioning.
+set(BUILD_MAJOR "1")
+set(BUILD_MINOR "4")
+set(BUILD_VERSION "3")
+
+include_directories(src)
+
+SET(CLSOCKET_HEADERS
+src/ActiveSocket.h
+src/Host.h
+src/PassiveSocket.h
+src/SimpleSocket.h
+src/StatTimer.h
+)
+
+SET(CLSOCKET_SOURCES
+src/SimpleSocket.cpp
+src/ActiveSocket.cpp
+src/PassiveSocket.cpp
+)
+
+# mark headers as headers...
+SET_SOURCE_FILES_PROPERTIES( ${CLSOCKET_HEADERS} PROPERTIES HEADER_FILE_ONLY TRUE )
+# append to sources so that dependency checks work on headers
+LIST(APPEND CLSOCKET_SOURCES ${CLSOCKET_HEADERS})
+
+# OS and compiler checks. 
+if(UNIX)
+    # linux / normal unix
+    add_definitions(-D_LINUX)
+    if(CYGWIN)
+        # Special Cygwin stuff here
+    elseif(APPLE)
+        # Special Apple stuff here
+        remove_definitions(-D_LINUX)
+        add_definitions(-D_DARWIN)
+    endif()
+elseif(WIN32)
+    add_definitions(-DWIN32)
+    SET(PROJECT_LIBS Ws2_32.lib)
+    if(MINGW)
+        # Special MINGW stuff here
+    elseif(MSVC)
+        # Special MSVC stuff here
+    else()
+        # No idea what it is, but there's a good chance it's too weird.
+        MESSAGE( FATAL_ERROR "Using unknown WIN32 compiler... NOT. Please add to build system." )
+    endif()
+endif()
+
+OPTION(CLSOCKET_SHARED "Build clsocket lib as shared." ON)
+OPTION(CLSOCKET_DEP_ONLY "Build for use inside other CMake projects as dependency." OFF)
+
+# make the lib
+if(CLSOCKET_SHARED)
+    if(CLSOCKET_DEP_ONLY)
+        ADD_LIBRARY(clsocket SHARED EXCLUDE_FROM_ALL ${CLSOCKET_SOURCES})
+    else()
+        ADD_LIBRARY(clsocket SHARED ${CLSOCKET_SOURCES})
+    endif()
+else()
+    if(CLSOCKET_DEP_ONLY)
+        ADD_LIBRARY(clsocket STATIC EXCLUDE_FROM_ALL ${CLSOCKET_SOURCES})
+    else()
+        ADD_LIBRARY(clsocket STATIC ${CLSOCKET_SOURCES})
+    endif()
+endif()
+TARGET_LINK_LIBRARIES(clsocket ${PROJECT_LIBS})
+
+# install into configured prefix
+if(NOT CLSOCKET_DEP_ONLY)
+    install(TARGETS clsocket ARCHIVE DESTINATION lib LIBRARY DESTINATION lib)
+    install(FILES ${CLSOCKET_HEADERS} DESTINATION include)
+else()
+
+endif()
+
+OPTION(CLSOCKET_EXAMPLES "Build the examples" ON)
+
+ADD_EXECUTABLE(echoserver-example examples/EchoServer.cpp)
+TARGET_LINK_LIBRARIES(echoserver-example clsocket)
+
+ADD_EXECUTABLE(querydaytime-example examples/QueryDayTime.cpp)
+TARGET_LINK_LIBRARIES(querydaytime-example clsocket)
+
+
+if(UNIX)
+
+    if(CLSOCKET_EXAMPLES)
+        ADD_EXECUTABLE(clsocket-example examples/RecvAsync.cpp)
+        TARGET_LINK_LIBRARIES(clsocket-example clsocket pthread)
+        if(NOT CLSOCKET_DEP_ONLY)
+            install(TARGETS clsocket-example DESTINATION bin)
+        endif()
+
+
+    endif()
+endif()
+
diff --git a/examples/ThirdPartyLibs/clsocket/README b/examples/ThirdPartyLibs/clsocket/README
new file mode 100644
index 000000000..8f06bd06c
--- /dev/null
+++ b/examples/ThirdPartyLibs/clsocket/README
@@ -0,0 +1,143 @@
+Fork from https://github.com/DFHack/clsocket to be used in Bullet Physics SDK
+Modifications: custom build system (CMake, premake etc), use preprocessor define _WIN32 instead of WIN32, __LINUX__, __APPLE__
+
+------------------------------------------------------------------------------------------
+* History
+------------------------------------------------------------------------------------------
+Written by Mark Carrier to provide a mechanism for writing cross platform socket code. This library was originally written to only support blocking TCP sockets. Over the years it has been extended to support UDP and RAW sockets as well. This is the first official release of the library and the following functionality is supported:
+
+    * Cross platform socket support.
+          o Windows 95, Windows 98, Windows XP
+          o Linux, Unix
+          o Macintosh OSX
+    * Support for sychronious, and asychronious sockets
+    * Supports TCP Streams
+    * Supports UDP Datagrams
+    * Supports Raw Sockets
+    * Thread Safe
+    * Signal Safe
+
+
+------------------------------------------------------------------------------------------
+* SimpleSocket Class Overview
+------------------------------------------------------------------------------------------
+Network communications via sockets can be abstracted into two categories of functionality; the active socket and the passive socket. The active socket object initiates a connection with a known host, whereas the passive socket object waits (or listens) for inbound requests for communication. The functionality of both objects is identical as far as sending and receiving data. This library makes distinction between the two objects because the operations for constructing and destructing the two are different.
+
+This library is different from other socket libraries which define TCP sockets, UDP sockets, HTTP sockets, etc. The reason is the operations required for TCP, UDP, and RAW network communication is identical from a logical stand point. Thus a program could initially be written employing TCP streams, and then at some future point it could be discovered that UDP datagrams would satisify the solution. Changing between the two transport protocols would only require changing how the object is instantiated. The remaining code would in theory require minimal to no changes.
+
+This library avoids abstractions like HTTP socket, or SMTP socket, soley because this type of object mixes the application and the transport layer. These types of abstractions can be created using this library as a base class.
+
+The simple socket library is comprised of two class which can be used to represent all socket communications.
+
+    * Active Socket Class
+    * Passive Socket Class 
+
+
+------------------------------------------------------------------------------------------
+* SimpleSocket Class Examples
+------------------------------------------------------------------------------------------
+When operating on a socket object most methods will return true or false
+Simple Active Socket
+As mentioned previously the active socket (CActiveSocket) is used to initiate a connections with a server on some known port. So you want to connect to an existing server...
+
+How do you do it?
+
+There are many ways using the existing Berkley Socket API, but the goal of this class is to remove the many calls and man page lookups and replace them with clear, concise set of methods which allow a developer to focus on the logic of network programming.
+
+The following code will connect to a DAYTIME server on port 13, query for the current time, and close the socket.
+
+#include <string.h>
+#include "ActiveSocket.h"       // Include header for active socket object definition
+
+int main(int argc, char **argv)
+{
+    CActiveSocket socket;       // Instantiate active socket object (defaults to TCP).
+    char          time[50];
+
+    memset(&time, 0, 50);
+
+    //--------------------------------------------------------------------------
+    // Initialize our socket object 
+    //--------------------------------------------------------------------------
+    socket.Initialize();
+
+    //--------------------------------------------------------------------------
+    // Create a connection to the time server so that data can be sent
+    // and received.
+    //--------------------------------------------------------------------------
+    if (socket.Open("time-C.timefreq.bldrdoc.gov", 13))
+    {
+        //----------------------------------------------------------------------
+        // Send a requtest the server requesting the current time.
+        //----------------------------------------------------------------------
+        if (socket.Send((const uint8 *)"\n", 1))
+        {
+            //----------------------------------------------------------------------
+            // Receive response from the server.
+            //----------------------------------------------------------------------
+            socket.Receive(49);
+            memcpy(&time, socket.GetData(), 49);
+            printf("%s\n", time);
+
+            //----------------------------------------------------------------------
+            // Close the connection.
+            //----------------------------------------------------------------------
+            socket.Close();
+        }
+    }
+
+
+    return 1;
+}
+
+You can see that the amount of code required to an object for network communciation is very small and simple.
+Simple Passive Socket
+Now you want to build a server.
+
+How do you do it?
+
+For a practical test lets build an echo server. The server will listen on port 6789 an repsond back with what ever has been sent to the server.
+
+#include "PassiveSocket.h"       // Include header for active socket object definition
+
+#define MAX_PACKET 4096 
+
+int main(int argc, char **argv)
+{
+    CPassiveSocket socket;
+    CActiveSocket *pClient = NULL;
+
+    //--------------------------------------------------------------------------
+    // Initialize our socket object 
+    //--------------------------------------------------------------------------
+    socket.Initialize();
+
+    socket.Listen("127.0.0.1", 6789);
+
+    while (true)
+    {
+        if ((pClient = socket.Accept()) != NULL)
+        {
+            //----------------------------------------------------------------------
+            // Receive request from the client.
+            //----------------------------------------------------------------------
+            if (pClient->Receive(MAX_PACKET))
+            {
+                //------------------------------------------------------------------
+                // Send response to client and close connection to the client.
+                //------------------------------------------------------------------
+                pClient->Send( pClient->GetData(), pClient->GetBytesReceived() );
+                pClient->Close();
+            }
+
+            delete pClient;
+        }
+    }
+
+    //-----------------------------------------------------------------------------
+    // Receive request from the client.
+    //-----------------------------------------------------------------------------
+    socket.Close();
+
+    return 1;
+}
diff --git a/examples/ThirdPartyLibs/clsocket/ReleaseNotes b/examples/ThirdPartyLibs/clsocket/ReleaseNotes
new file mode 100644
index 000000000..8e567f616
--- /dev/null
+++ b/examples/ThirdPartyLibs/clsocket/ReleaseNotes
@@ -0,0 +1,479 @@
+===============================================================================
+Release v1.4.1
+===============================================================================
+
+I. New Features
+---------------
+  * New methods:
+	CSimpleSocket::EnableNagleAlgorithm()
+	CSimpleSocket::DisableNagleAlgorithm()
+
+II. Deprecated Functionality
+----------------------------
+
+III. Bug Fixes
+--------------
+
+ Reported Bugs
+ -------------
+  #95 - Add support to enable/disable Nable algorithm
+ #131 - Multicast receiver not working
+
+ Unreported Bugs
+ ---------------
+
+IV. Known Issues
+----------------
+ #44 - Add MTU size test to unit test so fragmentation can be tested.
+ #45 - Test Select() with Recv() and Send() set as non-blocking.
+ #47 - Mechanism to setting/setting socket options/flags.
+ #48 - Finish support for RAW sockets.
+ #50 - Add IPV6 support
+
+V. Configuration Changes
+------------------------
+
+VI. Release Tag Dependencies
+----------------------------
+ 
+VII. Errata
+-----------
+
+  Bug Fixes
+  -------------
+
+VIII. Documentation Changes
+----------------------------
+
+
+===============================================================================
+Release v1.4.0
+===============================================================================
+
+I. New Features
+---------------
+  * Support for multicast
+  * New methods:
+	CPassiveSocket::BindMulticast()
+	CSimpleSocket::SetMulticast()
+	CSimpleSocket::GetMulticast()
+	
+
+II. Deprecated Functionality
+----------------------------
+
+III. Bug Fixes
+--------------
+
+ Reported Bugs
+ -------------
+ #92 - Add multicast to library
+
+ Unreported Bugs
+ ---------------
+
+IV. Known Issues
+----------------
+ #44 - Add MTU size test to unit test so fragmentation can be tested.
+ #45 - Test Select() with Recv() and Send() set as non-blocking.
+ #47 - Mechanism to setting/setting socket options/flags.
+ #48 - Finish support for RAW sockets.
+ #50 - Add IPV6 support
+
+V. Configuration Changes
+------------------------
+
+VI. Release Tag Dependencies
+----------------------------
+ 
+VII. Errata
+-----------
+
+  Bug Fixes
+  -------------
+
+VIII. Documentation Changes
+----------------------------
+
+
+===============================================================================
+Release v1.3.3
+===============================================================================
+
+I. New Features
+---------------
+  * Now compiles for Macintosh - DMG file not yet supported
+  * New method CSimpleSocket::Shutdown() - used to control 
+    shutdown on socket.  
+
+II. Deprecated Functionality
+----------------------------
+
+III. Bug Fixes
+--------------
+
+ Reported Bugs
+ -------------
+ #49 - Support for Macintosh
+ #86 - Create new method to control shutdown of socket
+ #87 - Memory leak detected
+
+ Unreported Bugs
+ ---------------
+
+IV. Known Issues
+----------------
+ #44 - Add MTU size test to unit test so fragmentation can be tested.
+ #45 - Test Select() with Recv() and Send() set as non-blocking.
+ #47 - Mechanism to setting/setting socket options/flags.
+ #48 - Finish support for RAW sockets.
+ #50 - Add IPV6 support
+
+V. Configuration Changes
+------------------------
+
+VI. Release Tag Dependencies
+----------------------------
+ 
+VII. Errata
+-----------
+
+  Bug Fixes
+  -------------
+
+VIII. Documentation Changes
+----------------------------
+
+
+===============================================================================
+Release v1.3.2
+===============================================================================
+
+I. New Features
+---------------
+
+II. Deprecated Functionality
+----------------------------
+
+III. Bug Fixes
+--------------
+
+ Reported Bugs
+ -------------
+ #84 - CActiveSocket::Close() shutsdown both sides of the socket 
+
+ Unreported Bugs
+ ---------------
+
+IV. Known Issues
+----------------
+ #44 - Add MTU size test to unit test so fragmentation can be tested.
+ #45 - Test Select() with Recv() and Send() set as non-blocking.
+ #47 - Mechanism to setting/setting socket options/flags.
+ #48 - Finish support for RAW sockets.
+ #49 - Support for Macintosh.
+ #50 - Add IPV6 support
+
+V. Configuration Changes
+------------------------
+
+VI. Release Tag Dependencies
+----------------------------
+ 
+VII. Errata
+-----------
+
+  Bug Fixes
+  -------------
+
+VIII. Documentation Changes
+----------------------------
+
+
+===============================================================================
+Release v1.3.1
+===============================================================================
+
+I. New Features
+---------------
+* New methods:
+      SetOptionLinger() - Enable/disable linger option.
+      SetOptionReuseAddr() - Set option reuse port.
+* SimpleSocket::Receive() will only allocate a buffer if the internal buffer
+      is NULL or the buffer size is not equal to the previously allocated 
+      buffer.
+
+II. Deprecated Functionality
+----------------------------
+
+III. Bug Fixes
+--------------
+
+ Reported Bugs
+ -------------
+ #64 - Method GetClientPort() returns value in byte swapped order 
+ #83 - WIN32 SetBlocking() is broke. 
+
+ Unreported Bugs
+ ---------------
+
+IV. Known Issues
+----------------
+ #44 - Add MTU size test to unit test so fragmentation can be tested.
+ #45 - Test Select() with Recv() and Send() set as non-blocking.
+ #47 - Mechanism to setting/setting socket options/flags.
+ #48 - Finish support for RAW sockets.
+ #49 - Support for Macintosh.
+ #50 - Add IPV6 support
+
+V. Configuration Changes
+------------------------
+
+VI. Release Tag Dependencies
+----------------------------
+ 
+VII. Errata
+-----------
+
+  Bug Fixes
+  -------------
+
+VIII. Documentation Changes
+----------------------------
+
+
+
+===============================================================================
+Release v1.3.0
+===============================================================================
+
+I. New Features
+---------------
+* New methods:
+	SendVector() - implements the iovec functionality on both linux and
+		       Windows.
+	SetSendWindowSize() - Sent the TCP window size for send.
+	SetReceiveWindowSize() - Set the TCP windows size for receive.
+	GetSendWindowSize() - Get the TCP window size for send.
+	GetReceiveWindowSize() - Get the TCP window size fo receive.
+	Select(int sec, int usec) - Overloaded function to specify timeout
+                                    value of select.
+
+II. Deprecated Functionality
+----------------------------
+
+III. Bug Fixes
+--------------
+
+ Reported Bugs
+ -------------
+ #33 - Add SendVector mehtod to class
+ #41 - Sockets library MUST be signal safe 	
+ #51 - Add support to set TCP windows size
+ #52 - Select closes socket if timeout occurs 
+ #53 - UDP receive always fails even when successful  	
+
+ Unreported Bugs
+ ---------------
+
+IV. Known Issues
+----------------
+ #44 - Add MTU size test to unit test so fragmentation can be tested.
+ #45 - Test Select() with Recv() and Send() set as non-blocking.
+ #47 - Mechanism to setting/setting socket options/flags.
+ #48 - Finish support for RAW sockets.
+ #49 - Support for Macintosh.
+ #50 - Add IPV6 support
+
+V. Configuration Changes
+------------------------
+
+VI. Release Tag Dependencies
+----------------------------
+ 
+VII. Errata
+-----------
+
+  Bug Fixes
+  -------------
+
+VIII. Documentation Changes
+----------------------------
+
+
+
+
+===============================================================================
+Release v1.2.0
+===============================================================================
+
+I. New Features
+---------------
+* New method SetSocketDscp() and GetSocketDscp() for setting and getting DSCP values.
+
+II. Deprecated Functionality
+----------------------------
+
+III. Bug Fixes
+--------------
+
+ Reported Bugs
+ -------------
+ #17 - Finish documentation of library
+ #34 - Add SendFile() method to class 
+ #37 - Make new methods GetServerAddress() and GetClientAddress() 
+
+ Unreported Bugs
+ ---------------
+
+IV. Known Issues
+----------------
+ #41 - Sockets library MUST be signal safe
+ #44 - Add MTU size test to unit test so fragmentation can be tested.
+ #45 - Test Select() with Recv() and Send() set as non-blocking.
+ #47 - Mechanism to setting/setting socket options/flags
+
+V. Configuration Changes
+------------------------
+
+VI. Release Tag Dependencies
+----------------------------
+ 
+VII. Errata
+-----------
+
+  Bug Fixes
+  -------------
+
+VIII. Documentation Changes
+----------------------------
+
+
+
+===============================================================================
+Release v1.1.0
+===============================================================================
+
+I. New Features
+---------------
+ * UDP Now supported
+
+II. Deprecated Functionality
+----------------------------
+* SetSocketExpedited() method.
+
+III. Bug Fixes
+--------------
+
+ Reported Bugs
+ -------------
+ #18 - Compile under windows
+ #24 - Add more type and error checking to CSocket  
+ #29 - Add UDP support
+ #35 - unit testing of socket library causes crash on windows	
+
+ Unreported Bugs
+ ---------------
+
+IV. Known Issues
+----------------
+
+V. Configuration Changes
+------------------------
+
+VI. Release Tag Dependencies
+----------------------------
+ 
+VII. Errata
+-----------
+
+  Bug Fixes
+  -------------
+
+VIII. Documentation Changes
+----------------------------
+
+
+
+===============================================================================
+Release v1.0.3
+===============================================================================
+
+I. New Features
+---------------
+ * New method SetSocketExpedited() for setting expedited traffice (DSCP settings).
+
+II. Deprecated Functionality
+----------------------------
+
+III. Bug Fixes
+--------------
+
+ Reported Bugs
+ -------------
+ #27 - Finish adding stats code to CSocket class.
+ #30 - ConnectTCP() does not return correct error for inavlid IP Address.
+
+ Unreported Bugs
+ ---------------
+
+IV. Known Issues
+----------------
+
+V. Configuration Changes
+------------------------
+
+VI. Release Tag Dependencies
+----------------------------
+ 
+VII. Errata
+-----------
+
+  Bug Fixes
+  -------------
+
+VIII. Documentation Changes
+----------------------------
+
+
+
+===============================================================================
+Release v1.0.2
+===============================================================================
+
+I. New Features
+---------------
+* Implemented a new socket mode "CSocketMode::Passive" which allows the creation
+  of a listening socket.  Two new methods are available to control behavior for
+  the listening socket: Listen() and Accept().
+
+II. Deprecated Functionality
+----------------------------
+
+III. Bug Fixes
+--------------
+ #23 - Create Listen() method
+
+ Reported Bugs
+ -------------
+
+ Unreported Bugs
+ ---------------
+
+IV. Known Issues
+----------------
+
+V. Configuration Changes
+------------------------
+
+VI. Release Tag Dependencies
+----------------------------
+ 
+VII. Errata
+-----------
+
+  Bug Fixes
+  -------------
+
+VIII. Documentation Changes
+----------------------------
diff --git a/examples/ThirdPartyLibs/clsocket/src/ActiveSocket.cpp b/examples/ThirdPartyLibs/clsocket/src/ActiveSocket.cpp
new file mode 100644
index 000000000..3dd5b12e1
--- /dev/null
+++ b/examples/ThirdPartyLibs/clsocket/src/ActiveSocket.cpp
@@ -0,0 +1,310 @@
+/*---------------------------------------------------------------------------*/
+/*                                                                           */
+/* CActiveSocket.cpp - Active Socket Implementation                          */
+/*                                                                           */
+/* Author : Mark Carrier (mark@carrierlabs.com)                              */
+/*                                                                           */
+/*---------------------------------------------------------------------------*/
+/* Copyright (c) 2007-2009 CarrierLabs, LLC.  All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ *
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ *
+ * 3. The name of the author may not be used to endorse or promote products
+ *    derived from this software without specific prior written permission.
+ *
+ * 4. The name "CarrierLabs" must not be used to
+ *    endorse or promote products derived from this software without
+ *    prior written permission. For written permission, please contact
+ *    mark@carrierlabs.com.
+ *
+ * THIS SOFTWARE IS PROVIDED BY MARK CARRIER ``AS IS'' AND ANY
+ * EXPRESSED OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
+ * PURPOSE ARE DISCLAIMED.  IN NO EVENT SHALL MARK CARRIER OR
+ * ITS CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+ * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT
+ * NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
+ * HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT,
+ * STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED
+ * OF THE POSSIBILITY OF SUCH DAMAGE.
+ *----------------------------------------------------------------------------*/
+#include "ActiveSocket.h"
+
+CActiveSocket::CActiveSocket(CSocketType nType) : CSimpleSocket(nType)
+{
+}
+
+//------------------------------------------------------------------------------
+//
+// ConnectTCP() -
+//
+//------------------------------------------------------------------------------
+bool CActiveSocket::ConnectTCP(const char *pAddr, uint16 nPort)
+{
+    bool           bRetVal = false;
+    struct in_addr stIpAddress;
+
+    //------------------------------------------------------------------
+    // Preconnection setup that must be preformed
+    //------------------------------------------------------------------
+    memset(&m_stServerSockaddr, 0, sizeof(m_stServerSockaddr));
+    m_stServerSockaddr.sin_family = AF_INET;
+
+    if ((m_pHE = GETHOSTBYNAME(pAddr)) == NULL)
+    {
+#ifdef WIN32
+        TranslateSocketError();
+#else
+        if (h_errno == HOST_NOT_FOUND)
+        {
+            SetSocketError(SocketInvalidAddress);
+        }
+#endif
+        return bRetVal;
+    }
+
+    memcpy(&stIpAddress, m_pHE->h_addr_list[0], m_pHE->h_length);
+    m_stServerSockaddr.sin_addr.s_addr = stIpAddress.s_addr;
+
+    if ((int32)m_stServerSockaddr.sin_addr.s_addr == CSimpleSocket::SocketError)
+    {
+        TranslateSocketError();
+        return bRetVal;
+    }
+
+    m_stServerSockaddr.sin_port = htons(nPort);
+
+    //------------------------------------------------------------------
+    // Connect to address "xxx.xxx.xxx.xxx"    (IPv4) address only.
+    //
+    //------------------------------------------------------------------
+    m_timer.Initialize();
+    m_timer.SetStartTime();
+
+    if (connect(m_socket, (struct sockaddr*)&m_stServerSockaddr, sizeof(m_stServerSockaddr)) ==
+            CSimpleSocket::SocketError)
+    {
+        //--------------------------------------------------------------
+        // Get error value this might be a non-blocking socket so we
+        // must first check.
+        //--------------------------------------------------------------
+        TranslateSocketError();
+
+        //--------------------------------------------------------------
+        // If the socket is non-blocking and the current socket error
+        // is SocketEinprogress or SocketEwouldblock then poll connection
+        // with select for designated timeout period.
+        // Linux returns EINPROGRESS and Windows returns WSAEWOULDBLOCK.
+        //--------------------------------------------------------------
+        if ((IsNonblocking()) &&
+                ((GetSocketError() == CSimpleSocket::SocketEwouldblock) ||
+                 (GetSocketError() == CSimpleSocket::SocketEinprogress)))
+        {
+            bRetVal = Select(GetConnectTimeoutSec(), GetConnectTimeoutUSec());
+        }
+    }
+    else
+    {
+        TranslateSocketError();
+        bRetVal = true;
+    }
+
+    m_timer.SetEndTime();
+
+    return bRetVal;
+}
+
+//------------------------------------------------------------------------------
+//
+// ConnectUDP() -
+//
+//------------------------------------------------------------------------------
+bool CActiveSocket::ConnectUDP(const char *pAddr, uint16 nPort)
+{
+    bool           bRetVal = false;
+    struct in_addr stIpAddress;
+
+    //------------------------------------------------------------------
+    // Pre-connection setup that must be preformed
+    //------------------------------------------------------------------
+    memset(&m_stServerSockaddr, 0, sizeof(m_stServerSockaddr));
+    m_stServerSockaddr.sin_family = AF_INET;
+
+    if ((m_pHE = GETHOSTBYNAME(pAddr)) == NULL)
+    {
+#ifdef WIN32
+        TranslateSocketError();
+#else
+        if (h_errno == HOST_NOT_FOUND)
+        {
+            SetSocketError(SocketInvalidAddress);
+        }
+#endif
+        return bRetVal;
+    }
+
+    memcpy(&stIpAddress, m_pHE->h_addr_list[0], m_pHE->h_length);
+    m_stServerSockaddr.sin_addr.s_addr = stIpAddress.s_addr;
+
+    if ((int32)m_stServerSockaddr.sin_addr.s_addr == CSimpleSocket::SocketError)
+    {
+        TranslateSocketError();
+        return bRetVal;
+    }
+
+    m_stServerSockaddr.sin_port = htons(nPort);
+
+    //------------------------------------------------------------------
+    // Connect to address "xxx.xxx.xxx.xxx"    (IPv4) address only.
+    //
+    //------------------------------------------------------------------
+    m_timer.Initialize();
+    m_timer.SetStartTime();
+
+    if (connect(m_socket, (struct sockaddr*)&m_stServerSockaddr, sizeof(m_stServerSockaddr)) != CSimpleSocket::SocketError)
+    {
+        bRetVal = true;
+    }
+
+    TranslateSocketError();
+
+    m_timer.SetEndTime();
+
+    return bRetVal;
+}
+
+//------------------------------------------------------------------------------
+//
+// ConnectRAW() -
+//
+//------------------------------------------------------------------------------
+bool CActiveSocket::ConnectRAW(const char *pAddr, uint16 nPort)
+{
+    bool           bRetVal = false;
+    struct in_addr stIpAddress;
+    //------------------------------------------------------------------
+    // Pre-connection setup that must be preformed
+    //------------------------------------------------------------------
+    memset(&m_stServerSockaddr, 0, sizeof(m_stServerSockaddr));
+    m_stServerSockaddr.sin_family = AF_INET;
+
+    if ((m_pHE = GETHOSTBYNAME(pAddr)) == NULL)
+    {
+#ifdef WIN32
+        TranslateSocketError();
+#else
+        if (h_errno == HOST_NOT_FOUND)
+        {
+            SetSocketError(SocketInvalidAddress);
+        }
+#endif
+        return bRetVal;
+    }
+
+    memcpy(&stIpAddress, m_pHE->h_addr_list[0], m_pHE->h_length);
+    m_stServerSockaddr.sin_addr.s_addr = stIpAddress.s_addr;
+
+    if ((int32)m_stServerSockaddr.sin_addr.s_addr == CSimpleSocket::SocketError)
+    {
+        TranslateSocketError();
+        return bRetVal;
+    }
+
+    m_stServerSockaddr.sin_port = htons(nPort);
+
+    //------------------------------------------------------------------
+    // Connect to address "xxx.xxx.xxx.xxx"    (IPv4) address only.
+    //
+    //------------------------------------------------------------------
+    m_timer.Initialize();
+    m_timer.SetStartTime();
+
+    if (connect(m_socket, (struct sockaddr*)&m_stServerSockaddr, sizeof(m_stServerSockaddr)) != CSimpleSocket::SocketError)
+    {
+        bRetVal = true;
+    }
+
+    TranslateSocketError();
+
+    m_timer.SetEndTime();
+
+    return bRetVal;
+}
+
+
+//------------------------------------------------------------------------------
+//
+// Open() - Create a connection to a specified address on a specified port
+//
+//------------------------------------------------------------------------------
+bool CActiveSocket::Open(const char *pAddr, uint16 nPort)
+{
+    bool bRetVal = false;
+
+    if (IsSocketValid() == false)
+    {
+        SetSocketError(CSimpleSocket::SocketInvalidSocket);
+        return bRetVal;
+    }
+
+    if (pAddr == NULL)
+    {
+        SetSocketError(CSimpleSocket::SocketInvalidAddress);
+        return bRetVal;
+    }
+
+    if (nPort == 0)
+    {
+        SetSocketError(CSimpleSocket::SocketInvalidPort);
+        return bRetVal;
+    }
+
+    switch (m_nSocketType)
+    {
+    case CSimpleSocket::SocketTypeTcp :
+    {
+        bRetVal = ConnectTCP(pAddr, nPort);
+        break;
+    }
+    case CSimpleSocket::SocketTypeUdp :
+    {
+        bRetVal = ConnectUDP(pAddr, nPort);
+        break;
+    }
+    case CSimpleSocket::SocketTypeRaw :
+        break;
+    default:
+        break;
+    }
+
+    //--------------------------------------------------------------------------
+    // If successful then create a local copy of the address and port
+    //--------------------------------------------------------------------------
+    if (bRetVal)
+    {
+        socklen_t nSockLen = sizeof(struct sockaddr);
+
+        memset(&m_stServerSockaddr, 0, nSockLen);
+        getpeername(m_socket, (struct sockaddr *)&m_stServerSockaddr, &nSockLen);
+
+        nSockLen = sizeof(struct sockaddr);
+        memset(&m_stClientSockaddr, 0, nSockLen);
+        getsockname(m_socket, (struct sockaddr *)&m_stClientSockaddr, &nSockLen);
+
+        SetSocketError(SocketSuccess);
+    }
+
+    return bRetVal;
+}
diff --git a/examples/ThirdPartyLibs/clsocket/src/ActiveSocket.h b/examples/ThirdPartyLibs/clsocket/src/ActiveSocket.h
new file mode 100644
index 000000000..e452098a7
--- /dev/null
+++ b/examples/ThirdPartyLibs/clsocket/src/ActiveSocket.h
@@ -0,0 +1,91 @@
+/*---------------------------------------------------------------------------*/
+/*                                                                           */
+/* ActiveSocket.h - Active Socket Decleration                                */
+/*                                                                           */
+/* Author : Mark Carrier (mark@carrierlabs.com)                              */
+/*                                                                           */
+/*---------------------------------------------------------------------------*/
+/* Copyright (c) 2007-2009 CarrierLabs, LLC.  All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ *
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ *
+ * 3. The name of the author may not be used to endorse or promote products
+ *    derived from this software without specific prior written permission.
+ *
+ * 4. The name "CarrierLabs" must not be used to
+ *    endorse or promote products derived from this software without
+ *    prior written permission. For written permission, please contact
+ *    mark@carrierlabs.com.
+ *
+ * THIS SOFTWARE IS PROVIDED BY MARK CARRIER ``AS IS'' AND ANY
+ * EXPRESSED OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
+ * PURPOSE ARE DISCLAIMED.  IN NO EVENT SHALL MARK CARRIER OR
+ * ITS CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+ * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT
+ * NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
+ * HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT,
+ * STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED
+ * OF THE POSSIBILITY OF SUCH DAMAGE.
+ *----------------------------------------------------------------------------*/
+#ifndef __ACTIVESOCKET_H__
+#define __ACTIVESOCKET_H__
+
+#include "SimpleSocket.h"
+
+class CPassiveSocket;
+
+/// Provides a platform independent class to create an active socket.
+/// An active socket is used to create a socket which connects to a server.
+/// This type of object would be used when an application needs to send/receive
+/// data from a server.
+class CActiveSocket : public CSimpleSocket {
+public:
+    friend class CPassiveSocket;
+
+    CActiveSocket(CSocketType type = SocketTypeTcp);
+    virtual ~CActiveSocket() {
+        Close();
+    };
+
+    /// Established a connection to the address specified by pAddr.
+    /// Connection-based protocol sockets (CSocket::SocketTypeTcp) may
+    /// successfully call Open() only once, however; connectionless protocol
+    /// sockets (CSocket::SocketTypeUdp) may use Open() multiple times to
+    /// change their association.
+    ///  @param pAddr specifies the destination address to connect.
+    ///  @param nPort specifies the destination port.
+    ///  @return true if successful connection made, otherwise false.
+    virtual bool Open(const char *pAddr, uint16 nPort);
+
+private:
+    /// Utility function used to create a TCP connection, called from Open().
+    ///  @return true if successful connection made, otherwise false.
+    bool ConnectTCP(const char *pAddr, uint16 nPort);
+
+    /// Utility function used to create a UDP connection, called from Open().
+    ///  @return true if successful connection made, otherwise false.
+    bool ConnectUDP(const char *pAddr, uint16 nPort);
+
+    /// Utility function used to create a RAW connection, called from Open().
+    ///  @return true if successful connection made, otherwise false.
+    bool ConnectRAW(const char *pAddr, uint16 nPort);
+
+private:
+    struct hostent *m_pHE;
+};
+
+#endif /*  __ACTIVESOCKET_H__  */
+
diff --git a/examples/ThirdPartyLibs/clsocket/src/Host.h b/examples/ThirdPartyLibs/clsocket/src/Host.h
new file mode 100644
index 000000000..9eaaba1d9
--- /dev/null
+++ b/examples/ThirdPartyLibs/clsocket/src/Host.h
@@ -0,0 +1,257 @@
+/*---------------------------------------------------------------------------*/
+/*                                                                           */
+/* Host.h - Basic header file to provide cross-platform solutions via        */
+/*                   macros, conditional compilation, etc.                   */
+/*                                                                           */
+/* Author : Mark Carrier (mark@carrierlabs.com)                              */
+/*                                                                           */
+/*---------------------------------------------------------------------------*/
+/* Copyright (c) 2007 CarrierLabs, LLC.  All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ *
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ *
+ * 3. The name of the author may not be used to endorse or promote products
+ *    derived from this software without specific prior written permission.
+ *
+ * 4. The name "CarrierLabs" must not be used to
+ *    endorse or promote products derived from this software without
+ *    prior written permission. For written permission, please contact
+ *    mark@carrierlabs.com.
+ *
+ * THIS SOFTWARE IS PROVIDED BY MARK CARRIER ``AS IS'' AND ANY
+ * EXPRESSED OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
+ * PURPOSE ARE DISCLAIMED.  IN NO EVENT SHALL MARK CARRIER OR
+ * ITS CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+ * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT
+ * NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
+ * HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT,
+ * STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED
+ * OF THE POSSIBILITY OF SUCH DAMAGE.
+ *----------------------------------------------------------------------------*/
+#ifndef __HOST_H__
+#define __HOST_H__
+
+#include <limits.h>
+
+#ifdef __cplusplus
+extern "C"
+{
+#endif
+
+/*---------------------------------------------------------------------------*/
+/*                                                                           */
+/* Type Definition Macros                                                    */
+/*                                                                           */
+/*---------------------------------------------------------------------------*/
+#ifndef __WORDSIZE
+  /* Assume 32 */
+  #define __WORDSIZE 32
+#endif
+
+#if defined(_LINUX) || defined(_DARWIN)
+    typedef unsigned char  uint8;
+    typedef char           int8;
+    typedef unsigned short uint16;
+    typedef short          int16;
+    typedef unsigned int   uint32;
+    typedef int            int32;
+    typedef int            SOCKET;
+#endif
+
+#ifdef WIN32
+    struct iovec {
+        void  *iov_base;
+        size_t iov_len;
+    };
+
+    typedef unsigned char  uint8;
+    typedef char           int8;
+    typedef unsigned short uint16;
+    typedef short          int16;
+    typedef unsigned int   uint32;
+    typedef int            int32;
+#endif
+
+#ifdef WIN32
+    typedef int socklen_t;
+#endif
+
+#if defined(WIN32)
+    typedef unsigned long long int uint64;
+    typedef long long int          int64;
+#elif (__WORDSIZE == 32)
+    __extension__
+    typedef long long int          int64;
+    __extension__
+    typedef unsigned long long int uint64;
+#elif (__WORDSIZE == 64)
+    typedef unsigned long int uint64;
+    typedef long int          int64;
+#endif
+
+#ifdef WIN32
+
+  #ifndef UINT8_MAX
+    #define UINT8_MAX  (UCHAR_MAX)
+  #endif
+  #ifndef UINT16_MAX
+    #define UINT16_MAX (USHRT_MAX)
+  #endif
+  #ifndef UINT32_MAX
+    #define UINT32_MAX (ULONG_MAX)
+  #endif
+
+  #if __WORDSIZE == 64
+    #define SIZE_MAX (18446744073709551615UL)
+  #else
+    #ifndef SIZE_MAX
+    #define SIZE_MAX (4294967295U)
+  #endif
+  #endif
+#endif
+
+#if defined(WIN32)
+  #define ssize_t size_t
+#endif
+
+#ifndef TRUE
+  #define TRUE 1
+#endif
+
+#ifndef FALSE
+  #define FALSE 0
+#endif
+
+#ifndef htonll
+#ifdef _BIG_ENDIAN
+#define htonll(x)   (x)
+#define ntohll(x)   (x)
+#else
+#define htonll(x)   ((((uint64)htonl(x)) << 32) + htonl(x >> 32))
+#define ntohll(x)   ((((uint64)ntohl(x)) << 32) + ntohl(x >> 32))
+#endif
+#endif
+
+/*---------------------------------------------------------------------------*/
+/*                                                                           */
+/* Socket Macros                                                             */
+/*                                                                           */
+/*---------------------------------------------------------------------------*/
+#ifdef WIN32
+#define SHUT_RD                0
+#define SHUT_WR                1
+#define SHUT_RDWR              2
+#define ACCEPT(a,b,c)          accept(a,b,c)
+#define CONNECT(a,b,c)         connect(a,b,c)
+#define CLOSE(a)               closesocket(a)
+#define READ(a,b,c)            read(a,b,c)
+#define RECV(a,b,c,d)          recv(a, (char *)b, c, d)
+#define RECVFROM(a,b,c,d,e,f)  recvfrom(a, (char *)b, c, d, (sockaddr *)e, (int *)f)
+#define RECV_FLAGS             MSG_WAITALL
+#define SELECT(a,b,c,d,e)      select((int32)a,b,c,d,e)
+#define SEND(a,b,c,d)          send(a, (const char *)b, (int)c, d)
+#define SENDTO(a,b,c,d,e,f)    sendto(a, (const char *)b, (int)c, d, e, f)
+#define SEND_FLAGS             0
+#define SENDFILE(a,b,c,d)      sendfile(a, b, c, d)
+#define SET_SOCKET_ERROR(x,y)  errno=y
+#define SOCKET_ERROR_INTERUPT  EINTR
+#define SOCKET_ERROR_TIMEDOUT  EAGAIN
+#define WRITE(a,b,c)           write(a,b,c)
+#define WRITEV(a,b,c)          Writev(b, c)
+#define GETSOCKOPT(a,b,c,d,e)  getsockopt(a,b,c,(char *)d, (int *)e)
+#define SETSOCKOPT(a,b,c,d,e)  setsockopt(a,b,c,(char *)d, (int)e)
+#define GETHOSTBYNAME(a)       gethostbyname(a)
+#endif
+
+#if defined(_LINUX) || defined(_DARWIN)
+#define ACCEPT(a,b,c)          accept(a,b,c)
+#define CONNECT(a,b,c)         connect(a,b,c)
+#define CLOSE(a)               close(a)
+#define READ(a,b,c)            read(a,b,c)
+#define RECV(a,b,c,d)          recv(a, (void *)b, c, d)
+#define RECVFROM(a,b,c,d,e,f)  recvfrom(a, (char *)b, c, d, (sockaddr *)e, f)
+#define RECV_FLAGS             MSG_WAITALL
+#define SELECT(a,b,c,d,e)      select(a,b,c,d,e)
+#define SEND(a,b,c,d)          send(a, (const int8 *)b, c, d)
+#define SENDTO(a,b,c,d,e,f)    sendto(a, (const int8 *)b, c, d, e, f)
+#define SEND_FLAGS             0
+#define SENDFILE(a,b,c,d)      sendfile(a, b, c, d)
+#define SET_SOCKET_ERROR(x,y)  errno=y
+#define SOCKET_ERROR_INTERUPT  EINTR
+#define SOCKET_ERROR_TIMEDOUT  EAGAIN
+#define WRITE(a,b,c)           write(a,b,c)
+#define WRITEV(a,b,c)          writev(a, b, c)
+#define GETSOCKOPT(a,b,c,d,e)  getsockopt((int)a,(int)b,(int)c,(void *)d,(socklen_t *)e)
+#define SETSOCKOPT(a,b,c,d,e)  setsockopt((int)a,(int)b,(int)c,(const void *)d,(int)e)
+#define GETHOSTBYNAME(a)       gethostbyname(a)
+#endif
+
+
+/*---------------------------------------------------------------------------*/
+/*                                                                           */
+/* File Macros                                                               */
+/*                                                                           */
+/*---------------------------------------------------------------------------*/
+#define STRUCT_STAT         struct stat
+#define LSTAT(x,y)          lstat(x,y)
+#define FILE_HANDLE         FILE *
+#define CLEARERR(x)         clearerr(x)
+#define FCLOSE(x)           fclose(x)
+#define FEOF(x)             feof(x)
+#define FERROR(x)           ferror(x)
+#define FFLUSH(x)           fflush(x)
+#define FILENO(s)           fileno(s)
+#define FOPEN(x,y)          fopen(x, y)
+  //#define FREAD(a,b,c,d)      fread(a, b, c, d)
+#define FSTAT(s, st)        fstat(FILENO(s), st)
+    //#define FWRITE(a,b,c,d)     fwrite(a, b, c, d)
+#define STAT_BLK_SIZE(x)    ((x).st_blksize)
+
+
+/*---------------------------------------------------------------------------*/
+/*                                                                           */
+/* Misc Macros                                                               */
+/*                                                                           */
+/*---------------------------------------------------------------------------*/
+#if defined(WIN32)
+  #define GET_CLOCK_COUNT(x) QueryPerformanceCounter((LARGE_INTEGER *)x)
+#else
+  #define GET_CLOCK_COUNT(x) gettimeofday(x, NULL)
+#endif
+
+#if defined(WIN32)
+  #define STRTOULL(x) _atoi64(x)
+#else
+  #define STRTOULL(x) strtoull(x, NULL, 10)
+#endif
+
+#if defined(WIN32)
+  #define SNPRINTF _snprintf
+  #define PRINTF   printf
+  #define VPRINTF  vprintf
+  #define FPRINTF  fprintf
+#else
+  #define SNPRINTF snprintf
+  #define PRINTF   printf
+  #define VPRINTF  vprintf
+  #define FPRINTF  fprintf
+#endif
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* __HOST_H__ */
diff --git a/examples/ThirdPartyLibs/clsocket/src/PassiveSocket.cpp b/examples/ThirdPartyLibs/clsocket/src/PassiveSocket.cpp
new file mode 100644
index 000000000..e792fe149
--- /dev/null
+++ b/examples/ThirdPartyLibs/clsocket/src/PassiveSocket.cpp
@@ -0,0 +1,331 @@
+/*---------------------------------------------------------------------------*/
+/*                                                                           */
+/* PassiveSocket.cpp - Passive Socket Implementation                         */
+/*                                                                           */
+/* Author : Mark Carrier (mark@carrierlabs.com)                              */
+/*                                                                           */
+/*---------------------------------------------------------------------------*/
+/* Copyright (c) 2007-2009 CarrierLabs, LLC.  All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ *
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ *
+ * 3. The name of the author may not be used to endorse or promote products
+ *    derived from this software without specific prior written permission.
+ *
+ * 4. The name "CarrierLabs" must not be used to
+ *    endorse or promote products derived from this software without
+ *    prior written permission. For written permission, please contact
+ *    mark@carrierlabs.com.
+ *
+ * THIS SOFTWARE IS PROVIDED BY MARK CARRIER ``AS IS'' AND ANY
+ * EXPRESSED OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
+ * PURPOSE ARE DISCLAIMED.  IN NO EVENT SHALL MARK CARRIER OR
+ * ITS CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+ * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT
+ * NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
+ * HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT,
+ * STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED
+ * OF THE POSSIBILITY OF SUCH DAMAGE.
+ *----------------------------------------------------------------------------*/
+#include "PassiveSocket.h"
+
+
+
+CPassiveSocket::CPassiveSocket(CSocketType nType) : CSimpleSocket(nType)
+{
+}
+
+bool CPassiveSocket::BindMulticast(const char *pInterface, const char *pGroup, uint16 nPort)
+{
+    bool           bRetVal = false;
+#ifdef WIN32
+    ULONG          inAddr;
+#else
+    int32          nReuse;
+    in_addr_t      inAddr;
+
+    nReuse = IPTOS_LOWDELAY;
+#endif
+
+    //--------------------------------------------------------------------------
+    // Set the following socket option SO_REUSEADDR.  This will allow the file
+    // descriptor to be reused immediately after the socket is closed instead
+    // of setting in a TIMED_WAIT state.
+    //--------------------------------------------------------------------------
+    memset(&m_stMulticastGroup,0,sizeof(m_stMulticastGroup));
+    m_stMulticastGroup.sin_family = AF_INET;
+    m_stMulticastGroup.sin_port = htons(nPort);
+
+    //--------------------------------------------------------------------------
+    // If no IP Address (interface ethn) is supplied, or the loop back is
+    // specified then bind to any interface, else bind to specified interface.
+    //--------------------------------------------------------------------------
+    if ((pInterface == NULL) || (!strlen(pInterface)))
+    {
+        m_stMulticastGroup.sin_addr.s_addr = htonl(INADDR_ANY);
+    }
+    else
+    {
+        if ((inAddr = inet_addr(pInterface)) != INADDR_NONE)
+        {
+            m_stMulticastGroup.sin_addr.s_addr = inAddr;
+        }
+    }
+
+    //--------------------------------------------------------------------------
+    // Bind to the specified port
+    //--------------------------------------------------------------------------
+    if (bind(m_socket, (struct sockaddr *)&m_stMulticastGroup, sizeof(m_stMulticastGroup)) == 0)
+    {
+        //----------------------------------------------------------------------
+        // Join the multicast group
+        //----------------------------------------------------------------------
+        m_stMulticastRequest.imr_multiaddr.s_addr = inet_addr(pGroup);
+        m_stMulticastRequest.imr_interface.s_addr = m_stMulticastGroup.sin_addr.s_addr;
+
+        if (SETSOCKOPT(m_socket, IPPROTO_IP, IP_ADD_MEMBERSHIP,
+                       (void *)&m_stMulticastRequest,
+                       sizeof(m_stMulticastRequest)) == CSimpleSocket::SocketSuccess)
+        {
+            bRetVal = true;
+        }
+
+        m_timer.SetEndTime();
+    }
+
+    m_timer.Initialize();
+    m_timer.SetStartTime();
+
+
+    //--------------------------------------------------------------------------
+    // If there was a socket error then close the socket to clean out the
+    // connection in the backlog.
+    //--------------------------------------------------------------------------
+    TranslateSocketError();
+
+    if (bRetVal == false)
+    {
+        Close();
+    }
+
+    return bRetVal;
+}
+
+
+//------------------------------------------------------------------------------
+//
+// Listen() -
+//
+//------------------------------------------------------------------------------
+bool CPassiveSocket::Listen(const char *pAddr, uint16 nPort, int32 nConnectionBacklog)
+{
+    bool           bRetVal = false;
+#ifdef WIN32
+    ULONG          inAddr;
+#else
+    int32          nReuse;
+    in_addr_t      inAddr;
+
+    nReuse = IPTOS_LOWDELAY;
+#endif
+
+    //--------------------------------------------------------------------------
+    // Set the following socket option SO_REUSEADDR.  This will allow the file
+    // descriptor to be reused immediately after the socket is closed instead
+    // of setting in a TIMED_WAIT state.
+    //--------------------------------------------------------------------------
+#ifdef _LINUX
+    SETSOCKOPT(m_socket, SOL_SOCKET, SO_REUSEADDR, (char*)&nReuse, sizeof(int32));
+    SETSOCKOPT(m_socket, IPPROTO_TCP, IP_TOS, &nReuse, sizeof(int32));
+#endif
+
+    memset(&m_stServerSockaddr,0,sizeof(m_stServerSockaddr));
+    m_stServerSockaddr.sin_family = AF_INET;
+    m_stServerSockaddr.sin_port = htons(nPort);
+
+    //--------------------------------------------------------------------------
+    // If no IP Address (interface ethn) is supplied, or the loop back is
+    // specified then bind to any interface, else bind to specified interface.
+    //--------------------------------------------------------------------------
+    if ((pAddr == NULL) || (!strlen(pAddr)))
+    {
+        m_stServerSockaddr.sin_addr.s_addr = htonl(INADDR_ANY);
+    }
+    else
+    {
+        if ((inAddr = inet_addr(pAddr)) != INADDR_NONE)
+        {
+            m_stServerSockaddr.sin_addr.s_addr = inAddr;
+        }
+    }
+
+    m_timer.Initialize();
+    m_timer.SetStartTime();
+
+    //--------------------------------------------------------------------------
+    // Bind to the specified port
+    //--------------------------------------------------------------------------
+    if (bind(m_socket, (struct sockaddr *)&m_stServerSockaddr, sizeof(m_stServerSockaddr)) != CSimpleSocket::SocketError)
+    {
+        if (m_nSocketType == CSimpleSocket::SocketTypeTcp)
+        {
+            if (listen(m_socket, nConnectionBacklog) != CSimpleSocket::SocketError)
+            {
+                bRetVal = true;
+            }
+        }
+        else
+        {
+            bRetVal = true;
+        }
+    }
+
+    m_timer.SetEndTime();
+
+    //--------------------------------------------------------------------------
+    // If there was a socket error then close the socket to clean out the
+    // connection in the backlog.
+    //--------------------------------------------------------------------------
+    TranslateSocketError();
+
+    if (bRetVal == false)
+    {
+        Close();
+    }
+
+    return bRetVal;
+}
+
+
+//------------------------------------------------------------------------------
+//
+// Accept() -
+//
+//------------------------------------------------------------------------------
+CActiveSocket *CPassiveSocket::Accept()
+{
+    uint32         nSockLen;
+    CActiveSocket *pClientSocket = NULL;
+    SOCKET         socket = CSimpleSocket::SocketError;
+
+    if (m_nSocketType != CSimpleSocket::SocketTypeTcp)
+    {
+        SetSocketError(CSimpleSocket::SocketProtocolError);
+        return pClientSocket;
+    }
+
+    pClientSocket = new CActiveSocket();
+
+    //--------------------------------------------------------------------------
+    // Wait for incoming connection.
+    //--------------------------------------------------------------------------
+    if (pClientSocket != NULL)
+    {
+        CSocketError socketErrno = SocketSuccess;
+
+        m_timer.Initialize();
+        m_timer.SetStartTime();
+
+        nSockLen = sizeof(m_stClientSockaddr);
+
+        do
+        {
+            errno = 0;
+            socket = accept(m_socket, (struct sockaddr *)&m_stClientSockaddr, (socklen_t *)&nSockLen);
+
+            if (socket != -1)
+            {
+                pClientSocket->SetSocketHandle(socket);
+                pClientSocket->TranslateSocketError();
+                socketErrno = pClientSocket->GetSocketError();
+                socklen_t nSockLen = sizeof(struct sockaddr);
+
+                //-------------------------------------------------------------
+                // Store client and server IP and port information for this
+                // connection.
+                //-------------------------------------------------------------
+                getpeername(m_socket, (struct sockaddr *)&pClientSocket->m_stClientSockaddr, &nSockLen);
+                memcpy((void *)&pClientSocket->m_stClientSockaddr, (void *)&m_stClientSockaddr, nSockLen);
+
+                memset(&pClientSocket->m_stServerSockaddr, 0, nSockLen);
+                getsockname(m_socket, (struct sockaddr *)&pClientSocket->m_stServerSockaddr, &nSockLen);
+            }
+            else
+            {
+                TranslateSocketError();
+                socketErrno = GetSocketError();
+            }
+
+        } while (socketErrno == CSimpleSocket::SocketInterrupted);
+
+        m_timer.SetEndTime();
+
+        if (socketErrno != CSimpleSocket::SocketSuccess)
+        {
+            delete pClientSocket;
+            pClientSocket = NULL;
+        }
+    }
+
+    return pClientSocket;
+}
+
+
+//------------------------------------------------------------------------------
+//
+// Send() - Send data on a valid socket
+//
+//------------------------------------------------------------------------------
+int32 CPassiveSocket::Send(const uint8 *pBuf, size_t bytesToSend)
+{
+    SetSocketError(SocketSuccess);
+    m_nBytesSent = 0;
+
+    switch(m_nSocketType)
+    {
+    case CSimpleSocket::SocketTypeUdp:
+    {
+        if (IsSocketValid())
+        {
+            if ((bytesToSend > 0) && (pBuf != NULL))
+            {
+                m_timer.Initialize();
+                m_timer.SetStartTime();
+
+                m_nBytesSent = SENDTO(m_socket, pBuf, bytesToSend, 0,
+                                      (const sockaddr *)&m_stClientSockaddr,
+                                      sizeof(m_stClientSockaddr));
+
+                m_timer.SetEndTime();
+
+                if (m_nBytesSent == CSimpleSocket::SocketError)
+                {
+                    TranslateSocketError();
+                }
+            }
+        }
+        break;
+    }
+    case CSimpleSocket::SocketTypeTcp:
+        CSimpleSocket::Send(pBuf, bytesToSend);
+        break;
+    default:
+        SetSocketError(SocketProtocolError);
+        break;
+    }
+
+    return m_nBytesSent;
+}
diff --git a/examples/ThirdPartyLibs/clsocket/src/PassiveSocket.h b/examples/ThirdPartyLibs/clsocket/src/PassiveSocket.h
new file mode 100644
index 000000000..a5f4fd135
--- /dev/null
+++ b/examples/ThirdPartyLibs/clsocket/src/PassiveSocket.h
@@ -0,0 +1,119 @@
+/*---------------------------------------------------------------------------*/
+/*                                                                           */
+/* Socket.h - Passive Socket Decleration.                                    */
+/*                                                                           */
+/* Author : Mark Carrier (mark@carrierlabs.com)                              */
+/*                                                                           */
+/*---------------------------------------------------------------------------*/
+/* Copyright (c) 2007-2009 CarrierLabs, LLC.  All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ *
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ *
+ * 3. The name of the author may not be used to endorse or promote products
+ *    derived from this software without specific prior written permission.
+ *
+ * 4. The name "CarrierLabs" must not be used to
+ *    endorse or promote products derived from this software without
+ *    prior written permission. For written permission, please contact
+ *    mark@carrierlabs.com.
+ *
+ * THIS SOFTWARE IS PROVIDED BY MARK CARRIER ``AS IS'' AND ANY
+ * EXPRESSED OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
+ * PURPOSE ARE DISCLAIMED.  IN NO EVENT SHALL MARK CARRIER OR
+ * ITS CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+ * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT
+ * NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
+ * HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT,
+ * STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED
+ * OF THE POSSIBILITY OF SUCH DAMAGE.
+ *----------------------------------------------------------------------------*/
+#ifndef __PASSIVESOCKET_H__
+#define __PASSIVESOCKET_H__
+#include "ActiveSocket.h"
+
+/// Provides a platform independent class to create a passive socket.
+/// A passive socket is used to create a "listening" socket.  This type
+/// of object would be used when an application needs to wait for
+/// inbound connections.  Support for CSimpleSocket::SocketTypeTcp,
+/// CSimpleSocket::SocketTypeUdp, and CSimpleSocket::SocketTypeRaw is handled
+/// in a similar fashion.  The big difference is that the method
+/// CPassiveSocket::Accept should not be called on the latter two socket
+/// types.
+class CPassiveSocket : public CSimpleSocket {
+public:
+    CPassiveSocket(CSocketType type = SocketTypeTcp);
+    virtual ~CPassiveSocket() {
+        Close();
+    };
+
+    /// Extracts the first connection request on the queue of pending
+    /// connections and creates a newly connected socket.  Used with
+    /// CSocketType CSimpleSocket::SocketTypeTcp.  It is the responsibility of
+    /// the caller to delete the returned object when finished.
+    ///  @return if successful a pointer to a newly created CActiveSocket object
+    ///          will be returned and the internal error condition of the CPassiveSocket
+    ///          object will be CPassiveSocket::SocketSuccess.  If an error condition was encountered
+    ///          the NULL will be returned and one of the following error conditions will be set:
+    ///    CPassiveSocket::SocketEwouldblock, CPassiveSocket::SocketInvalidSocket,
+    ///    CPassiveSocket::SocketConnectionAborted, CPassiveSocket::SocketInterrupted
+    ///    CPassiveSocket::SocketProtocolError, CPassiveSocket::SocketFirewallError
+    virtual CActiveSocket *Accept(void);
+
+    /// Bind to a multicast group on  a specified interface, multicast group, and port
+    ///
+    ///  @param pInterface - interface on which to bind.
+    ///  @param pGroup - multicast group address to bind.
+    ///  @param nPort - port on which multicast
+    ///  @return true if able to bind to interface and multicast group.
+    ///      If not successful, the false is returned and one of the following error
+    ///      condiitions will be set: CPassiveSocket::SocketAddressInUse, CPassiveSocket::SocketProtocolError,
+    ///      CPassiveSocket::SocketInvalidSocket.  The following socket errors are for Linux/Unix
+    ///      derived systems only: CPassiveSocket::SocketInvalidSocketBuffer
+    bool BindMulticast(const char *pInterface, const char *pGroup, uint16 nPort);
+
+    /// Create a listening socket at local ip address 'x.x.x.x' or 'localhost'
+    /// if pAddr is NULL on port nPort.
+    ///
+    ///  @param pAddr specifies the IP address on which to listen.
+    ///  @param nPort specifies the port on which to listen.
+    ///  @param nConnectionBacklog specifies connection queue backlog (default 30,000)
+    ///  @return true if a listening socket was created.
+    ///      If not successful, the false is returned and one of the following error
+    ///      conditions will be set: CPassiveSocket::SocketAddressInUse, CPassiveSocket::SocketProtocolError,
+    ///      CPassiveSocket::SocketInvalidSocket.  The following socket errors are for Linux/Unix
+    ///      derived systems only: CPassiveSocket::SocketInvalidSocketBuffer
+    virtual bool Listen(const char *pAddr, uint16 nPort, int32 nConnectionBacklog = 30000);
+
+    /// Attempts to send a block of data on an established connection.
+    /// @param pBuf block of data to be sent.
+    /// @param bytesToSend size of data block to be sent.
+    /// @return number of bytes actually sent, return of zero means the
+    /// connection has been shutdown on the other side, and a return of -1
+    /// means that an error has occurred.  If an error was signaled then one
+    /// of the following error codes will be set: CPassiveSocket::SocketInvalidSocket,
+    /// CPassiveSocket::SocketEwouldblock, SimpleSocket::SocketConnectionReset,
+    /// CPassiveSocket::SocketInvalidSocketBuffer, CPassiveSocket::SocketInterrupted,
+    /// CPassiveSocket::SocketProtocolError, CPassiveSocket::SocketNotconnected
+    /// <br>\b Note: This function is used only for a socket of type
+    /// CSimpleSocket::SocketTypeUdp
+    virtual int32 Send(const uint8 *pBuf, size_t bytesToSend);
+
+private:
+    struct ip_mreq  m_stMulticastRequest;   /// group address for multicast
+
+};
+
+#endif // __PASSIVESOCKET_H__
diff --git a/examples/ThirdPartyLibs/clsocket/src/SimpleSocket.cpp b/examples/ThirdPartyLibs/clsocket/src/SimpleSocket.cpp
new file mode 100644
index 000000000..7bd1c8aab
--- /dev/null
+++ b/examples/ThirdPartyLibs/clsocket/src/SimpleSocket.cpp
@@ -0,0 +1,1187 @@
+/*---------------------------------------------------------------------------*/
+/*                                                                           */
+/* CSimpleSocket.cpp - CSimpleSocket Implementation                          */
+/*                                                                           */
+/* Author : Mark Carrier (mark@carrierlabs.com)                              */
+/*                                                                           */
+/*---------------------------------------------------------------------------*/
+/* Copyright (c) 2007-2009 CarrierLabs, LLC.  All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ *
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ *
+ * 3. The name of the author may not be used to endorse or promote products
+ *    derived from this software without specific prior written permission.
+ *
+ * 4. The name "CarrierLabs" must not be used to
+ *    endorse or promote products derived from this software without
+ *    prior written permission. For written permission, please contact
+ *    mark@carrierlabs.com.
+ *
+ * THIS SOFTWARE IS PROVIDED BY MARK CARRIER ``AS IS'' AND ANY
+ * EXPRESSED OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
+ * PURPOSE ARE DISCLAIMED.  IN NO EVENT SHALL MARK CARRIER OR
+ * ITS CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+ * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT
+ * NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
+ * HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT,
+ * STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED
+ * OF THE POSSIBILITY OF SUCH DAMAGE.
+ *----------------------------------------------------------------------------*/
+#include "SimpleSocket.h"
+
+CSimpleSocket::CSimpleSocket(CSocketType nType) :
+    m_socket(INVALID_SOCKET),
+    m_socketErrno(CSimpleSocket::SocketInvalidSocket),
+    m_pBuffer(NULL), m_nBufferSize(0), m_nSocketDomain(AF_INET),
+    m_nSocketType(SocketTypeInvalid), m_nBytesReceived(-1),
+    m_nBytesSent(-1), m_nFlags(0),
+    m_bIsBlocking(true)
+{
+    SetConnectTimeout(1, 0);
+    memset(&m_stRecvTimeout, 0, sizeof(struct timeval));
+    memset(&m_stSendTimeout, 0, sizeof(struct timeval));
+    memset(&m_stLinger, 0, sizeof(struct linger));
+
+    switch(nType)
+    {
+        //----------------------------------------------------------------------
+        // Declare socket type stream - TCP
+        //----------------------------------------------------------------------
+    case CSimpleSocket::SocketTypeTcp:
+    {
+        m_nSocketDomain = AF_INET;
+        m_nSocketType = CSimpleSocket::SocketTypeTcp;
+        break;
+    }
+    case CSimpleSocket::SocketTypeTcp6:
+    {
+        m_nSocketDomain = AF_INET6;
+        m_nSocketType = CSimpleSocket::SocketTypeTcp6;
+        break;
+    }
+    //----------------------------------------------------------------------
+    // Declare socket type datagram - UDP
+    //----------------------------------------------------------------------
+    case CSimpleSocket::SocketTypeUdp:
+    {
+        m_nSocketDomain = AF_INET;
+        m_nSocketType = CSimpleSocket::SocketTypeUdp;
+        break;
+    }
+    case CSimpleSocket::SocketTypeUdp6:
+    {
+        m_nSocketDomain = AF_INET6;
+        m_nSocketType = CSimpleSocket::SocketTypeUdp6;
+        break;
+    }
+    //----------------------------------------------------------------------
+    // Declare socket type raw Ethernet - Ethernet
+    //----------------------------------------------------------------------
+    case CSimpleSocket::SocketTypeRaw:
+    {
+#if defined(_LINUX) && !defined(_DARWIN)
+        m_nSocketDomain = AF_PACKET;
+        m_nSocketType = CSimpleSocket::SocketTypeRaw;
+#endif
+#ifdef _WIN32
+        m_nSocketType = CSimpleSocket::SocketTypeInvalid;
+#endif
+        break;
+    }
+    default:
+        m_nSocketType = CSimpleSocket::SocketTypeInvalid;
+        break;
+    }
+}
+
+CSimpleSocket::CSimpleSocket(CSimpleSocket &socket)
+{
+    m_pBuffer = new uint8[socket.m_nBufferSize];
+    m_nBufferSize = socket.m_nBufferSize;
+    memcpy(m_pBuffer, socket.m_pBuffer, socket.m_nBufferSize);
+}
+
+CSimpleSocket *CSimpleSocket::operator=(CSimpleSocket &socket)
+{
+    if (m_nBufferSize != socket.m_nBufferSize)
+    {
+        delete m_pBuffer;
+        m_pBuffer = new uint8[socket.m_nBufferSize];
+        m_nBufferSize = socket.m_nBufferSize;
+        memcpy(m_pBuffer, socket.m_pBuffer, socket.m_nBufferSize);
+    }
+
+    return this;
+}
+
+
+//------------------------------------------------------------------------------
+//
+// Initialize() - Initialize socket class
+//
+//------------------------------------------------------------------------------
+bool CSimpleSocket::Initialize()
+{
+    errno = CSimpleSocket::SocketSuccess;
+
+#ifdef WIN32
+    //-------------------------------------------------------------------------
+    // Data structure containing general Windows Sockets Info
+    //-------------------------------------------------------------------------
+    memset(&m_hWSAData, 0, sizeof(m_hWSAData));
+    WSAStartup(MAKEWORD(2, 0), &m_hWSAData);
+#endif
+
+    //-------------------------------------------------------------------------
+    // Create the basic Socket Handle
+    //-------------------------------------------------------------------------
+    m_timer.Initialize();
+    m_timer.SetStartTime();
+    m_socket = socket(m_nSocketDomain, m_nSocketType, 0);
+    m_timer.SetEndTime();
+
+    TranslateSocketError();
+
+    return (IsSocketValid());
+}
+
+
+//------------------------------------------------------------------------------
+//
+// BindInterface()
+//
+//------------------------------------------------------------------------------
+bool CSimpleSocket::BindInterface(const char *pInterface)
+{
+    bool           bRetVal = false;
+    struct in_addr stInterfaceAddr;
+
+    if (GetMulticast() == true)
+    {
+        if (pInterface)
+        {
+            stInterfaceAddr.s_addr= inet_addr(pInterface);
+            if (SETSOCKOPT(m_socket, IPPROTO_IP, IP_MULTICAST_IF, &stInterfaceAddr, sizeof(stInterfaceAddr)) == SocketSuccess)
+            {
+                bRetVal = true;
+            }
+        }
+    }
+    else
+    {
+        SetSocketError(CSimpleSocket::SocketProtocolError);
+    }
+
+    return bRetVal;
+}
+
+
+//------------------------------------------------------------------------------
+//
+// SetMulticast()
+//
+//------------------------------------------------------------------------------
+bool CSimpleSocket::SetMulticast(bool bEnable, uint8 multicastTTL)
+{
+    bool bRetVal = false;
+
+    if (GetSocketType() == CSimpleSocket::SocketTypeUdp)
+    {
+        m_bIsMulticast = bEnable;
+        if (SETSOCKOPT(m_socket, IPPROTO_IP, IP_MULTICAST_TTL, (void *)&multicastTTL, sizeof(multicastTTL)) == SocketError)
+        {
+            TranslateSocketError();
+            bRetVal = false;
+        }
+        else
+        {
+            bRetVal = true;
+        }
+    }
+    else
+    {
+        m_socketErrno = CSimpleSocket::SocketProtocolError;
+    }
+
+    return bRetVal;
+}
+
+
+//------------------------------------------------------------------------------
+//
+// SetSocketDscp()
+//
+//------------------------------------------------------------------------------
+bool CSimpleSocket::SetSocketDscp(int32 nDscp)
+{
+    bool  bRetVal = true;
+    int32 nTempVal = nDscp;
+
+    nTempVal <<= 4;
+    nTempVal /= 4;
+
+    if (IsSocketValid())
+    {
+        if (SETSOCKOPT(m_socket, IPPROTO_IP, IP_TOS, &nTempVal, sizeof(nTempVal)) == SocketError)
+        {
+            TranslateSocketError();
+            bRetVal = false;
+        }
+    }
+
+    return bRetVal;
+}
+
+
+//------------------------------------------------------------------------------
+//
+// GetSocketDscp()
+//
+//------------------------------------------------------------------------------
+int32 CSimpleSocket::GetSocketDscp(void)
+{
+    int32      nTempVal = 0;
+    socklen_t  nLen = 0;
+
+    if (IsSocketValid())
+    {
+        if (GETSOCKOPT(m_socket, IPPROTO_IP, IP_TOS, &nTempVal, &nLen) == SocketError)
+        {
+            TranslateSocketError();
+        }
+
+        nTempVal *= 4;
+        nTempVal >>= 4;
+    }
+
+    return nTempVal;
+}
+
+
+//------------------------------------------------------------------------------
+//
+// GetWindowSize()
+//
+//------------------------------------------------------------------------------
+uint32 CSimpleSocket::GetWindowSize(uint32 nOptionName)
+{
+    uint32 nTcpWinSize = 0;
+
+    //-------------------------------------------------------------------------
+    // no socket given, return system default allocate our own new socket
+    //-------------------------------------------------------------------------
+    if (m_socket != CSimpleSocket::SocketError)
+    {
+        socklen_t nLen = sizeof(nTcpWinSize);
+
+        //---------------------------------------------------------------------
+        // query for buffer size
+        //---------------------------------------------------------------------
+        GETSOCKOPT(m_socket, SOL_SOCKET, nOptionName, &nTcpWinSize, &nLen);
+        TranslateSocketError();
+    }
+    else
+    {
+        SetSocketError(CSimpleSocket::SocketInvalidSocket);
+    }
+
+    return nTcpWinSize;
+}
+
+
+//------------------------------------------------------------------------------
+//
+// SetWindowSize()
+//
+//------------------------------------------------------------------------------
+uint32 CSimpleSocket::SetWindowSize(uint32 nOptionName, uint32 nWindowSize)
+{
+    uint32 nRetVal = 0;
+
+    //-------------------------------------------------------------------------
+    // no socket given, return system default allocate our own new socket
+    //-------------------------------------------------------------------------
+    if (m_socket != CSimpleSocket::SocketError)
+    {
+        nRetVal = SETSOCKOPT(m_socket, SOL_SOCKET, nOptionName, &nWindowSize, sizeof(nWindowSize));
+        TranslateSocketError();
+    }
+    else
+    {
+        SetSocketError(CSimpleSocket::SocketInvalidSocket);
+    }
+
+    return nWindowSize;
+}
+
+
+//------------------------------------------------------------------------------
+//
+// DisableNagleAlgorithm()
+//
+//------------------------------------------------------------------------------
+bool CSimpleSocket::DisableNagleAlgoritm()
+{
+    bool  bRetVal = false;
+    int32 nTcpNoDelay = 1;
+
+    //----------------------------------------------------------------------
+    // Set TCP NoDelay flag to true
+    //----------------------------------------------------------------------
+    if (SETSOCKOPT(m_socket, IPPROTO_TCP, TCP_NODELAY, &nTcpNoDelay, sizeof(int32)) == 0)
+    {
+        bRetVal = true;
+    }
+
+    TranslateSocketError();
+
+    return bRetVal;
+}
+
+
+//------------------------------------------------------------------------------
+//
+// EnableNagleAlgorithm()
+//
+//------------------------------------------------------------------------------
+bool CSimpleSocket::EnableNagleAlgoritm()
+{
+    bool  bRetVal = false;
+    int32 nTcpNoDelay = 0;
+
+    //----------------------------------------------------------------------
+    // Set TCP NoDelay flag to false
+    //----------------------------------------------------------------------
+    if (SETSOCKOPT(m_socket, IPPROTO_TCP, TCP_NODELAY, &nTcpNoDelay, sizeof(int32)) == 0)
+    {
+        bRetVal = true;
+    }
+
+    TranslateSocketError();
+
+    return bRetVal;
+}
+
+
+//------------------------------------------------------------------------------
+//
+// Send() - Send data on a valid socket
+//
+//------------------------------------------------------------------------------
+int32 CSimpleSocket::Send(const uint8 *pBuf, size_t bytesToSend)
+{
+    SetSocketError(SocketSuccess);
+    m_nBytesSent = 0;
+
+    switch(m_nSocketType)
+    {
+    case CSimpleSocket::SocketTypeTcp:
+    {
+        if (IsSocketValid())
+        {
+            if ((bytesToSend > 0) && (pBuf != NULL))
+            {
+                m_timer.Initialize();
+                m_timer.SetStartTime();
+
+                //---------------------------------------------------------
+                // Check error condition and attempt to resend if call
+                // was interrupted by a signal.
+                //---------------------------------------------------------
+                do
+                {
+                    m_nBytesSent = SEND(m_socket, pBuf, bytesToSend, 0);
+                    TranslateSocketError();
+                } while (GetSocketError() == CSimpleSocket::SocketInterrupted);
+
+                m_timer.SetEndTime();
+            }
+        }
+        break;
+    }
+    case CSimpleSocket::SocketTypeUdp:
+    {
+        if (IsSocketValid())
+        {
+            if ((bytesToSend > 0) && (pBuf != NULL))
+            {
+                m_timer.Initialize();
+                m_timer.SetStartTime();
+
+                //---------------------------------------------------------
+                // Check error condition and attempt to resend if call
+                // was interrupted by a signal.
+                //---------------------------------------------------------
+                //                    if (GetMulticast())
+                //                    {
+                //                        do
+                //                        {
+                //                            m_nBytesSent = SENDTO(m_socket, pBuf, bytesToSend, 0, (const sockaddr *)&m_stMulticastGroup,
+                //                                                  sizeof(m_stMulticastGroup));
+                //                            TranslateSocketError();
+                //                        } while (GetSocketError() == CSimpleSocket::SocketInterrupted);
+                //                    }
+                //                    else
+                {
+                    do
+                    {
+                        m_nBytesSent = SENDTO(m_socket, pBuf, bytesToSend, 0, (const sockaddr *)&m_stServerSockaddr, sizeof(m_stServerSockaddr));
+                        TranslateSocketError();
+                    } while (GetSocketError() == CSimpleSocket::SocketInterrupted);
+                }
+
+                m_timer.SetEndTime();
+            }
+        }
+        break;
+    }
+    default:
+        break;
+    }
+
+    return m_nBytesSent;
+}
+
+
+//------------------------------------------------------------------------------
+//
+// Close() - Close socket and free up any memory allocated for the socket
+//
+//------------------------------------------------------------------------------
+bool CSimpleSocket::Close(void)
+{
+    bool bRetVal = false;
+
+    //--------------------------------------------------------------------------
+    // delete internal buffer
+    //--------------------------------------------------------------------------
+    if (m_pBuffer != NULL)
+    {
+        delete [] m_pBuffer;
+        m_pBuffer = NULL;
+    }
+
+    //--------------------------------------------------------------------------
+    // if socket handle is currently valid, close and then invalidate
+    //--------------------------------------------------------------------------
+    if (IsSocketValid())
+    {
+        if (CLOSE(m_socket) != CSimpleSocket::SocketError)
+        {
+            m_socket = INVALID_SOCKET;
+            bRetVal = true;
+        }
+    }
+
+    TranslateSocketError();
+
+    return bRetVal;
+}
+
+
+//------------------------------------------------------------------------------
+//
+// Shtudown()
+//
+//------------------------------------------------------------------------------
+bool CSimpleSocket::Shutdown(CShutdownMode nShutdown)
+{
+    CSocketError nRetVal = SocketEunknown;
+
+    nRetVal = (CSocketError)shutdown(m_socket, CSimpleSocket::Sends);
+    TranslateSocketError();
+
+    return (nRetVal == CSimpleSocket::SocketSuccess) ? true: false;
+}
+
+
+//------------------------------------------------------------------------------
+//
+// Flush()
+//
+//------------------------------------------------------------------------------
+bool CSimpleSocket::Flush()
+{
+    int32 nTcpNoDelay = 1;
+    int32 nCurFlags = 0;
+    uint8 tmpbuf = 0;
+    bool  bRetVal = false;
+
+    //--------------------------------------------------------------------------
+    // Get the current setting of the TCP_NODELAY flag.
+    //--------------------------------------------------------------------------
+    if (GETSOCKOPT(m_socket, IPPROTO_TCP, TCP_NODELAY, &nCurFlags, sizeof(int32)) == 0)
+    {
+        //----------------------------------------------------------------------
+        // Set TCP NoDelay flag
+        //----------------------------------------------------------------------
+        if (SETSOCKOPT(m_socket, IPPROTO_TCP, TCP_NODELAY, &nTcpNoDelay, sizeof(int32)) == 0)
+        {
+            //------------------------------------------------------------------
+            // Send empty byte stream to flush the TCP send buffer
+            //------------------------------------------------------------------
+            if (Send(&tmpbuf, 0) != CSimpleSocket::SocketError)
+            {
+                bRetVal = true;
+            }
+
+            TranslateSocketError();
+        }
+
+        //----------------------------------------------------------------------
+        // Reset the TCP_NODELAY flag to original state.
+        //----------------------------------------------------------------------
+        SETSOCKOPT(m_socket, IPPROTO_TCP, TCP_NODELAY, &nCurFlags, sizeof(int32));
+    }
+
+    return bRetVal;
+}
+
+
+//------------------------------------------------------------------------------
+//
+// Writev -
+//
+//------------------------------------------------------------------------------
+int32 CSimpleSocket::Writev(const struct iovec *pVector, size_t nCount)
+{
+    int32 nBytes     = 0;
+    int32 nBytesSent = 0;
+    int32 i          = 0;
+
+    //--------------------------------------------------------------------------
+    // Send each buffer as a separate send, windows does not support this
+    // function call.
+    //--------------------------------------------------------------------------
+    for (i = 0; i < (int32)nCount; i++)
+    {
+        if ((nBytes = Send((uint8 *)pVector[i].iov_base, pVector[i].iov_len)) == CSimpleSocket::SocketError)
+        {
+            break;
+        }
+
+        nBytesSent += nBytes;
+    }
+
+    if (i > 0)
+    {
+        Flush();
+    }
+
+    return nBytesSent;
+}
+
+
+//------------------------------------------------------------------------------
+//
+// Send() - Send data on a valid socket via a vector of buffers.
+//
+//------------------------------------------------------------------------------
+int32 CSimpleSocket::Send(const struct iovec *sendVector, int32 nNumItems)
+{
+    SetSocketError(SocketSuccess);
+    m_nBytesSent = 0;
+
+    if ((m_nBytesSent = WRITEV(m_socket, sendVector, nNumItems)) == CSimpleSocket::SocketError)
+    {
+        TranslateSocketError();
+    }
+
+    return m_nBytesSent;
+}
+
+
+//------------------------------------------------------------------------------
+//
+// SetReceiveTimeout()
+//
+//------------------------------------------------------------------------------
+bool CSimpleSocket::SetReceiveTimeout(int32 nRecvTimeoutSec, int32 nRecvTimeoutUsec)
+{
+    bool bRetVal = true;
+
+    memset(&m_stRecvTimeout, 0, sizeof(struct timeval));
+
+    m_stRecvTimeout.tv_sec = nRecvTimeoutSec;
+    m_stRecvTimeout.tv_usec = nRecvTimeoutUsec;
+
+    //--------------------------------------------------------------------------
+    // Sanity check to make sure the options are supported!
+    //--------------------------------------------------------------------------
+    if (SETSOCKOPT(m_socket, SOL_SOCKET, SO_RCVTIMEO, &m_stRecvTimeout,
+                   sizeof(struct timeval)) == CSimpleSocket::SocketError)
+    {
+        bRetVal = false;
+        TranslateSocketError();
+    }
+
+    return bRetVal;
+}
+
+
+//------------------------------------------------------------------------------
+//
+// SetSendTimeout()
+//
+//------------------------------------------------------------------------------
+bool CSimpleSocket::SetSendTimeout(int32 nSendTimeoutSec, int32 nSendTimeoutUsec)
+{
+    bool bRetVal = true;
+
+    memset(&m_stSendTimeout, 0, sizeof(struct timeval));
+    m_stSendTimeout.tv_sec = nSendTimeoutSec;
+    m_stSendTimeout.tv_usec = nSendTimeoutUsec;
+
+    //--------------------------------------------------------------------------
+    // Sanity check to make sure the options are supported!
+    //--------------------------------------------------------------------------
+    if (SETSOCKOPT(m_socket, SOL_SOCKET, SO_SNDTIMEO, &m_stSendTimeout,
+                   sizeof(struct timeval)) == CSimpleSocket::SocketError)
+    {
+        bRetVal = false;
+        TranslateSocketError();
+    }
+
+    return bRetVal;
+}
+
+
+//------------------------------------------------------------------------------
+//
+// SetOptionReuseAddr()
+//
+//------------------------------------------------------------------------------
+bool CSimpleSocket::SetOptionReuseAddr()
+{
+    bool  bRetVal = false;
+    int32 nReuse  = IPTOS_LOWDELAY;
+
+    if (SETSOCKOPT(m_socket, SOL_SOCKET, SO_REUSEADDR, (char*)&nReuse, sizeof(int32)) == 0)
+    {
+        bRetVal = true;
+    }
+
+    TranslateSocketError();
+
+    return bRetVal;
+}
+
+
+//------------------------------------------------------------------------------
+//
+// SetOptionLinger()
+//
+//------------------------------------------------------------------------------
+bool CSimpleSocket::SetOptionLinger(bool bEnable, uint16 nTime)
+{
+    bool bRetVal = false;
+
+    m_stLinger.l_onoff = (bEnable == true) ? 1: 0;
+    m_stLinger.l_linger = nTime;
+
+    if (SETSOCKOPT(m_socket, SOL_SOCKET, SO_LINGER, &m_stLinger, sizeof(m_stLinger)) == 0)
+    {
+        bRetVal = true;
+    }
+
+    TranslateSocketError();
+
+    return bRetVal;
+}
+
+
+//------------------------------------------------------------------------------
+//
+// Receive() - Attempts to receive a block of data on an established
+//             connection.    Data is received in an internal buffer managed
+//             by the class.  This buffer is only valid until the next call
+//             to Receive(), a call to Close(), or until the object goes out
+//             of scope.
+//
+//------------------------------------------------------------------------------
+int32 CSimpleSocket::Receive(int32 nMaxBytes, uint8 * pBuffer )
+{
+    m_nBytesReceived = 0;
+
+    //--------------------------------------------------------------------------
+    // If the socket is invalid then return false.
+    //--------------------------------------------------------------------------
+    if (IsSocketValid() == false)
+    {
+        return m_nBytesReceived;
+    }
+
+    uint8 * pWorkBuffer = pBuffer;
+    if ( pBuffer == NULL )
+    {
+        //--------------------------------------------------------------------------
+        // Free existing buffer and allocate a new buffer the size of
+        // nMaxBytes.
+        //--------------------------------------------------------------------------
+        if ((m_pBuffer != NULL) && (nMaxBytes != m_nBufferSize))
+        {
+            delete [] m_pBuffer;
+            m_pBuffer = NULL;
+        }
+
+        //--------------------------------------------------------------------------
+        // Allocate a new internal buffer to receive data.
+        //--------------------------------------------------------------------------
+        if (m_pBuffer == NULL)
+        {
+            m_nBufferSize = nMaxBytes;
+            m_pBuffer = new uint8[nMaxBytes];
+        }
+
+        pWorkBuffer = m_pBuffer;
+    }
+
+    SetSocketError(SocketSuccess);
+
+    m_timer.Initialize();
+    m_timer.SetStartTime();
+
+    switch (m_nSocketType)
+    {
+        //----------------------------------------------------------------------
+        // If zero bytes are received, then return.  If SocketERROR is
+        // received, free buffer and return CSocket::SocketError (-1) to caller.
+        //----------------------------------------------------------------------
+    case CSimpleSocket::SocketTypeTcp:
+    {
+        do
+        {
+            m_nBytesReceived = RECV(m_socket, (pWorkBuffer + m_nBytesReceived),
+                                    nMaxBytes, m_nFlags);
+            TranslateSocketError();
+        } while ((GetSocketError() == CSimpleSocket::SocketInterrupted));
+
+        break;
+    }
+    case CSimpleSocket::SocketTypeUdp:
+    {
+        uint32 srcSize;
+
+        srcSize = sizeof(struct sockaddr_in);
+
+        if (GetMulticast() == true)
+        {
+            do
+            {
+                m_nBytesReceived = RECVFROM(m_socket, pWorkBuffer, nMaxBytes, 0,
+                                            &m_stMulticastGroup, &srcSize);
+                TranslateSocketError();
+            } while (GetSocketError() == CSimpleSocket::SocketInterrupted);
+        }
+        else
+        {
+            do
+            {
+                m_nBytesReceived = RECVFROM(m_socket, pWorkBuffer, nMaxBytes, 0,
+                                            &m_stClientSockaddr, &srcSize);
+                TranslateSocketError();
+            } while (GetSocketError() == CSimpleSocket::SocketInterrupted);
+        }
+
+        break;
+    }
+    default:
+        break;
+    }
+
+    m_timer.SetEndTime();
+    TranslateSocketError();
+
+    //--------------------------------------------------------------------------
+    // If we encounter an error translate the error code and return.  One
+    // possible error code could be EAGAIN (EWOULDBLOCK) if the socket is
+    // non-blocking.  This does not mean there is an error, but no data is
+    // yet available on the socket.
+    //--------------------------------------------------------------------------
+    if (m_nBytesReceived == CSimpleSocket::SocketError)
+    {
+        if (m_pBuffer != NULL)
+        {
+            delete [] m_pBuffer;
+            m_pBuffer = NULL;
+        }
+    }
+
+    return m_nBytesReceived;
+}
+
+
+//------------------------------------------------------------------------------
+//
+// SetNonblocking()
+//
+//------------------------------------------------------------------------------
+bool CSimpleSocket::SetNonblocking(void)
+{
+    int32  nCurFlags;
+
+#if WIN32
+    nCurFlags = 1;
+
+    if (ioctlsocket(m_socket, FIONBIO, (ULONG *)&nCurFlags) != 0)
+    {
+        TranslateSocketError();
+        return false;
+    }
+#else
+    if ((nCurFlags = fcntl(m_socket, F_GETFL)) < 0)
+    {
+        TranslateSocketError();
+        return false;
+    }
+
+    nCurFlags |= O_NONBLOCK;
+
+    if (fcntl(m_socket, F_SETFL, nCurFlags) != 0)
+    {
+        TranslateSocketError();
+        return false;
+    }
+#endif
+
+    m_bIsBlocking = false;
+
+    return true;
+}
+
+
+//------------------------------------------------------------------------------
+//
+// SetBlocking()
+//
+//------------------------------------------------------------------------------
+bool CSimpleSocket::SetBlocking(void)
+{
+    int32 nCurFlags;
+
+#if WIN32
+    nCurFlags = 0;
+
+    if (ioctlsocket(m_socket, FIONBIO, (ULONG *)&nCurFlags) != 0)
+    {
+        return false;
+    }
+#else
+    if ((nCurFlags = fcntl(m_socket, F_GETFL)) < 0)
+    {
+        TranslateSocketError();
+        return false;
+    }
+
+    nCurFlags &= (~O_NONBLOCK);
+
+    if (fcntl(m_socket, F_SETFL, nCurFlags) != 0)
+    {
+        TranslateSocketError();
+        return false;
+    }
+#endif
+    m_bIsBlocking = true;
+
+    return true;
+}
+
+
+//------------------------------------------------------------------------------
+//
+// SendFile() - stands-in for system provided sendfile
+//
+//------------------------------------------------------------------------------
+int32 CSimpleSocket::SendFile(int32 nOutFd, int32 nInFd, off_t *pOffset, int32 nCount)
+{
+    int32  nOutCount = CSimpleSocket::SocketError;
+
+    static char szData[SOCKET_SENDFILE_BLOCKSIZE];
+    int32       nInCount = 0;
+
+    if (lseek(nInFd, *pOffset, SEEK_SET) == -1)
+    {
+        return -1;
+    }
+
+    while (nOutCount < nCount)
+    {
+        nInCount = (nCount - nOutCount) < SOCKET_SENDFILE_BLOCKSIZE ? (nCount - nOutCount) : SOCKET_SENDFILE_BLOCKSIZE;
+
+        if ((read(nInFd, szData, nInCount)) != (int32)nInCount)
+        {
+            return -1;
+        }
+
+        if ((SEND(nOutFd, szData, nInCount, 0)) != (int32)nInCount)
+        {
+            return -1;
+        }
+
+        nOutCount += nInCount;
+    }
+
+    *pOffset += nOutCount;
+
+    TranslateSocketError();
+
+    return nOutCount;
+}
+
+
+//------------------------------------------------------------------------------
+//
+// TranslateSocketError() -
+//
+//------------------------------------------------------------------------------
+void CSimpleSocket::TranslateSocketError(void)
+{
+#if defined(_LINUX) || defined(_DARWIN)
+    switch (errno)
+    {
+    case EXIT_SUCCESS:
+        SetSocketError(CSimpleSocket::SocketSuccess);
+        break;
+    case ENOTCONN:
+        SetSocketError(CSimpleSocket::SocketNotconnected);
+        break;
+    case ENOTSOCK:
+    case EBADF:
+    case EACCES:
+    case EAFNOSUPPORT:
+    case EMFILE:
+    case ENFILE:
+    case ENOBUFS:
+    case ENOMEM:
+    case EPROTONOSUPPORT:
+    case EPIPE:
+        SetSocketError(CSimpleSocket::SocketInvalidSocket);
+        break;
+    case ECONNREFUSED :
+        SetSocketError(CSimpleSocket::SocketConnectionRefused);
+        break;
+    case ETIMEDOUT:
+        SetSocketError(CSimpleSocket::SocketTimedout);
+        break;
+    case EINPROGRESS:
+        SetSocketError(CSimpleSocket::SocketEinprogress);
+        break;
+    case EWOULDBLOCK:
+        //        case EAGAIN:
+        SetSocketError(CSimpleSocket::SocketEwouldblock);
+        break;
+    case EINTR:
+        SetSocketError(CSimpleSocket::SocketInterrupted);
+        break;
+    case ECONNABORTED:
+        SetSocketError(CSimpleSocket::SocketConnectionAborted);
+        break;
+    case EINVAL:
+    case EPROTO:
+        SetSocketError(CSimpleSocket::SocketProtocolError);
+        break;
+    case EPERM:
+        SetSocketError(CSimpleSocket::SocketFirewallError);
+        break;
+    case EFAULT:
+        SetSocketError(CSimpleSocket::SocketInvalidSocketBuffer);
+        break;
+    case ECONNRESET:
+    case ENOPROTOOPT:
+        SetSocketError(CSimpleSocket::SocketConnectionReset);
+        break;
+    default:
+        SetSocketError(CSimpleSocket::SocketEunknown);
+        break;
+    }
+#endif
+#ifdef WIN32
+    int32 nError = WSAGetLastError();
+    switch (nError)
+    {
+    case EXIT_SUCCESS:
+        SetSocketError(CSimpleSocket::SocketSuccess);
+        break;
+    case WSAEBADF:
+    case WSAENOTCONN:
+        SetSocketError(CSimpleSocket::SocketNotconnected);
+        break;
+    case WSAEINTR:
+        SetSocketError(CSimpleSocket::SocketInterrupted);
+        break;
+    case WSAEACCES:
+    case WSAEAFNOSUPPORT:
+    case WSAEINVAL:
+    case WSAEMFILE:
+    case WSAENOBUFS:
+    case WSAEPROTONOSUPPORT:
+        SetSocketError(CSimpleSocket::SocketInvalidSocket);
+        break;
+    case WSAECONNREFUSED :
+        SetSocketError(CSimpleSocket::SocketConnectionRefused);
+        break;
+    case WSAETIMEDOUT:
+        SetSocketError(CSimpleSocket::SocketTimedout);
+        break;
+    case WSAEINPROGRESS:
+        SetSocketError(CSimpleSocket::SocketEinprogress);
+        break;
+    case WSAECONNABORTED:
+        SetSocketError(CSimpleSocket::SocketConnectionAborted);
+        break;
+    case WSAEWOULDBLOCK:
+        SetSocketError(CSimpleSocket::SocketEwouldblock);
+        break;
+    case WSAENOTSOCK:
+        SetSocketError(CSimpleSocket::SocketInvalidSocket);
+        break;
+    case WSAECONNRESET:
+        SetSocketError(CSimpleSocket::SocketConnectionReset);
+        break;
+    case WSANO_DATA:
+        SetSocketError(CSimpleSocket::SocketInvalidAddress);
+        break;
+    case WSAEADDRINUSE:
+        SetSocketError(CSimpleSocket::SocketAddressInUse);
+        break;
+    case WSAEFAULT:
+        SetSocketError(CSimpleSocket::SocketInvalidPointer);
+        break;
+    default:
+        SetSocketError(CSimpleSocket::SocketEunknown);
+        break;
+    }
+#endif
+}
+
+//------------------------------------------------------------------------------
+//
+// DescribeError()
+//
+//------------------------------------------------------------------------------
+
+const char *CSimpleSocket::DescribeError(CSocketError err)
+{
+    switch (err) {
+        case CSimpleSocket::SocketError:
+            return "Generic socket error translates to error below.";
+        case CSimpleSocket::SocketSuccess:
+            return "No socket error.";
+        case CSimpleSocket::SocketInvalidSocket:
+            return "Invalid socket handle.";
+        case CSimpleSocket::SocketInvalidAddress:
+            return "Invalid destination address specified.";
+        case CSimpleSocket::SocketInvalidPort:
+            return "Invalid destination port specified.";
+        case CSimpleSocket::SocketConnectionRefused:
+            return "No server is listening at remote address.";
+        case CSimpleSocket::SocketTimedout:
+            return "Timed out while attempting operation.";
+        case CSimpleSocket::SocketEwouldblock:
+            return "Operation would block if socket were blocking.";
+        case CSimpleSocket::SocketNotconnected:
+            return "Currently not connected.";
+        case CSimpleSocket::SocketEinprogress:
+            return "Socket is non-blocking and the connection cannot be completed immediately";
+        case CSimpleSocket::SocketInterrupted:
+            return "Call was interrupted by a signal that was caught before a valid connection arrived.";
+        case CSimpleSocket::SocketConnectionAborted:
+            return "The connection has been aborted.";
+        case CSimpleSocket::SocketProtocolError:
+            return "Invalid protocol for operation.";
+        case CSimpleSocket::SocketFirewallError:
+            return "Firewall rules forbid connection.";
+        case CSimpleSocket::SocketInvalidSocketBuffer:
+            return "The receive buffer point outside the process's address space.";
+        case CSimpleSocket::SocketConnectionReset:
+            return "Connection was forcibly closed by the remote host.";
+        case CSimpleSocket::SocketAddressInUse:
+            return "Address already in use.";
+        case CSimpleSocket::SocketInvalidPointer:
+            return "Pointer type supplied as argument is invalid.";
+        case CSimpleSocket::SocketEunknown:
+            return "Unknown error";
+        default:
+            return "No such CSimpleSocket error";
+    }
+}
+
+//------------------------------------------------------------------------------
+//
+// Select()
+//
+//------------------------------------------------------------------------------
+bool CSimpleSocket::Select(int32 nTimeoutSec, int32 nTimeoutUSec)
+{
+    bool            bRetVal = false;
+    struct timeval *pTimeout = NULL;
+    struct timeval  timeout;
+    int32           nNumDescriptors = -1;
+    int32           nError = 0;
+
+    FD_ZERO(&m_errorFds);
+    FD_ZERO(&m_readFds);
+    FD_ZERO(&m_writeFds);
+    FD_SET(m_socket, &m_errorFds);
+    FD_SET(m_socket, &m_readFds);
+    FD_SET(m_socket, &m_writeFds);
+
+    //---------------------------------------------------------------------
+    // If timeout has been specified then set value, otherwise set timeout
+    // to NULL which will block until a descriptor is ready for read/write
+    // or an error has occurred.
+    //---------------------------------------------------------------------
+    if ((nTimeoutSec > 0) || (nTimeoutUSec > 0))
+    {
+        timeout.tv_sec = nTimeoutSec;
+        timeout.tv_usec = nTimeoutUSec;
+        pTimeout = &timeout;
+    }
+
+    nNumDescriptors = SELECT(m_socket+1, &m_readFds, &m_writeFds, &m_errorFds, pTimeout);
+//    nNumDescriptors = SELECT(m_socket+1, &m_readFds, NULL, NULL, pTimeout);
+
+    //----------------------------------------------------------------------
+    // Handle timeout
+    //----------------------------------------------------------------------
+    if (nNumDescriptors == 0)
+    {
+        SetSocketError(CSimpleSocket::SocketTimedout);
+    }
+    //----------------------------------------------------------------------
+    // If a file descriptor (read/write) is set then check the
+    // socket error (SO_ERROR) to see if there is a pending error.
+    //----------------------------------------------------------------------
+    else if ((FD_ISSET(m_socket, &m_readFds)) || (FD_ISSET(m_socket, &m_writeFds)))
+    {
+        int32 nLen = sizeof(nError);
+
+        if (GETSOCKOPT(m_socket, SOL_SOCKET, SO_ERROR, &nError, &nLen) == 0)
+        {
+            errno = nError;
+
+            if (nError == 0)
+            {
+                bRetVal = true;
+            }
+        }
+
+        TranslateSocketError();
+    }
+
+    return bRetVal;
+}
+
diff --git a/examples/ThirdPartyLibs/clsocket/src/SimpleSocket.h b/examples/ThirdPartyLibs/clsocket/src/SimpleSocket.h
new file mode 100644
index 000000000..603f46715
--- /dev/null
+++ b/examples/ThirdPartyLibs/clsocket/src/SimpleSocket.h
@@ -0,0 +1,583 @@
+/*---------------------------------------------------------------------------*/
+/*                                                                           */
+/* SimpleSocket.h - Simple Socket base class decleration.                    */
+/*                                                                           */
+/* Author : Mark Carrier (mark@carrierlabs.com)                              */
+/*                                                                           */
+/*---------------------------------------------------------------------------*/
+/* Copyright (c) 2007-2009 CarrierLabs, LLC.  All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ *
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ *
+ * 3. The name of the author may not be used to endorse or promote products
+ *    derived from this software without specific prior written permission.
+ *
+ * 4. The name "CarrierLabs" must not be used to
+ *    endorse or promote products derived from this software without
+ *    prior written permission. For written permission, please contact
+ *    mark@carrierlabs.com.
+ *
+ * THIS SOFTWARE IS PROVIDED BY MARK CARRIER ``AS IS'' AND ANY
+ * EXPRESSED OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
+ * PURPOSE ARE DISCLAIMED.  IN NO EVENT SHALL MARK CARRIER OR
+ * ITS CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+ * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT
+ * NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
+ * HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT,
+ * STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED
+ * OF THE POSSIBILITY OF SUCH DAMAGE.
+ *----------------------------------------------------------------------------*/
+#ifndef __SOCKET_H__
+#define __SOCKET_H__
+
+#include <sys/stat.h>
+#include <stdlib.h>
+#include <stdio.h>
+#include <stdarg.h>
+#include <errno.h>
+
+#if defined(_LINUX) || defined (_DARWIN)
+#include <sys/socket.h>
+#include <netinet/in.h>
+#include <arpa/inet.h>
+#include <netinet/tcp.h>
+#include <netinet/ip.h>
+#include <netdb.h>
+#endif
+#ifdef _LINUX
+#include <linux/if_packet.h>
+#include <linux/if_ether.h>
+#include <linux/if.h>
+#include <sys/sendfile.h>
+#endif
+#ifdef _DARWIN
+#include <net/if.h>
+#endif
+#if defined(_LINUX) || defined (_DARWIN)
+#include <sys/time.h>
+#include <sys/uio.h>
+#include <unistd.h>
+#include <fcntl.h>
+#endif
+
+#ifdef _WIN32
+#include <io.h>
+#include <winsock2.h>
+#include <Ws2tcpip.h>
+
+#define IPTOS_LOWDELAY  0x10
+
+#endif
+#include "Host.h"
+#include "StatTimer.h"
+
+//-----------------------------------------------------------------------------
+// General class macro definitions and typedefs
+//-----------------------------------------------------------------------------
+#ifndef INVALID_SOCKET
+#define INVALID_SOCKET    ~(0)
+#endif
+
+#define SOCKET_SENDFILE_BLOCKSIZE 8192
+
+/// Provides a platform independent class to for socket development.
+/// This class is designed to abstract socket communication development in a
+/// platform independent manner.
+/// - Socket types
+///  -# CActiveSocket Class
+///  -# CPassiveSocket Class
+class CSimpleSocket {
+public:
+    /// Defines the three possible states for shuting down a socket.
+    typedef enum
+    {
+        Receives = SHUT_RD, ///< Shutdown passive socket.
+        Sends = SHUT_WR,    ///< Shutdown active socket.
+        Both = SHUT_RDWR    ///< Shutdown both active and passive sockets.
+    } CShutdownMode;
+
+    /// Defines the socket types defined by CSimpleSocket class.
+    typedef enum
+    {
+        SocketTypeInvalid,   ///< Invalid socket type.
+        SocketTypeTcp,       ///< Defines socket as TCP socket.
+        SocketTypeUdp,       ///< Defines socket as UDP socket.
+        SocketTypeTcp6,      ///< Defines socket as IPv6 TCP socket.
+        SocketTypeUdp6,      ///< Defines socket as IPv6 UDP socket.
+        SocketTypeRaw        ///< Provides raw network protocol access.
+    } CSocketType;
+
+    /// Defines all error codes handled by the CSimpleSocket class.
+    typedef enum
+    {
+        SocketError = -1,          ///< Generic socket error translates to error below.
+        SocketSuccess = 0,         ///< No socket error.
+        SocketInvalidSocket,       ///< Invalid socket handle.
+        SocketInvalidAddress,      ///< Invalid destination address specified.
+        SocketInvalidPort,         ///< Invalid destination port specified.
+        SocketConnectionRefused,   ///< No server is listening at remote address.
+        SocketTimedout,            ///< Timed out while attempting operation.
+        SocketEwouldblock,         ///< Operation would block if socket were blocking.
+        SocketNotconnected,        ///< Currently not connected.
+        SocketEinprogress,         ///< Socket is non-blocking and the connection cannot be completed immediately
+        SocketInterrupted,         ///< Call was interrupted by a signal that was caught before a valid connection arrived.
+        SocketConnectionAborted,   ///< The connection has been aborted.
+        SocketProtocolError,       ///< Invalid protocol for operation.
+        SocketFirewallError,       ///< Firewall rules forbid connection.
+        SocketInvalidSocketBuffer, ///< The receive buffer point outside the process's address space.
+        SocketConnectionReset,     ///< Connection was forcibly closed by the remote host.
+        SocketAddressInUse,        ///< Address already in use.
+        SocketInvalidPointer,      ///< Pointer type supplied as argument is invalid.
+        SocketEunknown             ///< Unknown error please report to mark@carrierlabs.com
+    } CSocketError;
+
+public:
+    CSimpleSocket(CSocketType type = SocketTypeTcp);
+    CSimpleSocket(CSimpleSocket &socket);
+
+    virtual ~CSimpleSocket()
+    {
+        if (m_pBuffer != NULL)
+        {
+            delete [] m_pBuffer;
+            m_pBuffer = NULL;
+        }
+    };
+
+    /// Initialize instance of CSocket.  This method MUST be called before an
+    /// object can be used. Errors : CSocket::SocketProtocolError,
+    /// CSocket::SocketInvalidSocket,
+    /// @return true if properly initialized.
+    virtual bool Initialize(void);
+
+    /// Close socket
+    /// @return true if successfully closed otherwise returns false.
+    virtual bool Close(void);
+
+    /// Shutdown shut down socket send and receive operations
+    ///    CShutdownMode::Receives - Disables further receive operations.
+    ///    CShutdownMode::Sends    - Disables further send operations.
+    ///    CShutdownBoth::         - Disables further send and receive operations.
+    /// @param nShutdown specifies the type of shutdown.
+    /// @return true if successfully shutdown otherwise returns false.
+    virtual bool Shutdown(CShutdownMode nShutdown);
+
+    /// Examine the socket descriptor sets currently owned by the instance of
+    /// the socket class (the readfds, writefds, and errorfds parameters) to
+    /// see whether some of their descriptors are ready for reading, are ready
+    /// for writing, or have an exceptional condition pending, respectively.
+    /// Block until an event happens on the specified file descriptors.
+    /// @return true if socket has data ready, or false if not ready or timed out.
+    virtual bool Select(void) {
+        return Select(0,0);
+    };
+
+    /// Examine the socket descriptor sets currently owned by the instance of
+    /// the socket class (the readfds, writefds, and errorfds parameters) to
+    /// see whether some of their descriptors are ready for reading, are ready
+    /// for writing, or have an exceptional condition pending, respectively.
+    /// @param nTimeoutSec timeout in seconds for select.
+    /// @param nTimeoutUSec timeout in micro seconds for select.
+    /// @return true if socket has data ready, or false if not ready or timed out.
+    virtual bool Select(int32 nTimeoutSec, int32 nTimeoutUSec);
+
+    /// Does the current instance of the socket object contain a valid socket
+    /// descriptor.
+    ///  @return true if the socket object contains a valid socket descriptor.
+    virtual bool IsSocketValid(void) {
+        return (m_socket != SocketError);
+    };
+
+    /// Provides a standard error code for cross platform development by
+    /// mapping the operating system error to an error defined by the CSocket
+    /// class.
+    void TranslateSocketError(void);
+
+    /// Returns a human-readable description of the given error code
+    /// or the last error code of a socket
+    static const char *DescribeError(CSocketError err);
+    inline const char *DescribeError() {
+        return DescribeError(m_socketErrno);
+    };
+
+    /// Attempts to receive a block of data on an established connection.
+    /// @param nMaxBytes maximum number of bytes to receive.
+    /// @param pBuffer, memory where to receive the data,
+    ///        NULL receives to internal buffer returned with GetData()
+    ///        Non-NULL receives directly there, but GetData() will return WRONG ptr!
+    /// @return number of bytes actually received.
+    /// @return of zero means the connection has been shutdown on the other side.
+    /// @return of -1 means that an error has occurred.
+    virtual int32 Receive(int32 nMaxBytes = 1, uint8 * pBuffer = 0);
+
+    /// Attempts to send a block of data on an established connection.
+    /// @param pBuf block of data to be sent.
+    /// @param bytesToSend size of data block to be sent.
+    /// @return number of bytes actually sent.
+    /// @return of zero means the connection has been shutdown on the other side.
+    /// @return of -1 means that an error has occurred.
+    virtual int32 Send(const uint8 *pBuf, size_t bytesToSend);
+
+    /// Attempts to send at most nNumItem blocks described by sendVector
+    /// to the socket descriptor associated with the socket object.
+    /// @param sendVector pointer to an array of iovec structures
+    /// @param nNumItems number of items in the vector to process
+    /// <br>\b NOTE: Buffers are processed in the order specified.
+    /// @return number of bytes actually sent, return of zero means the
+    /// connection has been shutdown on the other side, and a return of -1
+    /// means that an error has occurred.
+    virtual int32 Send(const struct iovec *sendVector, int32 nNumItems);
+
+    /// Copies data between one file descriptor and another.
+    /// On some systems this copying is done within the kernel, and thus is
+    /// more efficient than the combination of CSimpleSocket::Send and
+    /// CSimpleSocket::Receive, which would require transferring data to and
+    /// from user space.
+    /// <br>\b Note: This is available on all implementations, but the kernel
+    /// implementation is only available on Unix type systems.
+    /// @param nOutFd descriptor opened for writing.
+    /// @param nInFd descriptor opened for reading.
+    /// @param pOffset from which to start reading data from input file.
+    /// @param nCount number of bytes to copy between file descriptors.
+    /// @return number of bytes written to the out socket descriptor.
+    virtual int32 SendFile(int32 nOutFd, int32 nInFd, off_t *pOffset, int32 nCount);
+
+    /// Returns blocking/non-blocking state of socket.
+    /// @return true if the socket is non-blocking, else return false.
+    bool IsNonblocking(void) {
+        return (m_bIsBlocking == false);
+    };
+
+    /// Set the socket to blocking.
+    /// @return true if successful set to blocking, else return false;
+    bool SetBlocking(void);
+
+    /// Set the socket as non-blocking.
+    /// @return true if successful set to non-blocking, else return false;
+    bool SetNonblocking(void);
+
+    /// Get a pointer to internal receive buffer.  The user MUST not free this
+    /// pointer when finished.  This memory is managed internally by the CSocket
+    /// class.
+    /// @return pointer to data if valid, else returns NULL.
+    uint8 *GetData(void)  {
+        return m_pBuffer;
+    };
+
+    /// Returns the number of bytes received on the last call to
+    /// CSocket::Receive().
+    /// @return number of bytes received.
+    int32 GetBytesReceived(void) {
+        return m_nBytesReceived;
+    };
+
+    /// Returns the number of bytes sent on the last call to
+    /// CSocket::Send().
+    /// @return number of bytes sent.
+    int32 GetBytesSent(void) {
+        return m_nBytesSent;
+    };
+
+    /// Controls the actions taken when CSimpleSocket::Close is executed on a
+    /// socket object that has unsent data.  The default value for this option
+    /// is \b off.
+    /// - Following are the three possible scenarios.
+    ///  -# \b bEnable is false, CSimpleSocket::Close returns immediately, but
+    ///  any unset data is transmitted (after CSimpleSocket::Close returns)
+    ///  -# \b bEnable is true and \b nTime is zero, CSimpleSocket::Close return
+    /// immediately and any unsent data is discarded.
+    ///  -# \b bEnable is true and \b nTime is nonzero, CSimpleSocket::Close does
+    ///  not return until all unsent data is transmitted (or the connection is
+    ///  Closed by the remote system).
+    /// <br><p>
+    /// @param bEnable true to enable option false to disable option.
+    /// @param nTime time in seconds to linger.
+    /// @return true if option successfully set
+    bool SetOptionLinger(bool bEnable, uint16 nTime);
+
+    /// Tells the kernel that even if this port is busy (in the TIME_WAIT state),
+    /// go ahead and reuse it anyway.  If it is busy, but with another state,
+    /// you will still get an address already in use error.
+    /// @return true if option successfully set
+    bool SetOptionReuseAddr();
+
+    /// Gets the timeout value that specifies the maximum number of seconds a
+    /// call to CSimpleSocket::Open waits until it completes.
+    /// @return the length of time in seconds
+    int32 GetConnectTimeoutSec(void) {
+        return  m_stConnectTimeout.tv_sec;
+    };
+
+    /// Gets the timeout value that specifies the maximum number of microseconds
+    /// a call to CSimpleSocket::Open waits until it completes.
+    /// @return the length of time in microseconds
+    int32 GetConnectTimeoutUSec(void) {
+        return  m_stConnectTimeout.tv_usec;
+    };
+
+    /// Sets the timeout value that specifies the maximum amount of time a call
+    /// to CSimpleSocket::Receive waits until it completes. Use the method
+    /// CSimpleSocket::SetReceiveTimeout to specify the number of seconds to wait.
+    /// If a call to CSimpleSocket::Receive has blocked for the specified length of
+    /// time without receiving additional data, it returns with a partial count
+    /// or CSimpleSocket::GetSocketError set to CSimpleSocket::SocketEwouldblock if no data
+    /// were received.
+    /// @param nConnectTimeoutSec of timeout in seconds.
+    /// @param nConnectTimeoutUsec of timeout in microseconds.
+    /// @return true if socket connection timeout was successfully set.
+    void SetConnectTimeout(int32 nConnectTimeoutSec, int32 nConnectTimeoutUsec = 0)
+    {
+        m_stConnectTimeout.tv_sec = nConnectTimeoutSec;
+        m_stConnectTimeout.tv_usec = nConnectTimeoutUsec;
+    };
+
+    /// Gets the timeout value that specifies the maximum number of seconds a
+    /// a call to CSimpleSocket::Receive waits until it completes.
+    /// @return the length of time in seconds
+    int32 GetReceiveTimeoutSec(void) {
+        return  m_stRecvTimeout.tv_sec;
+    };
+
+    /// Gets the timeout value that specifies the maximum number of microseconds
+    /// a call to CSimpleSocket::Receive waits until it completes.
+    /// @return the length of time in microseconds
+    int32 GetReceiveTimeoutUSec(void) {
+        return  m_stRecvTimeout.tv_usec;
+    };
+
+    /// Sets the timeout value that specifies the maximum amount of time a call
+    /// to CSimpleSocket::Receive waits until it completes. Use the method
+    /// CSimpleSocket::SetReceiveTimeout to specify the number of seconds to wait.
+    /// If a call to CSimpleSocket::Receive has blocked for the specified length of
+    /// time without receiving additional data, it returns with a partial count
+    /// or CSimpleSocket::GetSocketError set to CSimpleSocket::SocketEwouldblock if no data
+    /// were received.
+    ///  @param nRecvTimeoutSec of timeout in seconds.
+    ///  @param nRecvTimeoutUsec of timeout in microseconds.
+    ///  @return true if socket timeout was successfully set.
+    bool SetReceiveTimeout(int32 nRecvTimeoutSec, int32 nRecvTimeoutUsec = 0);
+
+    /// Enable/disable multicast for a socket.  This options is only valid for
+    /// socket descriptors of type CSimpleSocket::SocketTypeUdp.
+    /// @return true if multicast was enabled or false if socket type is not
+    /// CSimpleSocket::SocketTypeUdp and the error will be set to
+    /// CSimpleSocket::SocketProtocolError
+    bool SetMulticast(bool bEnable, uint8 multicastTTL = 1);
+
+    /// Return true if socket is multicast or false is socket is unicast
+    /// @return true if multicast is enabled
+    bool GetMulticast() {
+        return m_bIsMulticast;
+    };
+
+    /// Bind socket to a specific interface when using multicast.
+    /// @return true if successfully bound to interface
+    bool BindInterface(const char *pInterface);
+
+    /// Gets the timeout value that specifies the maximum number of seconds a
+    /// a call to CSimpleSocket::Send waits until it completes.
+    /// @return the length of time in seconds
+    int32 GetSendTimeoutSec(void) {
+        return  m_stSendTimeout.tv_sec;
+    };
+
+    /// Gets the timeout value that specifies the maximum number of microseconds
+    /// a call to CSimpleSocket::Send waits until it completes.
+    /// @return the length of time in microseconds
+    int32 GetSendTimeoutUSec(void) {
+        return  m_stSendTimeout.tv_usec;
+    };
+
+    /// Gets the timeout value that specifies the maximum amount of time a call
+    /// to CSimpleSocket::Send waits until it completes.
+    /// @return the length of time in seconds
+    bool SetSendTimeout(int32 nSendTimeoutSec, int32 nSendTimeoutUsec = 0);
+
+    /// Returns the last error that occured for the instace of the CSimpleSocket
+    /// instance.  This method should be called immediately to retrieve the
+    /// error code for the failing mehtod call.
+    ///  @return last error that occured.
+    CSocketError GetSocketError(void) {
+        return m_socketErrno;
+    };
+
+    /// Get the total time the of the last operation in milliseconds.
+    ///  @return number of milliseconds of last operation.
+    uint32 GetTotalTimeMs() {
+        return m_timer.GetMilliSeconds();
+    };
+
+    /// Get the total time the of the last operation in microseconds.
+    ///  @return number of microseconds or last operation.
+    uint32 GetTotalTimeUsec() {
+        return m_timer.GetMicroSeconds();
+    };
+
+    /// Return Differentiated Services Code Point (DSCP) value currently set on the socket object.
+    /// @return DSCP for current socket object.
+    /// <br><br> \b NOTE: Windows special notes http://support.microsoft.com/kb/248611.
+    int GetSocketDscp(void);
+
+    /// Set Differentiated Services Code Point (DSCP) for socket object.
+    ///  @param nDscp value of TOS setting which will be converted to DSCP
+    ///  @return true if DSCP value was properly set
+    /// <br><br> \b NOTE: Windows special notes http://support.microsoft.com/kb/248611.
+    bool SetSocketDscp(int nDscp);
+
+    /// Return socket descriptor
+    ///  @return socket descriptor which is a signed 32 bit integer.
+    SOCKET GetSocketDescriptor() {
+        return m_socket;
+    };
+
+    /// Return socket descriptor
+    ///  @return socket descriptor which is a signed 32 bit integer.
+    CSocketType GetSocketType() {
+        return m_nSocketType;
+    };
+
+    /// Returns clients Internet host address as a string in standard numbers-and-dots notation.
+    ///  @return NULL if invalid
+    const char *GetClientAddr() {
+        return inet_ntoa(m_stClientSockaddr.sin_addr);
+    };
+
+    /// Returns the port number on which the client is connected.
+    ///  @return client port number.
+    uint16 GetClientPort() {
+        return m_stClientSockaddr.sin_port;
+    };
+
+    /// Returns server Internet host address as a string in standard numbers-and-dots notation.
+    ///  @return NULL if invalid
+    const char *GetServerAddr() {
+        return inet_ntoa(m_stServerSockaddr.sin_addr);
+    };
+
+    /// Returns the port number on which the server is connected.
+    ///  @return server port number.
+    uint16 GetServerPort() {
+        return ntohs(m_stServerSockaddr.sin_port);
+    };
+
+    /// Get the TCP receive buffer window size for the current socket object.
+    /// <br><br>\b NOTE: Linux will set the receive buffer to twice the value passed.
+    ///  @return zero on failure else the number of bytes of the TCP receive buffer window size if successful.
+    uint32 GetReceiveWindowSize() {
+        return GetWindowSize(SO_RCVBUF);
+    };
+
+    /// Get the TCP send buffer window size for the current socket object.
+    /// <br><br>\b NOTE: Linux will set the send buffer to twice the value passed.
+    ///  @return zero on failure else the number of bytes of the TCP receive buffer window size if successful.
+    uint32 GetSendWindowSize() {
+        return GetWindowSize(SO_SNDBUF);
+    };
+
+    /// Set the TCP receive buffer window size for the current socket object.
+    /// <br><br>\b NOTE: Linux will set the receive buffer to twice the value passed.
+    ///  @return zero on failure else the number of bytes of the TCP send buffer window size if successful.
+    uint32 SetReceiveWindowSize(uint32 nWindowSize) {
+        return SetWindowSize(SO_RCVBUF, nWindowSize);
+    };
+
+    /// Set the TCP send buffer window size for the current socket object.
+    /// <br><br>\b NOTE: Linux will set the send buffer to twice the value passed.
+    ///  @return zero on failure else the number of bytes of the TCP send buffer window size if successful.
+    uint32 SetSendWindowSize(uint32 nWindowSize) {
+        return SetWindowSize(SO_SNDBUF, nWindowSize);
+    };
+
+    /// Disable the Nagle algorithm (Set TCP_NODELAY to true)
+    /// @return false if failed to set socket option otherwise return true;
+    bool DisableNagleAlgoritm();
+
+    /// Enable the Nagle algorithm (Set TCP_NODELAY to false)
+    /// @return false if failed to set socket option otherwise return true;
+    bool EnableNagleAlgoritm();
+
+
+protected:
+    /// Set internal socket error to that specified error
+    ///  @param error type of error
+    void SetSocketError(CSimpleSocket::CSocketError error) {
+        m_socketErrno = error;
+    };
+
+    /// Set object socket handle to that specified as parameter
+    ///  @param socket value of socket descriptor
+    void SetSocketHandle(SOCKET socket) {
+        m_socket = socket;
+    };
+
+private:
+    /// Generic function used to get the send/receive window size
+    ///  @return zero on failure else the number of bytes of the TCP window size if successful.
+    uint32 GetWindowSize(uint32 nOptionName);
+
+    /// Generic function used to set the send/receive window size
+    ///  @return zero on failure else the number of bytes of the TCP window size if successful.
+    uint32 SetWindowSize(uint32 nOptionName, uint32 nWindowSize);
+
+
+    /// Attempts to send at most nNumItem blocks described by sendVector
+    /// to the socket descriptor associated with the socket object.
+    /// @param sendVector pointer to an array of iovec structures
+    /// @param nNumItems number of items in the vector to process
+    /// <br>\b Note: This implementation is for systems that don't natively
+    /// support this functionality.
+    /// @return number of bytes actually sent, return of zero means the
+    /// connection has been shutdown on the other side, and a return of -1
+    /// means that an error has occurred.
+    int32 Writev(const struct iovec *pVector, size_t nCount);
+
+    /// Flush the socket descriptor owned by the object.
+    /// @return true data was successfully sent, else return false;
+    bool Flush();
+
+    CSimpleSocket *operator=(CSimpleSocket &socket);
+
+protected:
+    SOCKET               m_socket;            /// socket handle
+    CSocketError         m_socketErrno;       /// number of last error
+    uint8               *m_pBuffer;           /// internal send/receive buffer
+    int32                m_nBufferSize;       /// size of internal send/receive buffer
+    int32                m_nSocketDomain;     /// socket type PF_INET, PF_INET6
+    CSocketType          m_nSocketType;       /// socket type - UDP, TCP or RAW
+    int32                m_nBytesReceived;    /// number of bytes received
+    int32                m_nBytesSent;        /// number of bytes sent
+    uint32               m_nFlags;            /// socket flags
+    bool                 m_bIsBlocking;       /// is socket blocking
+    bool                 m_bIsMulticast;      /// is the UDP socket multicast;
+    struct timeval       m_stConnectTimeout;  /// connection timeout
+    struct timeval       m_stRecvTimeout;     /// receive timeout
+    struct timeval       m_stSendTimeout;     /// send timeout
+    struct sockaddr_in   m_stServerSockaddr;  /// server address
+    struct sockaddr_in   m_stClientSockaddr;  /// client address
+    struct sockaddr_in   m_stMulticastGroup;  /// multicast group to bind to
+    struct linger        m_stLinger;          /// linger flag
+    CStatTimer           m_timer;             /// internal statistics.
+#ifdef WIN32
+    WSADATA              m_hWSAData;          /// Windows
+#endif
+    fd_set               m_writeFds;          /// write file descriptor set
+    fd_set               m_readFds;           /// read file descriptor set
+    fd_set               m_errorFds;          /// error file descriptor set
+};
+
+
+#endif /*  __SOCKET_H__  */
+
diff --git a/examples/ThirdPartyLibs/clsocket/src/StatTimer.h b/examples/ThirdPartyLibs/clsocket/src/StatTimer.h
new file mode 100644
index 000000000..2110add9f
--- /dev/null
+++ b/examples/ThirdPartyLibs/clsocket/src/StatTimer.h
@@ -0,0 +1,114 @@
+/*----------------------------------------------------------------------------*/
+/*                                                                            */
+/* StatTimer.h: interface for the CStatTimer class.                           */
+/*                                                                            */
+/* Author: Mark Carrier (mark@carrierlabs.com)                                */
+/*                                                                            */
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2006 CarrierLabs, LLC.  All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ *
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ *
+ * 3. The name of the author may not be used to endorse or promote products
+ *    derived from this software without specific prior written permission.
+ *
+ * 4. The name "CarrierLabs" must not be used to
+ *    endorse or promote products derived from this software without
+ *    prior written permission. For written permission, please contact
+ *    mark@carrierlabs.com.
+ *
+ * THIS SOFTWARE IS PROVIDED BY MARK CARRIER ``AS IS'' AND ANY
+ * EXPRESSED OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
+ * PURPOSE ARE DISCLAIMED.  IN NO EVENT SHALL MARK CARRIER OR
+ * ITS CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+ * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT
+ * NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
+ * HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT,
+ * STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED
+ * OF THE POSSIBILITY OF SUCH DAMAGE.
+ *----------------------------------------------------------------------------*/
+#ifndef __CSTATTIMER_H__
+#define __CSTATTIMER_H__
+
+#include <string.h>
+
+#if WIN32
+  #include <Winsock2.h>
+  #include <time.h>
+#endif
+
+#ifdef _LINUX
+  #include <stdio.h>
+  #include <sys/time.h>
+#endif
+
+#include "Host.h"
+
+#if defined(WIN32)
+  #define GET_CLOCK_COUNT(x) QueryPerformanceCounter((LARGE_INTEGER *)x)
+#else
+  #define GET_CLOCK_COUNT(x) gettimeofday(x, NULL)
+#endif
+
+#define MILLISECONDS_CONVERSION 1000
+#define MICROSECONDS_CONVERSION 1000000
+
+/// Class to abstract socket communications in a cross platform manner.
+/// This class is designed
+class CStatTimer {
+public:
+    CStatTimer()
+    {
+    };
+
+    ~CStatTimer()
+    {
+    };
+
+    void Initialize()
+    {
+        memset(&m_startTime, 0, sizeof(struct timeval));
+        memset(&m_endTime, 0, sizeof(struct timeval));
+    };
+
+    struct timeval GetStartTime() { return m_startTime; };
+    void SetStartTime() { GET_CLOCK_COUNT(&m_startTime); };
+
+    struct timeval GetEndTime() { return m_endTime; };
+    void SetEndTime() { GET_CLOCK_COUNT(&m_endTime); };
+
+    uint32 GetMilliSeconds() { return (CalcTotalUSec() / MILLISECONDS_CONVERSION); };
+    uint32 GetMicroSeconds() { return (CalcTotalUSec()); };
+    uint32 GetSeconds() { return (CalcTotalUSec() / MICROSECONDS_CONVERSION); };
+
+    uint32 GetCurrentTime()
+    {
+        struct timeval tmpTime;
+        GET_CLOCK_COUNT(&tmpTime);
+        return ((tmpTime.tv_sec * MICROSECONDS_CONVERSION) + tmpTime.tv_usec);
+    };
+
+private:
+    uint32 CalcTotalUSec() { return (((m_endTime.tv_sec - m_startTime.tv_sec) * MICROSECONDS_CONVERSION) +
+                                    (m_endTime.tv_usec - m_startTime.tv_usec)); };
+
+
+private:
+    struct timeval  m_startTime;
+    struct timeval  m_endTime;
+};
+
+#endif // __CSTATTIMER_H__
diff --git a/test/clsocket/EchoServer.cpp b/test/clsocket/EchoServer.cpp
new file mode 100644
index 000000000..4a27d278f
--- /dev/null
+++ b/test/clsocket/EchoServer.cpp
@@ -0,0 +1,44 @@
+
+#include "PassiveSocket.h"       // Include header for active socket object definition
+
+#define MAX_PACKET 4096 
+
+int main(int argc, char **argv)
+{
+    CPassiveSocket socket;
+    CActiveSocket *pClient = NULL;
+
+    //--------------------------------------------------------------------------
+    // Initialize our socket object 
+    //--------------------------------------------------------------------------
+    socket.Initialize();
+
+    socket.Listen("127.0.0.1", 6789);
+
+    while (true)
+    {
+        if ((pClient = socket.Accept()) != NULL)
+        {
+            //----------------------------------------------------------------------
+            // Receive request from the client.
+            //----------------------------------------------------------------------
+            if (pClient->Receive(MAX_PACKET))
+            {
+                //------------------------------------------------------------------
+                // Send response to client and close connection to the client.
+                //------------------------------------------------------------------
+                pClient->Send( pClient->GetData(), pClient->GetBytesReceived() );
+                pClient->Close();
+            }
+
+            delete pClient;
+        }
+    }
+
+    //-----------------------------------------------------------------------------
+    // Receive request from the client.
+    //-----------------------------------------------------------------------------
+    socket.Close();
+
+    return 1;
+}
diff --git a/test/clsocket/QueryDayTime.cpp b/test/clsocket/QueryDayTime.cpp
new file mode 100644
index 000000000..a853abfab
--- /dev/null
+++ b/test/clsocket/QueryDayTime.cpp
@@ -0,0 +1,49 @@
+
+#include <string.h>
+#include "ActiveSocket.h"       // Include header for active socket object definition
+
+int main(int argc, char **argv)
+{
+    CActiveSocket socket;       // Instantiate active socket object (defaults to TCP).
+    char          time[50];
+
+    memset(&time, 0, 50);
+
+    //--------------------------------------------------------------------------
+    // Initialize our socket object 
+    //--------------------------------------------------------------------------
+    socket.Initialize();
+
+    //--------------------------------------------------------------------------
+    // Create a connection to the time server so that data can be sent
+    // and received.
+    //--------------------------------------------------------------------------
+//    if (socket.Open("time-C.timefreq.bldrdoc.gov", 13))
+      if (socket.Open("127.0.0.1", 6789))
+  {
+        //----------------------------------------------------------------------
+        // Send a requtest the server requesting the current time.
+        //----------------------------------------------------------------------
+		const char* data = "Hello!";
+		int len = strlen(data);
+
+        if (socket.Send((const uint8 *)"HELLO\n", len))
+        {
+            //----------------------------------------------------------------------
+            // Receive response from the server.
+            //----------------------------------------------------------------------
+            socket.Receive(len);
+			uint8* data = socket.GetData();
+            memcpy(&time, data, len);
+            printf("%s\n", time);
+
+            //----------------------------------------------------------------------
+            // Close the connection.
+            //----------------------------------------------------------------------
+            socket.Close();
+        }
+    }
+
+
+    return 1;
+}
diff --git a/test/clsocket/RecvAsync.cpp b/test/clsocket/RecvAsync.cpp
new file mode 100644
index 000000000..d4e415fd0
--- /dev/null
+++ b/test/clsocket/RecvAsync.cpp
@@ -0,0 +1,101 @@
+#include <pthread.h>
+#include "PassiveSocket.h"
+
+#ifdef WIN32
+#include <windows.h>
+
+  // usually defined with #include <unistd.h>
+  static void sleep( unsigned int seconds )
+  {
+    Sleep( seconds * 1000 );
+  }
+#endif
+
+#define MAX_PACKET  4096
+#define TEST_PACKET "Test Packet"
+
+struct thread_data
+{
+    const char *pszServerAddr;
+    short int   nPort;
+    int         nNumBytesToReceive;
+    int         nTotalPayloadSize;
+};
+
+
+void *CreateTCPEchoServer(void *param)
+{
+    CPassiveSocket socket;
+    CActiveSocket *pClient = NULL;
+    struct thread_data *pData = (struct thread_data *)param;
+    int            nBytesReceived = 0;
+
+    socket.Initialize();
+    socket.Listen(pData->pszServerAddr, pData->nPort);
+
+    if ((pClient = socket.Accept()) != NULL)
+    {
+        while (nBytesReceived != pData->nTotalPayloadSize)
+        {
+            if (nBytesReceived += pClient->Receive(pData->nNumBytesToReceive))
+            {
+                pClient->Send((const uint8 *)pClient->GetData(), pClient->GetBytesReceived());
+            }
+        }
+
+        sleep(100);
+
+        delete pClient;
+    }
+
+    socket.Close();
+
+    return NULL;
+}
+
+int main(int argc, char **argv)
+{
+    pthread_t          threadId;
+    struct thread_data thData;
+    CActiveSocket      client;
+    char result[1024];
+
+    thData.pszServerAddr = "127.0.0.1";
+    thData.nPort = 6789;
+    thData.nNumBytesToReceive = 1;
+    thData.nTotalPayloadSize = (int)strlen(TEST_PACKET);
+
+    pthread_create(&threadId, 0, CreateTCPEchoServer, &thData);
+    sleep(1); // allow a second for the thread to create and listen
+
+    client.Initialize();
+    client.SetNonblocking();
+
+    if (client.Open("127.0.0.1", 6789))
+    {
+        if (client.Send((uint8 *)TEST_PACKET, strlen(TEST_PACKET)))
+        {
+            int numBytes = -1;
+            int bytesReceived = 0;
+
+            client.Select();
+
+            while (bytesReceived != strlen(TEST_PACKET))
+            {
+                numBytes = client.Receive(MAX_PACKET);
+
+                if (numBytes > 0)
+                {
+                    bytesReceived += numBytes;
+                    memset(result, 0, 1024);
+                    memcpy(result, client.GetData(), numBytes);
+                    printf("received %d bytes: '%s'\n", numBytes, result);
+                }
+                else
+                {
+                    printf("Received %d bytes\n", numBytes);
+                }
+            }
+        }
+    }
+}

From 4faa6613c9e6457e85e10b543eadfb05d046b6c9 Mon Sep 17 00:00:00 2001
From: Erwin Coumans <erwin.coumans@gmail.com>
Date: Sun, 19 Feb 2017 11:48:01 -0800
Subject: [PATCH 03/12] first draft of premake/cmake build files for clsocket
 (tiny cross-platform TCP socket library)

---
 build3/premake4.lua                           |  6 ++++
 examples/CMakeLists.txt                       |  2 +-
 .../ThirdPartyLibs/clsocket/CMakeLists.txt    | 35 ++++---------------
 examples/ThirdPartyLibs/clsocket/premake4.lua | 24 +++++++++++++
 4 files changed, 38 insertions(+), 29 deletions(-)
 create mode 100644 examples/ThirdPartyLibs/clsocket/premake4.lua

diff --git a/build3/premake4.lua b/build3/premake4.lua
index 525996461..a5187efa7 100644
--- a/build3/premake4.lua
+++ b/build3/premake4.lua
@@ -251,6 +251,7 @@ end
 		include "../examples/ExtendedTutorials"
 		include "../examples/SharedMemory"
 		include "../examples/ThirdPartyLibs/BussIK"
+		
 		include "../examples/MultiThreading"
 
 		if _OPTIONS["lua"] then
@@ -270,6 +271,11 @@ end
 		include "../examples/ThirdPartyLibs/midi"
 	end
 	
+	if not _OPTIONS["no_clsocket"] then
+		include "../examples/ThirdPartyLibs/clsocket"
+		defines {"BT_ENABLE_CLSOCKET"}
+	end
+
 	if not _OPTIONS["no-enet"] then
 				include "../examples/ThirdPartyLibs/enet"
 				include "../test/enet/nat_punchthrough/client"
diff --git a/examples/CMakeLists.txt b/examples/CMakeLists.txt
index 486b31742..4c21d89d8 100644
--- a/examples/CMakeLists.txt
+++ b/examples/CMakeLists.txt
@@ -1,6 +1,6 @@
 SUBDIRS( HelloWorld BasicDemo )
 IF(BUILD_BULLET3)
-	SUBDIRS( ExampleBrowser SharedMemory ThirdPartyLibs/Gwen ThirdPartyLibs/BussIK OpenGLWindow )
+	SUBDIRS( ExampleBrowser SharedMemory ThirdPartyLibs/Gwen ThirdPartyLibs/BussIK ThirdPartyLibs/clsocket OpenGLWindow )
 ENDIF()
 IF(BUILD_PYBULLET)
 	SUBDIRS(pybullet)
diff --git a/examples/ThirdPartyLibs/clsocket/CMakeLists.txt b/examples/ThirdPartyLibs/clsocket/CMakeLists.txt
index 5f85d0d8c..4bc3adfe7 100644
--- a/examples/ThirdPartyLibs/clsocket/CMakeLists.txt
+++ b/examples/ThirdPartyLibs/clsocket/CMakeLists.txt
@@ -1,10 +1,10 @@
-cmake_minimum_required(VERSION 2.8 FATAL_ERROR)
-project(clsocket)
+#cmake_minimum_required(VERSION 2.8 FATAL_ERROR)
+#project(clsocket)
 
 # set up versioning.
-set(BUILD_MAJOR "1")
-set(BUILD_MINOR "4")
-set(BUILD_VERSION "3")
+#set(BUILD_MAJOR "1")
+#set(BUILD_MINOR "4")
+#set(BUILD_VERSION "3")
 
 include_directories(src)
 
@@ -45,13 +45,14 @@ elseif(WIN32)
         # Special MINGW stuff here
     elseif(MSVC)
         # Special MSVC stuff here
+        add_definitions(-D_WINSOCK_DEPRECATED_NO_WARNINGS)
     else()
         # No idea what it is, but there's a good chance it's too weird.
         MESSAGE( FATAL_ERROR "Using unknown WIN32 compiler... NOT. Please add to build system." )
     endif()
 endif()
 
-OPTION(CLSOCKET_SHARED "Build clsocket lib as shared." ON)
+OPTION(CLSOCKET_SHARED "Build clsocket lib as shared." OFF)
 OPTION(CLSOCKET_DEP_ONLY "Build for use inside other CMake projects as dependency." OFF)
 
 # make the lib
@@ -78,25 +79,3 @@ else()
 
 endif()
 
-OPTION(CLSOCKET_EXAMPLES "Build the examples" ON)
-
-ADD_EXECUTABLE(echoserver-example examples/EchoServer.cpp)
-TARGET_LINK_LIBRARIES(echoserver-example clsocket)
-
-ADD_EXECUTABLE(querydaytime-example examples/QueryDayTime.cpp)
-TARGET_LINK_LIBRARIES(querydaytime-example clsocket)
-
-
-if(UNIX)
-
-    if(CLSOCKET_EXAMPLES)
-        ADD_EXECUTABLE(clsocket-example examples/RecvAsync.cpp)
-        TARGET_LINK_LIBRARIES(clsocket-example clsocket pthread)
-        if(NOT CLSOCKET_DEP_ONLY)
-            install(TARGETS clsocket-example DESTINATION bin)
-        endif()
-
-
-    endif()
-endif()
-
diff --git a/examples/ThirdPartyLibs/clsocket/premake4.lua b/examples/ThirdPartyLibs/clsocket/premake4.lua
new file mode 100644
index 000000000..896185095
--- /dev/null
+++ b/examples/ThirdPartyLibs/clsocket/premake4.lua
@@ -0,0 +1,24 @@
+	project "clsocket"
+		
+	kind "StaticLib"
+	
+	if os.is("Windows") then 
+		defines { "WIN32","_WINSOCK_DEPRECATED_NO_WARNINGS" }
+		end
+		if os.is("Linux") then
+		 defines {"HAS_SOCKLEN_T","_LINUX"}
+		end
+		if os.is("MacOSX") then
+		 defines {"HAS_SOCKLEN_T","_DARWIN"}
+		end		
+		
+	
+	includedirs {
+		".","include"
+	}
+	files {
+		"src/SimpleSocket.cpp",
+		"src/ActiveSocket.cpp",
+		"src/PassiveSocket.cpp",
+		"**.h"
+	}

From 3faab1b019c231f20c3d80e9c9c36cc7f3e88d63 Mon Sep 17 00:00:00 2001
From: Erwin Coumans <erwin.coumans@gmail.com>
Date: Sun, 19 Feb 2017 12:08:58 -0800
Subject: [PATCH 04/12] adjusted clsocket build and test, so there is an
 EchoServer and QueryDayTime sending a string to the EchoServer.

---
 build3/premake4.lua                           | 17 +++++--
 examples/ThirdPartyLibs/clsocket/premake4.lua |  2 +-
 test/clsocket/EchoServer.cpp                  |  4 ++
 test/clsocket/QueryDayTime.cpp                |  8 +--
 test/clsocket/premake4.lua                    | 51 +++++++++++++++++++
 5 files changed, 74 insertions(+), 8 deletions(-)
 create mode 100644 test/clsocket/premake4.lua

diff --git a/build3/premake4.lua b/build3/premake4.lua
index a5187efa7..345091d3e 100644
--- a/build3/premake4.lua
+++ b/build3/premake4.lua
@@ -71,10 +71,17 @@
 		description = "Don't build Extras"
 	}
 
+	newoption
+	{
+		trigger = "no-clsocket",
+		description = "Disable clsocket and clsocket tests (used for optional TCP networking in pybullet and shared memory C-API)"
+	}
+
+
 	newoption
 	{
 		trigger = "no-enet",
-		description = "Disable enet and enet tests"
+		description = "Disable enet and enet tests (used for optional UDP networking in pybullet and shared memory C-API)"
 	}
 
 	newoption
@@ -271,18 +278,20 @@ end
 		include "../examples/ThirdPartyLibs/midi"
 	end
 	
-	if not _OPTIONS["no_clsocket"] then
-		include "../examples/ThirdPartyLibs/clsocket"
+	if not _OPTIONS["no-clsocket"] then
 		defines {"BT_ENABLE_CLSOCKET"}
+		include "../examples/ThirdPartyLibs/clsocket"		
+		include "../test/clsocket"
 	end
 
 	if not _OPTIONS["no-enet"] then
+				defines {"BT_ENABLE_ENET"}
+
 				include "../examples/ThirdPartyLibs/enet"
 				include "../test/enet/nat_punchthrough/client"
 				include "../test/enet/nat_punchthrough/server"
 				include "../test/enet/chat/client"
 				include "../test/enet/chat/server"
-				defines {"BT_ENABLE_ENET"}
 	end
 
 	 if _OPTIONS["no-bullet3"] then
diff --git a/examples/ThirdPartyLibs/clsocket/premake4.lua b/examples/ThirdPartyLibs/clsocket/premake4.lua
index 896185095..57447b1fa 100644
--- a/examples/ThirdPartyLibs/clsocket/premake4.lua
+++ b/examples/ThirdPartyLibs/clsocket/premake4.lua
@@ -14,7 +14,7 @@
 		
 	
 	includedirs {
-		".","include"
+		".","include","src"
 	}
 	files {
 		"src/SimpleSocket.cpp",
diff --git a/test/clsocket/EchoServer.cpp b/test/clsocket/EchoServer.cpp
index 4a27d278f..4173e5e6a 100644
--- a/test/clsocket/EchoServer.cpp
+++ b/test/clsocket/EchoServer.cpp
@@ -19,11 +19,15 @@ int main(int argc, char **argv)
     {
         if ((pClient = socket.Accept()) != NULL)
         {
+			int clientPort = socket.GetClientPort();
+			printf("connected from %s:%d\n", socket.GetClientAddr(),clientPort);
             //----------------------------------------------------------------------
             // Receive request from the client.
             //----------------------------------------------------------------------
             if (pClient->Receive(MAX_PACKET))
             {
+				char* msg = (char*) pClient->GetData();
+				printf("received message [%s]\n",msg);
                 //------------------------------------------------------------------
                 // Send response to client and close connection to the client.
                 //------------------------------------------------------------------
diff --git a/test/clsocket/QueryDayTime.cpp b/test/clsocket/QueryDayTime.cpp
index a853abfab..46084256d 100644
--- a/test/clsocket/QueryDayTime.cpp
+++ b/test/clsocket/QueryDayTime.cpp
@@ -24,10 +24,12 @@ int main(int argc, char **argv)
         //----------------------------------------------------------------------
         // Send a requtest the server requesting the current time.
         //----------------------------------------------------------------------
-		const char* data = "Hello!";
+		char data[1024];
+		sprintf(data,"%s","Hello!");
 		int len = strlen(data);
-
-        if (socket.Send((const uint8 *)"HELLO\n", len))
+		data[len]=0;
+		len++;
+        if (socket.Send((const uint8 *)data, len))
         {
             //----------------------------------------------------------------------
             // Receive response from the server.
diff --git a/test/clsocket/premake4.lua b/test/clsocket/premake4.lua
new file mode 100644
index 000000000..530cbdb90
--- /dev/null
+++ b/test/clsocket/premake4.lua
@@ -0,0 +1,51 @@
+
+
+project ("Test_clsocket_EchoServer")
+
+	language "C++"
+			
+	kind "ConsoleApp"
+	
+	includedirs {"../../examples/ThirdPartyLibs/clsocket/src"}
+	
+	if os.is("Windows") then 
+		defines { "WIN32" }
+		links {"Ws2_32","Winmm"}
+	end
+	if os.is("Linux") then
+	end
+	if os.is("MacOSX") then
+	end		
+		
+	links {"clsocket"}		
+	
+	files {
+		"EchoServer.cpp",
+	}
+
+
+
+
+project ("Test_clsocket_QueryDayTime")
+
+	language "C++"
+			
+	kind "ConsoleApp"
+	
+	includedirs {"../../examples/ThirdPartyLibs/clsocket/src"}
+	
+	if os.is("Windows") then 
+		defines { "WIN32" }
+		links {"Ws2_32","Winmm"}
+	end
+	if os.is("Linux") then
+	end
+	if os.is("MacOSX") then
+	end		
+		
+	links {"clsocket"}		
+	
+	files {
+		"QueryDayTime.cpp",
+	}
+

From 970de9c4d77fac0fc9fdb4e9d2d8d4553aa6400d Mon Sep 17 00:00:00 2001
From: Erwin Coumans <erwin.coumans@gmail.com>
Date: Mon, 20 Feb 2017 09:34:00 -0800
Subject: [PATCH 05/12] tcp echo/query test setup

---
 test/clsocket/EchoServer.cpp   | 41 ++++++++++++++++++++++++----------
 test/clsocket/QueryDayTime.cpp | 13 ++++++-----
 2 files changed, 37 insertions(+), 17 deletions(-)

diff --git a/test/clsocket/EchoServer.cpp b/test/clsocket/EchoServer.cpp
index 4173e5e6a..b5a3a0e21 100644
--- a/test/clsocket/EchoServer.cpp
+++ b/test/clsocket/EchoServer.cpp
@@ -13,7 +13,7 @@ int main(int argc, char **argv)
     //--------------------------------------------------------------------------
     socket.Initialize();
 
-    socket.Listen("127.0.0.1", 6789);
+    socket.Listen("localhost", 6667);
 
     while (true)
     {
@@ -24,17 +24,34 @@ int main(int argc, char **argv)
             //----------------------------------------------------------------------
             // Receive request from the client.
             //----------------------------------------------------------------------
-            if (pClient->Receive(MAX_PACKET))
-            {
-				char* msg = (char*) pClient->GetData();
-				printf("received message [%s]\n",msg);
-                //------------------------------------------------------------------
-                // Send response to client and close connection to the client.
-                //------------------------------------------------------------------
-                pClient->Send( pClient->GetData(), pClient->GetBytesReceived() );
-                pClient->Close();
-            }
-
+            while (1)
+			{
+				//printf("try receive\n");
+				bool receivedData = false;
+				
+				if (pClient->Receive(MAX_PACKET))
+				{
+					char* msg = (char*) pClient->GetData();
+					//printf("received message [%s]\n",msg);
+					//------------------------------------------------------------------
+					// Send response to client and close connection to the client.
+					//------------------------------------------------------------------
+					pClient->Send( pClient->GetData(), pClient->GetBytesReceived() );
+					receivedData = true;
+					if (strncmp(msg,"stop",4)==0)
+					{
+						printf("Stop request received\n");
+						break;
+					}
+				}
+				if (!receivedData)
+				{
+					printf("Didn't receive data.\n");
+					break;
+				} 
+			}
+			printf("Disconnecting client.\n");
+			pClient->Close();
             delete pClient;
         }
     }
diff --git a/test/clsocket/QueryDayTime.cpp b/test/clsocket/QueryDayTime.cpp
index 46084256d..cb7381a64 100644
--- a/test/clsocket/QueryDayTime.cpp
+++ b/test/clsocket/QueryDayTime.cpp
@@ -19,7 +19,7 @@ int main(int argc, char **argv)
     // and received.
     //--------------------------------------------------------------------------
 //    if (socket.Open("time-C.timefreq.bldrdoc.gov", 13))
-      if (socket.Open("127.0.0.1", 6789))
+      if (socket.Open("localhost", 6667))
   {
         //----------------------------------------------------------------------
         // Send a requtest the server requesting the current time.
@@ -34,10 +34,13 @@ int main(int argc, char **argv)
             //----------------------------------------------------------------------
             // Receive response from the server.
             //----------------------------------------------------------------------
-            socket.Receive(len);
-			uint8* data = socket.GetData();
-            memcpy(&time, data, len);
-            printf("%s\n", time);
+            int rec = socket.Receive(len);
+			if (rec)
+			{
+						uint8* data = socket.GetData();
+				memcpy(&time, data, len);
+				printf("%s\n", time);
+			}
 
             //----------------------------------------------------------------------
             // Close the connection.

From c10dfe6a80d000db38f4e66a8bddabc751550e18 Mon Sep 17 00:00:00 2001
From: Erwin Coumans <erwincoumans@google.com>
Date: Mon, 20 Feb 2017 09:52:59 -0800
Subject: [PATCH 06/12] more tcp testing

---
 test/clsocket/EchoServer.cpp   |  2 +-
 test/clsocket/QueryDayTime.cpp | 50 ++++++++++++++++++----------------
 test/clsocket/premake4.lua     | 13 ++++++---
 3 files changed, 37 insertions(+), 28 deletions(-)

diff --git a/test/clsocket/EchoServer.cpp b/test/clsocket/EchoServer.cpp
index b5a3a0e21..74c03ac7c 100644
--- a/test/clsocket/EchoServer.cpp
+++ b/test/clsocket/EchoServer.cpp
@@ -32,7 +32,7 @@ int main(int argc, char **argv)
 				if (pClient->Receive(MAX_PACKET))
 				{
 					char* msg = (char*) pClient->GetData();
-					//printf("received message [%s]\n",msg);
+					printf("received message [%s]\n",msg);
 					//------------------------------------------------------------------
 					// Send response to client and close connection to the client.
 					//------------------------------------------------------------------
diff --git a/test/clsocket/QueryDayTime.cpp b/test/clsocket/QueryDayTime.cpp
index cb7381a64..2211f37ce 100644
--- a/test/clsocket/QueryDayTime.cpp
+++ b/test/clsocket/QueryDayTime.cpp
@@ -19,35 +19,39 @@ int main(int argc, char **argv)
     // and received.
     //--------------------------------------------------------------------------
 //    if (socket.Open("time-C.timefreq.bldrdoc.gov", 13))
-      if (socket.Open("localhost", 6667))
-  {
-        //----------------------------------------------------------------------
-        // Send a requtest the server requesting the current time.
-        //----------------------------------------------------------------------
-		char data[1024];
-		sprintf(data,"%s","Hello!");
-		int len = strlen(data);
-		data[len]=0;
-		len++;
-        if (socket.Send((const uint8 *)data, len))
-        {
-            //----------------------------------------------------------------------
-            // Receive response from the server.
-            //----------------------------------------------------------------------
-            int rec = socket.Receive(len);
-			if (rec)
-			{
-						uint8* data = socket.GetData();
-				memcpy(&time, data, len);
-				printf("%s\n", time);
-			}
+      if (socket.Open("192.168.86.196", 6667))
+      {
+              for (int i=0;i<100;i++)
+              {
+                    //----------------------------------------------------------------------
+                    // Send a requtest the server requesting the current time.
+                    //----------------------------------------------------------------------
+                    char data[1024];
+                    sprintf(data,"%s %d","Hello",i);
+                    int len = strlen(data);
+                    data[len]=0;
+                    printf("Sending [%s]\n",data);
+                    len++;
+                    if (socket.Send((const uint8 *)data, len))
+                    {
+                        //----------------------------------------------------------------------
+                        // Receive response from the server.
+                        //----------------------------------------------------------------------
+                        int rec = socket.Receive(len);
+                        if (rec)
+                        {
+                                    uint8* data = socket.GetData();
+                            memcpy(&time, data, len);
+                            printf("Received: [%s]\n", time);
+                        }
+                    }
+              }
 
             //----------------------------------------------------------------------
             // Close the connection.
             //----------------------------------------------------------------------
             socket.Close();
         }
-    }
 
 
     return 1;
diff --git a/test/clsocket/premake4.lua b/test/clsocket/premake4.lua
index 530cbdb90..4c5b742cf 100644
--- a/test/clsocket/premake4.lua
+++ b/test/clsocket/premake4.lua
@@ -13,8 +13,10 @@ project ("Test_clsocket_EchoServer")
 		links {"Ws2_32","Winmm"}
 	end
 	if os.is("Linux") then
+		defines {"_LINUX"}
 	end
 	if os.is("MacOSX") then
+		defines {"_DARWIN"}
 	end		
 		
 	links {"clsocket"}		
@@ -38,11 +40,14 @@ project ("Test_clsocket_QueryDayTime")
 		defines { "WIN32" }
 		links {"Ws2_32","Winmm"}
 	end
+
 	if os.is("Linux") then
-	end
-	if os.is("MacOSX") then
-	end		
-		
+                defines {"_LINUX"}
+        end
+        if os.is("MacOSX") then
+                defines {"_DARWIN"}
+        end
+
 	links {"clsocket"}		
 	
 	files {

From 55361e262ea5f56f493bb9cea37a21ae5146fbef Mon Sep 17 00:00:00 2001
From: Erwin Coumans <erwincoumans@google.com>
Date: Mon, 20 Feb 2017 13:18:33 -0800
Subject: [PATCH 07/12] fix 6dof sensors for fixed joints (recent bug left
 fields uninitialized in getJointInfo) add premake build support for
 Test_PhysicsClientUDP

---
 examples/SharedMemory/PhysicsClientC_API.cpp | 18 ++++---
 examples/SharedMemory/udp/main.cpp           |  4 +-
 test/SharedMemory/premake4.lua               | 52 ++++++++++++++++++++
 test/SharedMemory/test.c                     |  1 +
 4 files changed, 68 insertions(+), 7 deletions(-)

diff --git a/examples/SharedMemory/PhysicsClientC_API.cpp b/examples/SharedMemory/PhysicsClientC_API.cpp
index 4e5b4982b..b116999d6 100644
--- a/examples/SharedMemory/PhysicsClientC_API.cpp
+++ b/examples/SharedMemory/PhysicsClientC_API.cpp
@@ -558,12 +558,18 @@ int b3GetJointState(b3PhysicsClientHandle physClient, b3SharedMemoryStatusHandle
 		  {
 			  state->m_jointPosition = status->m_sendActualStateArgs.m_actualStateQ[info.m_qIndex];
 			  state->m_jointVelocity = status->m_sendActualStateArgs.m_actualStateQdot[info.m_uIndex];
-			  for (int ii(0); ii < 6; ++ii) {
-				state->m_jointForceTorque[ii] = status->m_sendActualStateArgs.m_jointReactionForces[6 * jointIndex + ii];
-			  }
-			  state->m_jointMotorTorque = status->m_sendActualStateArgs.m_jointMotorForce[jointIndex];
-			  return 1;
-		  }
+          } else
+          {
+              state->m_jointPosition=0;
+              state->m_jointVelocity=0;
+          }
+          for (int ii(0); ii < 6; ++ii)
+          {
+            state->m_jointForceTorque[ii] = status->m_sendActualStateArgs.m_jointReactionForces[6 * jointIndex + ii];
+          }
+          state->m_jointMotorTorque = status->m_sendActualStateArgs.m_jointMotorForce[jointIndex];
+          return 1;
+		  
 	  }
   }
   return 0;
diff --git a/examples/SharedMemory/udp/main.cpp b/examples/SharedMemory/udp/main.cpp
index 3a3f07ac7..de83fb56b 100644
--- a/examples/SharedMemory/udp/main.cpp
+++ b/examples/SharedMemory/udp/main.cpp
@@ -133,9 +133,11 @@ int main(int argc, char *argv[])
                         {
 						if (gVerboseNetworkMessagesServer)
 						{
+							int dataLen = (int)event.packet->dataLength;
+
 							printf("A packet of length %u containing '%s' was "
 								"received from %s on channel %u.\n",
-								event.packet->dataLength,
+								dataLen,
 								event.packet->data,
 								event.peer->data,
 								event.channelID);
diff --git a/test/SharedMemory/premake4.lua b/test/SharedMemory/premake4.lua
index 3f060285a..b886a9650 100644
--- a/test/SharedMemory/premake4.lua
+++ b/test/SharedMemory/premake4.lua
@@ -28,6 +28,58 @@ project ("Test_SharedMemoryPhysicsClient")
 			"../../examples/Utils/b3ResourcePath.cpp",
 			"../../examples/Utils/b3ResourcePath.h",
 		}
+
+project ("Test_PhysicsClientUDP")
+
+                language "C++"
+                kind "ConsoleApp"
+
+                includedirs {
+                "../../src", 
+                "../../examples",
+                "../../examples/ThirdPartyLibs/enet/include"
+                }
+                links {
+												"enet",
+                        "BulletFileLoader",
+                        "Bullet3Common",
+                        "LinearMath"
+                }
+		if os.is("Windows") then
+                	defines { "WIN32" }
+        	        links {"Ws2_32","Winmm"}
+	        end
+
+                defines {"PHYSICS_UDP"}
+
+                files {
+									"test.c",
+									"../../examples/SharedMemory/PhysicsClient.cpp",
+									"../../examples/SharedMemory/PhysicsClient.h",
+									"../../examples/SharedMemory/PhysicsClientSharedMemory.cpp",
+									"../../examples/SharedMemory/PhysicsClientSharedMemory.h",
+									"../../examples/SharedMemory/PhysicsClientSharedMemory_C_API.cpp",
+									"../../examples/SharedMemory/PhysicsClientSharedMemory_C_API.h",
+									"../../examples/SharedMemory/PhysicsClientUDP.cpp",
+									"../../examples/SharedMemory/PhysicsClientUDP.h",
+									"../../examples/SharedMemory/PhysicsClientUDP_C_API.cpp",
+									"../../examples/SharedMemory/PhysicsClientUDP_C_API.h",
+									"../../examples/SharedMemory/PhysicsClientSharedMemory_C_API.h",	
+									"../../examples/SharedMemory/PhysicsClientC_API.cpp",
+									"../../examples/SharedMemory/PhysicsClientC_API.h",
+									"../../examples/SharedMemory/Win32SharedMemory.cpp",
+									"../../examples/SharedMemory/Win32SharedMemory.h",
+									"../../examples/SharedMemory/PosixSharedMemory.cpp",
+									"../../examples/SharedMemory/PosixSharedMemory.h",
+									"../../examples/Utils/b3ResourcePath.cpp",
+									"../../examples/Utils/b3ResourcePath.h",
+									"../../examples/SharedMemory/PhysicsDirect.cpp",
+									"../../examples/Utils/b3Clock.cpp",
+									"../../examples/MultiThreading/b3PosixThreadSupport.cpp",
+									"../../examples/MultiThreading/b3Win32ThreadSupport.cpp",
+									"../../examples/MultiThreading/b3ThreadSupportInterface.cpp",
+            }
+
 		
 project ("Test_PhysicsServerLoopBack")
 
diff --git a/test/SharedMemory/test.c b/test/SharedMemory/test.c
index f7eeb18ad..211daf0df 100644
--- a/test/SharedMemory/test.c
+++ b/test/SharedMemory/test.c
@@ -256,6 +256,7 @@ void testSharedMemory(b3PhysicsClientHandle sm)
 			b3RequestCameraImageSetPixelResolution(command, width, height);
 			statusHandle = b3SubmitClientCommandAndWaitStatus(sm, command);
 		}
+        
         if (b3CanSubmitCommand(sm))
         {
             b3SharedMemoryStatusHandle state = b3SubmitClientCommandAndWaitStatus(sm, b3RequestActualStateCommandInit(sm,bodyIndex));

From bfcdb8c4081429600345e11f601c4163dcd7d738 Mon Sep 17 00:00:00 2001
From: Erwin Coumans <erwincoumans@google.com>
Date: Mon, 20 Feb 2017 14:43:01 -0800
Subject: [PATCH 08/12] add App_PhysicsServerTCP and
 App_PhysicsServerSharedMemoryBridgeTCP (can be easier tunneled over SSH)

---
 examples/SharedMemory/premake4.lua     |   2 +
 examples/SharedMemory/tcp/main.cpp     | 223 +++++++++++++++++++++++++
 examples/SharedMemory/tcp/premake4.lua | 141 ++++++++++++++++
 3 files changed, 366 insertions(+)
 create mode 100644 examples/SharedMemory/tcp/main.cpp
 create mode 100644 examples/SharedMemory/tcp/premake4.lua

diff --git a/examples/SharedMemory/premake4.lua b/examples/SharedMemory/premake4.lua
index 399cf1473..6ab6ad0fe 100644
--- a/examples/SharedMemory/premake4.lua
+++ b/examples/SharedMemory/premake4.lua
@@ -367,3 +367,5 @@ end
 
 
 include "udp"
+include "tcp"
+
diff --git a/examples/SharedMemory/tcp/main.cpp b/examples/SharedMemory/tcp/main.cpp
new file mode 100644
index 000000000..497766f08
--- /dev/null
+++ b/examples/SharedMemory/tcp/main.cpp
@@ -0,0 +1,223 @@
+#include "PassiveSocket.h"       // Include header for active socket object definition
+
+#include <stdio.h>
+#include "../../CommonInterfaces/CommonGUIHelperInterface.h"
+#include "Bullet3Common/b3CommandLineArgs.h"
+
+#ifdef NO_SHARED_MEMORY
+#include "PhysicsServerCommandProcessor.h"
+typedef PhysicsServerCommandProcessor MyCommandProcessor;
+#else
+#include "SharedMemoryCommandProcessor.h"
+typedef SharedMemoryCommandProcessor MyCommandProcessor;
+#endif //NO_SHARED_MEMORY
+
+#include "SharedMemoryCommands.h"
+#include "Bullet3Common/b3AlignedObjectArray.h"
+#include "PhysicsServerCommandProcessor.h"
+#include "../Utils/b3Clock.h"
+
+#define MAX_PACKET 4096
+
+bool gVerboseNetworkMessagesServer = true;
+
+void MySerializeInt(unsigned int sz, unsigned char* output)
+{
+    unsigned int tmp = sz;
+    output[0] = tmp & 255;
+    tmp = tmp >> 8;
+    output[1] = tmp & 255;
+    tmp = tmp >> 8;
+    output[2] = tmp & 255;
+    tmp = tmp >> 8;
+    output[3] = tmp & 255;
+}
+
+int main(int argc, char *argv[])
+{
+    
+    b3CommandLineArgs parseArgs(argc,argv);
+    b3Clock clock;
+    double timeOutInSeconds = 10;
+    
+    DummyGUIHelper guiHelper;
+    MyCommandProcessor* sm = new MyCommandProcessor;
+    sm->setGuiHelper(&guiHelper);
+    
+    int port = 6667;
+    if (parseArgs.GetCmdLineArgument("port",port))
+    {
+        printf("Using TCP port %d\n", port);
+    }
+    
+    gVerboseNetworkMessagesServer = parseArgs.CheckCmdLineFlag("verbose");
+    
+#ifndef NO_SHARED_MEMORY
+    int key = 0;
+    if (parseArgs.GetCmdLineArgument("sharedMemoryKey",key))
+    {
+        sm->setSharedMemoryKey(key);
+    }
+#endif//NO_SHARED_MEMORY
+    
+    bool isPhysicsClientConnected = sm->connect();
+    bool exitRequested = false;
+    
+    if (isPhysicsClientConnected)
+    {
+        
+        CPassiveSocket socket;
+        CActiveSocket *pClient = NULL;
+        
+        //--------------------------------------------------------------------------
+        // Initialize our socket object
+        //--------------------------------------------------------------------------
+        socket.Initialize();
+        
+        socket.Listen("localhost", port);
+        
+        while (!exitRequested)
+        {
+            b3Clock::usleep(0);
+
+            if ((pClient = socket.Accept()) != NULL)
+            {
+                int clientPort = socket.GetClientPort();
+                printf("connected from %s:%d\n", socket.GetClientAddr(),clientPort);
+                
+                //----------------------------------------------------------------------
+                // Receive request from the client.
+                //----------------------------------------------------------------------
+                while (1)
+                {
+                    //printf("try receive\n");
+                    bool receivedData = false;
+                    
+                    if (pClient->Receive(MAX_PACKET))
+                    {
+                        char* msg = (char*) pClient->GetData();
+                        int numBytesRec = pClient->GetBytesReceived();
+                        if (gVerboseNetworkMessagesServer)
+                        {
+                            printf("received message length [%d]\n",numBytesRec);
+                        }
+                        
+                        receivedData = true;
+                        
+                        if (strncmp(msg,"stop",4)==0)
+                        {
+                            printf("Stop request received\n");
+                            exitRequested = true;
+                            break;
+                        }
+                        
+                        
+                        SharedMemoryCommand cmd;
+                        
+                        SharedMemoryCommand* cmdPtr = 0;
+                        
+                        //performance test
+                        if (numBytesRec == sizeof(int))
+                        {
+                            cmdPtr = &cmd;
+                            cmd.m_type = *(int*)pClient->GetData();
+                        }
+                        
+                        if (numBytesRec == sizeof(SharedMemoryCommand))
+                        {
+                            cmdPtr = (SharedMemoryCommand*)pClient->GetData();
+                        }
+                        if (cmdPtr)
+                        {
+                            SharedMemoryStatus serverStatus;
+                            b3AlignedObjectArray<char> buffer;
+                            buffer.resize(SHARED_MEMORY_MAX_STREAM_CHUNK_SIZE);
+                            
+                            bool hasStatus = sm->processCommand(*cmdPtr,serverStatus, &buffer[0], buffer.size());
+                            
+                            double startTimeSeconds = clock.getTimeInSeconds();
+                            double curTimeSeconds  = clock.getTimeInSeconds();
+                            
+                            while ((!hasStatus) && ((curTimeSeconds - startTimeSeconds) <timeOutInSeconds))
+                            {
+                                hasStatus = sm->receiveStatus(serverStatus, &buffer[0], buffer.size());
+                                curTimeSeconds = clock.getTimeInSeconds();
+                            }
+                            if (gVerboseNetworkMessagesServer)
+                            {
+                                printf("buffer.size = %d\n", buffer.size());
+                                printf("serverStatus.m_numDataStreamBytes = %d\n", serverStatus.m_numDataStreamBytes);
+                            }
+                            if (hasStatus)
+                            {
+                                b3AlignedObjectArray<unsigned char> packetData;
+                                unsigned char* statBytes = (unsigned char*)&serverStatus;
+                                
+                                if (cmdPtr->m_type == CMD_STEP_FORWARD_SIMULATION)
+                                {
+                                    packetData.resize(4 + sizeof(int));
+                                    int sz = packetData.size();
+                                    int curPos = 0;
+                                    
+                                    MySerializeInt(sz, &packetData[curPos]);
+                                    curPos += 4;
+                                    for (int i = 0; i < sizeof(int); i++)
+                                    {
+                                        packetData[i + curPos] = statBytes[i];
+                                    }
+                                    curPos += sizeof(int);
+                                    
+                                    pClient->Send( &packetData[0], packetData.size() );
+                                   
+                                }
+                                else
+                                {
+                                    //create packetData with [int packetSizeInBytes, status, streamBytes)
+                                    packetData.resize(4 + sizeof(SharedMemoryStatus) + serverStatus.m_numDataStreamBytes);
+                                    int sz = packetData.size();
+                                    int curPos = 0;
+                                    
+                                    MySerializeInt(sz, &packetData[curPos]);
+                                    curPos += 4;
+                                    for (int i = 0; i < sizeof(SharedMemoryStatus); i++)
+                                    {
+                                        packetData[i + curPos] = statBytes[i];
+                                    }
+                                    curPos += sizeof(SharedMemoryStatus);
+                                    
+                                    for (int i = 0; i < serverStatus.m_numDataStreamBytes; i++)
+                                    {
+                                        packetData[i + curPos] = buffer[i];
+                                    }
+                                    
+                                    pClient->Send( &packetData[0], packetData.size() );
+                                }
+                            }
+                        }
+                        else
+                        {
+                            printf("received packet with unknown contents\n");
+                        }
+                    }
+                    if (!receivedData)
+                    {
+                        printf("Didn't receive data.\n");
+                        break;
+                    } 
+                }
+                printf("Disconnecting client.\n");
+                pClient->Close();
+                delete pClient;
+                
+            }
+        }
+        
+        socket.Close();
+        socket.Shutdown(CSimpleSocket::Both);
+    }
+    
+    delete sm;
+
+    return 0;
+}
+
diff --git a/examples/SharedMemory/tcp/premake4.lua b/examples/SharedMemory/tcp/premake4.lua
new file mode 100644
index 000000000..f4e011a9c
--- /dev/null
+++ b/examples/SharedMemory/tcp/premake4.lua
@@ -0,0 +1,141 @@
+
+project ("App_PhysicsServerSharedMemoryBridgeTCP")
+
+	language "C++"
+			
+	kind "ConsoleApp"
+	
+	includedirs {"../../ThirdPartyLibs/clsocket/src","../../../src",".."}
+		
+
+	if os.is("Windows") then
+                defines { "WIN32" }
+                links {"Ws2_32","Winmm"}
+        end
+        if os.is("Linux") then
+                defines {"_LINUX"}
+        end
+        if os.is("MacOSX") then
+                defines {"_DARWIN"}
+        end
+		
+	
+		links {
+			"clsocket",
+			"BulletFileLoader",
+			"Bullet3Common", 
+			"LinearMath"
+		}
+	
+	files {
+		"main.cpp",
+		"../PhysicsClient.cpp",
+		"../PhysicsClient.h",
+		"../PhysicsDirect.cpp",
+		"../PhysicsDirect.h",
+		"../PhysicsCommandProcessorInterface.h",
+		"../SharedMemoryCommandProcessor.cpp",
+		"../SharedMemoryCommandProcessor.h",
+		"../PhysicsClientC_API.cpp",
+		"../PhysicsClientC_API.h",
+		"../Win32SharedMemory.cpp",
+		"../Win32SharedMemory.h",
+		"../PosixSharedMemory.cpp",
+		"../PosixSharedMemory.h",
+		"../../Utils/b3ResourcePath.cpp",
+		"../../Utils/b3ResourcePath.h",
+		"../../Utils/b3Clock.cpp",
+		"../../Utils/b3Clock.h",		
+	}
+
+
+project "App_PhysicsServerTCP"
+
+if _OPTIONS["ios"] then
+	kind "WindowedApp"
+else	
+	kind "ConsoleApp"
+end
+
+defines { "NO_SHARED_MEMORY" }
+						
+includedirs {"..","../../../src", "../../ThirdPartyLibs","../../ThirdPartyLibs/clsocket/src"}
+
+links {
+	"clsocket","Bullet3Common","BulletInverseDynamicsUtils", "BulletInverseDynamics",	"BulletDynamics","BulletCollision", "LinearMath", "BussIK"
+}
+
+
+
+	if os.is("Windows") then
+                defines { "WIN32" }
+                links {"Ws2_32","Winmm"}
+        end
+        if os.is("Linux") then
+                defines {"_LINUX"}
+        end
+        if os.is("MacOSX") then
+                defines {"_DARWIN"}
+        end
+
+language "C++"
+
+myfiles = 
+{
+	"../IKTrajectoryHelper.cpp",
+	"../IKTrajectoryHelper.h",
+	"../SharedMemoryCommands.h",
+	"../SharedMemoryPublic.h",
+	"../PhysicsServerCommandProcessor.cpp",
+	"../PhysicsServerCommandProcessor.h",
+	"../TinyRendererVisualShapeConverter.cpp",
+	"../TinyRendererVisualShapeConverter.h",
+	"../../TinyRenderer/geometry.cpp",
+	"../../TinyRenderer/model.cpp",
+	"../../TinyRenderer/tgaimage.cpp",
+	"../../TinyRenderer/our_gl.cpp",
+	"../../TinyRenderer/TinyRenderer.cpp",
+	"../../OpenGLWindow/SimpleCamera.cpp",
+	"../../OpenGLWindow/SimpleCamera.h",
+	"../../Importers/ImportURDFDemo/ConvertRigidBodies2MultiBody.h",
+	"../../Importers/ImportURDFDemo/MultiBodyCreationInterface.h",
+	"../../Importers/ImportURDFDemo/MyMultiBodyCreator.cpp",
+	"../../Importers/ImportURDFDemo/MyMultiBodyCreator.h",
+	"../../Importers/ImportMJCFDemo/BulletMJCFImporter.cpp",
+	"../../Importers/ImportMJCFDemo/BulletMJCFImporter.h",
+	"../../Importers/ImportURDFDemo/BulletUrdfImporter.cpp",
+	"../../Importers/ImportURDFDemo/BulletUrdfImporter.h",
+	"../../Importers/ImportURDFDemo/UrdfParser.cpp",
+ 	"../../Importers/ImportURDFDemo/urdfStringSplit.cpp",
+	"../../Importers/ImportURDFDemo/UrdfParser.cpp",
+	"../../Importers/ImportURDFDemo/UrdfParser.h",
+	"../../Importers/ImportURDFDemo/URDF2Bullet.cpp",
+	"../../Importers/ImportURDFDemo/URDF2Bullet.h",
+	"../../Utils/b3ResourcePath.cpp",
+	"../../Utils/b3Clock.cpp",
+	"../../Utils/RobotLoggingUtil.cpp",
+	"../../Utils/RobotLoggingUtil.h",
+	"../../../Extras/Serialize/BulletWorldImporter/*",
+	"../../../Extras/Serialize/BulletFileLoader/*",	
+	"../../Importers/ImportURDFDemo/URDFImporterInterface.h",
+	"../../Importers/ImportURDFDemo/URDFJointTypes.h",
+	"../../Importers/ImportObjDemo/Wavefront2GLInstanceGraphicsShape.cpp",
+	"../../Importers/ImportObjDemo/LoadMeshFromObj.cpp",
+	"../../Importers/ImportSTLDemo/ImportSTLSetup.h",
+	"../../Importers/ImportSTLDemo/LoadMeshFromSTL.h",
+	"../../Importers/ImportColladaDemo/LoadMeshFromCollada.cpp",
+	"../../Importers/ImportColladaDemo/ColladaGraphicsInstance.h",
+	"../../ThirdPartyLibs/Wavefront/tiny_obj_loader.cpp",	
+	"../../ThirdPartyLibs/tinyxml/tinystr.cpp",
+	"../../ThirdPartyLibs/tinyxml/tinyxml.cpp",
+	"../../ThirdPartyLibs/tinyxml/tinyxmlerror.cpp",
+	"../../ThirdPartyLibs/tinyxml/tinyxmlparser.cpp",
+	"../../Importers/ImportMeshUtility/b3ImportMeshUtility.cpp",
+	"../../ThirdPartyLibs/stb_image/stb_image.cpp",     
+}
+
+files {
+	myfiles,
+	"main.cpp",
+}
+

From 3d73a9d788c462a6e7c4c87e38d9b9861782f474 Mon Sep 17 00:00:00 2001
From: Erwin Coumans <erwincoumans@google.com>
Date: Mon, 20 Feb 2017 16:46:25 -0800
Subject: [PATCH 09/12] shmem preliminary TCP implementation (not working yet)

---
 examples/SharedMemory/PhysicsClientTCP.cpp    | 496 ++++++++++++++++++
 examples/SharedMemory/PhysicsClientTCP.h      |  37 ++
 .../SharedMemory/PhysicsClientTCP_C_API.cpp   |  29 +
 .../SharedMemory/PhysicsClientTCP_C_API.h     |  19 +
 examples/pybullet/premake4.lua                |  26 +
 test/SharedMemory/premake4.lua                |  62 +++
 test/SharedMemory/test.c                      |   8 +
 7 files changed, 677 insertions(+)
 create mode 100644 examples/SharedMemory/PhysicsClientTCP.cpp
 create mode 100644 examples/SharedMemory/PhysicsClientTCP.h
 create mode 100644 examples/SharedMemory/PhysicsClientTCP_C_API.cpp
 create mode 100644 examples/SharedMemory/PhysicsClientTCP_C_API.h

diff --git a/examples/SharedMemory/PhysicsClientTCP.cpp b/examples/SharedMemory/PhysicsClientTCP.cpp
new file mode 100644
index 000000000..35fc08964
--- /dev/null
+++ b/examples/SharedMemory/PhysicsClientTCP.cpp
@@ -0,0 +1,496 @@
+#include "PhysicsClientTCP.h"
+
+#include "ActiveSocket.h" 
+
+#include <stdio.h>
+#include <string.h>
+#include "../Utils/b3Clock.h"
+#include "PhysicsClient.h"
+//#include "LinearMath/btVector3.h"
+#include "SharedMemoryCommands.h"
+#include <string>
+#include "Bullet3Common/b3Logging.h"
+#include "../MultiThreading/b3ThreadSupportInterface.h"
+void	TCPThreadFunc(void* userPtr, void* lsMemory);
+void*	TCPlsMemoryFunc();
+bool gVerboseNetworkMessagesClient2 = false;
+
+#ifndef _WIN32
+#include "../MultiThreading/b3PosixThreadSupport.h"
+
+b3ThreadSupportInterface* createTCPThreadSupport(int numThreads)
+{
+	b3PosixThreadSupport::ThreadConstructionInfo constructionInfo("TCPThread",
+		TCPThreadFunc,
+		TCPlsMemoryFunc,
+		numThreads);
+	b3ThreadSupportInterface* threadSupport = new b3PosixThreadSupport(constructionInfo);
+
+	return threadSupport;
+
+}
+
+
+#elif defined( _WIN32)
+#include "../MultiThreading/b3Win32ThreadSupport.h"
+
+b3ThreadSupportInterface* createTCPThreadSupport(int numThreads)
+{
+	b3Win32ThreadSupport::Win32ThreadConstructionInfo threadConstructionInfo("TCPThread", TCPThreadFunc, TCPlsMemoryFunc, numThreads);
+	b3Win32ThreadSupport* threadSupport = new b3Win32ThreadSupport(threadConstructionInfo);
+	return threadSupport;
+
+}
+#endif
+
+
+
+struct TCPThreadLocalStorage
+{
+	int threadId;
+};
+
+
+
+unsigned int b3DeserializeInt2(const unsigned char* input)
+{
+	unsigned int tmp = (input[3] << 24) + (input[2] << 16) + (input[1] << 8) + input[0];
+	return tmp;
+}
+
+struct	TcpNetworkedInternalData
+{
+    /*
+	ENetHost*	m_client;
+	ENetAddress	m_address;
+	ENetPeer*	m_peer;
+	ENetEvent 	m_event;
+     */
+    CActiveSocket m_tcpSocket;
+    
+	bool		m_isConnected;
+
+	b3ThreadSupportInterface* m_threadSupport;
+
+	b3CriticalSection* m_cs;
+
+	TcpNetworkedInternalData* m_tcpInternalData;
+	
+
+	SharedMemoryCommand m_clientCmd;
+	bool m_hasCommand;
+
+	bool		m_hasStatus;
+	SharedMemoryStatus m_lastStatus;
+	b3AlignedObjectArray<char> m_stream;
+
+	std::string m_hostName;
+	int m_port;
+
+	TcpNetworkedInternalData()
+		:
+		m_isConnected(false),
+		m_threadSupport(0),
+		m_hasCommand(false),
+		m_hasStatus(false)
+	{
+
+	}
+
+	bool connectTCP()
+	{
+		if (m_isConnected)
+			return true;
+
+        m_tcpSocket.Initialize();
+        
+        m_isConnected = m_tcpSocket.Open(m_hostName.c_str(),m_port);
+
+        m_isConnected = true;
+		return m_isConnected;
+	}
+
+	bool checkData()
+	{
+		bool hasStatus = false;
+
+		//int serviceResult = enet_host_service(m_client, &m_event, 0);
+        int maxLen = 4 + sizeof(SharedMemoryStatus)+SHARED_MEMORY_MAX_STREAM_CHUNK_SIZE;
+        
+        int recBytes = m_tcpSocket.Receive(maxLen);
+
+        if (gVerboseNetworkMessagesClient2)
+        {
+            printf("A packet of length %d bytes received\n", recBytes);
+        }
+        
+        unsigned char* data = (unsigned char*)m_tcpSocket.GetData();
+        
+        int packetSizeInBytes = b3DeserializeInt2(data);
+
+        if (packetSizeInBytes == recBytes)
+        {
+
+            SharedMemoryStatus* statPtr = (SharedMemoryStatus*)&data[4];
+            if (statPtr->m_type == CMD_STEP_FORWARD_SIMULATION_COMPLETED)
+            {
+                SharedMemoryStatus dummy;
+                dummy.m_type = CMD_STEP_FORWARD_SIMULATION_COMPLETED;
+                m_lastStatus = dummy;
+                m_stream.resize(0);
+            }
+            else
+            {
+
+                m_lastStatus = *statPtr;
+                int streamOffsetInBytes = 4 + sizeof(SharedMemoryStatus);
+                int numStreamBytes = packetSizeInBytes - streamOffsetInBytes;
+                m_stream.resize(numStreamBytes);
+                for (int i = 0; i < numStreamBytes; i++)
+                {
+                    m_stream[i] = data[i + streamOffsetInBytes];
+                }
+            }
+        }
+        else
+        {
+            printf("unknown status message received\n");
+        }
+        
+		return hasStatus;
+	}
+
+};
+
+enum TCPThreadEnums
+{
+	eTCPRequestTerminate = 13,
+	eTCPIsUnInitialized,
+	eTCPIsInitialized,
+	eTCPInitializationFailed,
+	eTCPHasTerminated
+};
+
+
+
+enum TCPCommandEnums
+{
+	eTCPIdle = 13,
+	eTCP_ConnectRequest,
+	eTCP_Connected,
+	eTCP_ConnectionFailed,
+	eTCP_DisconnectRequest,
+	eTCP_Disconnected,
+
+};
+
+void	TCPThreadFunc(void* userPtr, void* lsMemory)
+{
+	printf("TCPThreadFunc thread started\n");
+
+	TcpNetworkedInternalData* args = (TcpNetworkedInternalData*)userPtr;
+//	int workLeft = true;
+	b3Clock clock;
+	clock.reset();
+	bool init = true;
+	if (init)
+	{
+
+		args->m_cs->lock();
+		args->m_cs->setSharedParam(0, eTCPIsInitialized);
+		args->m_cs->unlock();
+
+
+		double deltaTimeInSeconds = 0;
+
+		do
+		{
+			b3Clock::usleep(0);
+
+			deltaTimeInSeconds += double(clock.getTimeMicroseconds()) / 1000000.;
+
+			{
+			
+				clock.reset();
+				deltaTimeInSeconds = 0.f;
+				switch (args->m_cs->getSharedParam(1))
+				{
+					case eTCP_ConnectRequest:
+					{
+						bool connected = args->connectTCP();
+						if (connected)
+						{
+							args->m_cs->setSharedParam(1, eTCP_Connected);
+						}
+						else
+						{
+							args->m_cs->setSharedParam(1, eTCP_ConnectionFailed);
+						}
+						break;
+					}
+					default:
+					{
+					}				
+				};
+
+				if (args->m_isConnected)
+				{
+
+					args->m_cs->lock();
+					bool hasCommand = args->m_hasCommand;
+					args->m_cs->unlock();
+
+
+					if (hasCommand)
+					{
+						int sz = 0;
+                        unsigned char* data = 0;
+                        
+
+						if (args->m_clientCmd.m_type == CMD_STEP_FORWARD_SIMULATION)
+						{
+							sz = sizeof(int);
+                            data = (unsigned char*) &args->m_clientCmd.m_type;
+						}
+						else
+						{
+							sz = sizeof(SharedMemoryCommand);
+                            data = (unsigned char*)&args->m_clientCmd;
+    					}
+						int res;
+						
+                        args->m_tcpSocket.Send((const uint8 *)data,sz);
+                        
+						args->m_cs->lock();
+						args->m_hasCommand = false;
+						args->m_cs->unlock();
+					}
+
+
+					bool hasNewStatus = args->checkData();
+					if (hasNewStatus)
+					{
+						if (args->m_hasStatus)
+						{
+							//overflow: last status hasn't been processed yet
+							b3Assert(0);
+							printf("Error: received new status but previous status not processed yet");
+						}
+						else
+						{
+							args->m_cs->lock();
+							args->m_hasStatus = hasNewStatus;
+							args->m_cs->unlock();
+						}
+					}
+				}
+
+			}
+
+		} while (args->m_cs->getSharedParam(0) != eTCPRequestTerminate);
+	}
+	else
+	{
+		args->m_cs->lock();
+		args->m_cs->setSharedParam(0, eTCPInitializationFailed);
+		args->m_cs->unlock();
+	}
+
+
+	printf("finished\n");
+
+}
+
+
+
+void*	TCPlsMemoryFunc()
+{
+	//don't create local store memory, just return 0
+	return new TCPThreadLocalStorage;
+}
+
+
+
+
+
+
+
+TcpNetworkedPhysicsProcessor::TcpNetworkedPhysicsProcessor(const char* hostName, int port)
+{
+	m_data = new TcpNetworkedInternalData;
+	if (hostName)
+	{
+		m_data->m_hostName = hostName;
+	}
+	m_data->m_port = port;
+
+}
+
+TcpNetworkedPhysicsProcessor::~TcpNetworkedPhysicsProcessor()
+{
+	disconnect();
+	delete m_data;
+}
+
+bool TcpNetworkedPhysicsProcessor::processCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes)
+{
+	if(gVerboseNetworkMessagesClient2)
+	{
+		printf("PhysicsClientTCP::processCommand\n");
+	}
+//	int sz = sizeof(SharedMemoryCommand);
+	int timeout = 1024 * 1024 * 1024;
+
+	m_data->m_cs->lock();
+	m_data->m_clientCmd = clientCmd;
+	m_data->m_hasCommand = true;
+	m_data->m_cs->unlock();
+
+	while (m_data->m_hasCommand &&  (timeout-- > 0))
+	{
+		b3Clock::usleep(0);
+	}
+
+#if 0
+
+	timeout = 1024 * 1024 * 1024;
+
+	bool hasStatus = false;
+
+	const SharedMemoryStatus* stat = 0;
+	while ((!hasStatus) && (timeout-- > 0))
+	{
+		hasStatus = receiveStatus(serverStatusOut, bufferServerToClient, bufferSizeInBytes);
+		b3Clock::usleep(100);
+	}
+	return hasStatus;
+
+#endif
+
+	return false;
+}
+
+bool TcpNetworkedPhysicsProcessor::receiveStatus(struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes)
+{
+	bool hasStatus = false;
+	if (m_data->m_hasStatus)
+	{
+		if (gVerboseNetworkMessagesClient2)
+		{
+			printf("TcpNetworkedPhysicsProcessor::receiveStatus\n");
+		}
+
+		hasStatus = true;
+		serverStatusOut = m_data->m_lastStatus;
+		int numStreamBytes = m_data->m_stream.size();
+
+		if (numStreamBytes < bufferSizeInBytes)
+		{
+			for (int i = 0; i < numStreamBytes; i++)
+			{
+				bufferServerToClient[i] = m_data->m_stream[i];
+			}
+		}
+		else
+		{
+			printf("Error: steam buffer overflow\n");
+		}
+
+		m_data->m_cs->lock();
+		m_data->m_hasStatus = false;
+		m_data->m_cs->unlock();
+	}
+
+	
+	return hasStatus;
+
+}
+
+
+void TcpNetworkedPhysicsProcessor::renderScene()
+{
+}
+
+void   TcpNetworkedPhysicsProcessor::physicsDebugDraw(int debugDrawFlags)
+{
+}
+
+void TcpNetworkedPhysicsProcessor::setGuiHelper(struct GUIHelperInterface* guiHelper)
+{
+}
+
+bool TcpNetworkedPhysicsProcessor::isConnected() const
+{
+	return m_data->m_isConnected;
+}
+
+
+bool TcpNetworkedPhysicsProcessor::connect()
+{
+	if (m_data->m_threadSupport==0)
+	{
+		m_data->m_threadSupport = createTCPThreadSupport(1);
+	
+		m_data->m_cs = m_data->m_threadSupport->createCriticalSection();
+		m_data->m_cs->setSharedParam(0, eTCPIsUnInitialized);
+		m_data->m_threadSupport->runTask(B3_THREAD_SCHEDULE_TASK, (void*) m_data, 0);
+
+		while (m_data->m_cs->getSharedParam(0) == eTCPIsUnInitialized)
+		{
+			b3Clock::usleep(1000);
+		}
+
+		m_data->m_cs->lock();
+		m_data->m_cs->setSharedParam(1, eTCP_ConnectRequest);
+		m_data->m_cs->unlock();
+
+		while (m_data->m_cs->getSharedParam(1) == eTCP_ConnectRequest)
+		{
+			b3Clock::usleep(1000);
+		}
+
+	}
+	unsigned int sharedParam = m_data->m_cs->getSharedParam(1);
+	bool isConnected = (sharedParam == eTCP_Connected);
+	return isConnected;
+}
+
+void TcpNetworkedPhysicsProcessor::disconnect()
+{
+	if (m_data->m_threadSupport)
+	{
+		m_data->m_cs->lock();
+		m_data->m_cs->setSharedParam(0, eTCPRequestTerminate);
+		m_data->m_cs->unlock();
+
+		int numActiveThreads = 1;
+
+		while (numActiveThreads)
+		{
+			int arg0, arg1;
+			if (m_data->m_threadSupport->isTaskCompleted(&arg0, &arg1, 0))
+			{
+				numActiveThreads--;
+				printf("numActiveThreads = %d\n", numActiveThreads);
+			}
+			else
+			{
+				b3Clock::usleep(1000);
+			}
+		};
+
+		printf("stopping threads\n");
+
+		delete m_data->m_threadSupport;
+		m_data->m_threadSupport = 0;
+		m_data->m_isConnected = false;
+	}
+
+
+
+}
+
+
+
+
+
diff --git a/examples/SharedMemory/PhysicsClientTCP.h b/examples/SharedMemory/PhysicsClientTCP.h
new file mode 100644
index 000000000..26dd45b58
--- /dev/null
+++ b/examples/SharedMemory/PhysicsClientTCP.h
@@ -0,0 +1,37 @@
+#ifndef PHYSICS_CLIENT_TCP_H
+#define PHYSICS_CLIENT_TCP_H
+
+#include "PhysicsDirect.h"
+#include "PhysicsServerCommandProcessor.h"
+
+class TcpNetworkedPhysicsProcessor : public PhysicsCommandProcessorInterface
+{
+
+	struct TcpNetworkedInternalData* m_data;
+
+public:
+	TcpNetworkedPhysicsProcessor(const char* hostName, int port);
+
+	virtual ~TcpNetworkedPhysicsProcessor();
+
+	virtual bool connect();
+
+	virtual void disconnect();
+
+	virtual bool isConnected() const;
+	
+	virtual bool processCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
+
+	virtual bool receiveStatus(struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
+
+	virtual void renderScene();
+
+	virtual void   physicsDebugDraw(int debugDrawFlags);
+
+	virtual void setGuiHelper(struct GUIHelperInterface* guiHelper);
+
+};
+
+
+#endif //PHYSICS_CLIENT_TCP_H
+
diff --git a/examples/SharedMemory/PhysicsClientTCP_C_API.cpp b/examples/SharedMemory/PhysicsClientTCP_C_API.cpp
new file mode 100644
index 000000000..e333b967a
--- /dev/null
+++ b/examples/SharedMemory/PhysicsClientTCP_C_API.cpp
@@ -0,0 +1,29 @@
+
+#include "PhysicsClientTCP_C_API.h"
+#include "PhysicsClientTCP.h"
+#include "PhysicsDirect.h"
+#include <stdio.h>
+
+b3PhysicsClientHandle b3ConnectPhysicsTCP(const char* hostName, int port)
+{
+
+	TcpNetworkedPhysicsProcessor* tcp = new TcpNetworkedPhysicsProcessor(hostName, port);
+
+	PhysicsDirect* direct = new PhysicsDirect(tcp, true);
+
+	bool connected;
+	connected = direct->connect();
+	if (connected)
+	{
+		printf("b3ConnectPhysicsTCP connected successfully.\n");
+	}
+	else
+	{
+		printf("b3ConnectPhysicsTCP connection failed.\n");
+
+	}
+	return (b3PhysicsClientHandle)direct;
+}
+
+
+
diff --git a/examples/SharedMemory/PhysicsClientTCP_C_API.h b/examples/SharedMemory/PhysicsClientTCP_C_API.h
new file mode 100644
index 000000000..dee180377
--- /dev/null
+++ b/examples/SharedMemory/PhysicsClientTCP_C_API.h
@@ -0,0 +1,19 @@
+#ifndef PHYSICS_CLIENT_TCP_C_API_H
+#define PHYSICS_CLIENT_TCP_C_API_H
+
+#include "PhysicsClientC_API.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+	///send physics commands using TCP networking
+	b3PhysicsClientHandle b3ConnectPhysicsTCP(const char* hostName, int port);
+
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif //PHYSICS_CLIENT_TCP_C_API_H
diff --git a/examples/pybullet/premake4.lua b/examples/pybullet/premake4.lua
index a47016c8b..d424ef209 100644
--- a/examples/pybullet/premake4.lua
+++ b/examples/pybullet/premake4.lua
@@ -59,6 +59,32 @@ if not _OPTIONS["no-enet"] then
 		defines {"BT_ENABLE_ENET"}
 	end
 
+	if not _OPTIONS["no-clsocket"] then
+
+                includedirs {"../../examples/ThirdPartyLibs/clsocket/src"}
+
+		 if os.is("Windows") then
+                	defines { "WIN32" }
+                	links {"Ws2_32","Winmm"}
+       		 end
+        	if os.is("Linux") then
+                	defines {"_LINUX"}
+        	end
+        	if os.is("MacOSX") then
+                	defines {"_DARWIN"}
+        	end
+
+                links {"clsocket"}
+
+                files {
+                        "../../examples/SharedMemory/PhysicsClientTCP.cpp",
+                        "../../examples/SharedMemory/PhysicsClientTCP.h",
+                        "../../examples/SharedMemory/PhysicsClientTCP_C_API.cpp",
+                        "../../examples/SharedMemory/PhysicsClientTCP_C_API.h",
+                }
+                defines {"BT_ENABLE_CLSOCKET"}
+        end
+
 
 		files {
 			"pybullet.c",
diff --git a/test/SharedMemory/premake4.lua b/test/SharedMemory/premake4.lua
index b886a9650..cfe86780e 100644
--- a/test/SharedMemory/premake4.lua
+++ b/test/SharedMemory/premake4.lua
@@ -80,6 +80,68 @@ project ("Test_PhysicsClientUDP")
 									"../../examples/MultiThreading/b3ThreadSupportInterface.cpp",
             }
 
+
+project ("Test_PhysicsClientTCP")
+
+                language "C++"
+                kind "ConsoleApp"
+
+                includedirs {
+                "../../src", 
+                "../../examples",
+                "../../examples/ThirdPartyLibs/clsocket/src"
+                }
+                links {
+												"clsocket",
+                        "BulletFileLoader",
+                        "Bullet3Common",
+                        "LinearMath"
+                }
+		if os.is("Windows") then
+                	defines { "WIN32" }
+        	        links {"Ws2_32","Winmm"}
+	        end
+
+		if os.is("Windows") then
+                	defines { "WIN32","_WINSOCK_DEPRECATED_NO_WARNINGS" }
+                	end
+                if os.is("Linux") then
+                 defines {"_LINUX"}
+                end
+                if os.is("MacOSX") then
+                 defines {"_DARWIN"}
+                end
+
+                defines {"PHYSICS_TCP"}
+
+                files {
+									"test.c",
+									"../../examples/SharedMemory/PhysicsClient.cpp",
+									"../../examples/SharedMemory/PhysicsClient.h",
+									"../../examples/SharedMemory/PhysicsClientSharedMemory.cpp",
+									"../../examples/SharedMemory/PhysicsClientSharedMemory.h",
+									"../../examples/SharedMemory/PhysicsClientSharedMemory_C_API.cpp",
+									"../../examples/SharedMemory/PhysicsClientSharedMemory_C_API.h",
+									"../../examples/SharedMemory/PhysicsClientTCP.cpp",
+									"../../examples/SharedMemory/PhysicsClientTCP.h",
+									"../../examples/SharedMemory/PhysicsClientTCP_C_API.cpp",
+									"../../examples/SharedMemory/PhysicsClientTCP_C_API.h",
+									"../../examples/SharedMemory/PhysicsClientSharedMemory_C_API.h",	
+									"../../examples/SharedMemory/PhysicsClientC_API.cpp",
+									"../../examples/SharedMemory/PhysicsClientC_API.h",
+									"../../examples/SharedMemory/Win32SharedMemory.cpp",
+									"../../examples/SharedMemory/Win32SharedMemory.h",
+									"../../examples/SharedMemory/PosixSharedMemory.cpp",
+									"../../examples/SharedMemory/PosixSharedMemory.h",
+									"../../examples/Utils/b3ResourcePath.cpp",
+									"../../examples/Utils/b3ResourcePath.h",
+									"../../examples/SharedMemory/PhysicsDirect.cpp",
+									"../../examples/Utils/b3Clock.cpp",
+									"../../examples/MultiThreading/b3PosixThreadSupport.cpp",
+									"../../examples/MultiThreading/b3Win32ThreadSupport.cpp",
+									"../../examples/MultiThreading/b3ThreadSupportInterface.cpp",
+            }
+
 		
 project ("Test_PhysicsServerLoopBack")
 
diff --git a/test/SharedMemory/test.c b/test/SharedMemory/test.c
index 211daf0df..e475a4705 100644
--- a/test/SharedMemory/test.c
+++ b/test/SharedMemory/test.c
@@ -8,6 +8,10 @@
 #include "SharedMemory/PhysicsClientUDP_C_API.h"
 #endif//PHYSICS_UDP
 
+#ifdef PHYSICS_TCP
+#include "SharedMemory/PhysicsClientTCP_C_API.h"
+#endif//PHYSICS_TCP
+
 #ifdef PHYSICS_LOOP_BACK
 #include "SharedMemory/PhysicsLoopBackC_API.h"
 #endif //PHYSICS_LOOP_BACK
@@ -345,6 +349,10 @@ int main(int argc, char* argv[])
         b3PhysicsClientHandle sm = b3ConnectPhysicsUDP("localhost",1234);
 #endif //PHYSICS_UDP
 
+#ifdef PHYSICS_TCP
+        b3PhysicsClientHandle sm = b3ConnectPhysicsTCP("localhost",6667);
+#endif //PHYSICS_UDP
+
 	testSharedMemory(sm);
 }
 #endif

From 942015df9dcc208d1a77280bc78fe697a7b550ac Mon Sep 17 00:00:00 2001
From: Erwin Coumans <erwin.coumans@gmail.com>
Date: Mon, 20 Feb 2017 18:54:12 -0800
Subject: [PATCH 10/12] use TCP in main thread, accumulate bytes until size
 matches.

---
 examples/SharedMemory/PhysicsClientTCP.cpp | 405 +++++----------------
 examples/SharedMemory/tcp/main.cpp         | 196 +++++-----
 test/clsocket/EchoServer.cpp               |   6 +-
 3 files changed, 194 insertions(+), 413 deletions(-)

diff --git a/examples/SharedMemory/PhysicsClientTCP.cpp b/examples/SharedMemory/PhysicsClientTCP.cpp
index 35fc08964..443fc3bef 100644
--- a/examples/SharedMemory/PhysicsClientTCP.cpp
+++ b/examples/SharedMemory/PhysicsClientTCP.cpp
@@ -10,45 +10,7 @@
 #include "SharedMemoryCommands.h"
 #include <string>
 #include "Bullet3Common/b3Logging.h"
-#include "../MultiThreading/b3ThreadSupportInterface.h"
-void	TCPThreadFunc(void* userPtr, void* lsMemory);
-void*	TCPlsMemoryFunc();
-bool gVerboseNetworkMessagesClient2 = false;
-
-#ifndef _WIN32
-#include "../MultiThreading/b3PosixThreadSupport.h"
-
-b3ThreadSupportInterface* createTCPThreadSupport(int numThreads)
-{
-	b3PosixThreadSupport::ThreadConstructionInfo constructionInfo("TCPThread",
-		TCPThreadFunc,
-		TCPlsMemoryFunc,
-		numThreads);
-	b3ThreadSupportInterface* threadSupport = new b3PosixThreadSupport(constructionInfo);
-
-	return threadSupport;
-
-}
-
-
-#elif defined( _WIN32)
-#include "../MultiThreading/b3Win32ThreadSupport.h"
-
-b3ThreadSupportInterface* createTCPThreadSupport(int numThreads)
-{
-	b3Win32ThreadSupport::Win32ThreadConstructionInfo threadConstructionInfo("TCPThread", TCPThreadFunc, TCPlsMemoryFunc, numThreads);
-	b3Win32ThreadSupport* threadSupport = new b3Win32ThreadSupport(threadConstructionInfo);
-	return threadSupport;
-
-}
-#endif
-
-
-
-struct TCPThreadLocalStorage
-{
-	int threadId;
-};
+#include "Bullet3Common/b3AlignedObjectArray.h"
 
 
 
@@ -57,6 +19,8 @@ unsigned int b3DeserializeInt2(const unsigned char* input)
 	unsigned int tmp = (input[3] << 24) + (input[2] << 16) + (input[1] << 8) + input[0];
 	return tmp;
 }
+bool gVerboseNetworkMessagesClient2 = false;
+
 
 struct	TcpNetworkedInternalData
 {
@@ -70,29 +34,24 @@ struct	TcpNetworkedInternalData
     
 	bool		m_isConnected;
 
-	b3ThreadSupportInterface* m_threadSupport;
-
-	b3CriticalSection* m_cs;
-
 	TcpNetworkedInternalData* m_tcpInternalData;
 	
 
 	SharedMemoryCommand m_clientCmd;
 	bool m_hasCommand;
 
-	bool		m_hasStatus;
 	SharedMemoryStatus m_lastStatus;
 	b3AlignedObjectArray<char> m_stream;
 
 	std::string m_hostName;
 	int m_port;
 
+	b3AlignedObjectArray<unsigned char> m_tempBuffer;
+
 	TcpNetworkedInternalData()
 		:
 		m_isConnected(false),
-		m_threadSupport(0),
-		m_hasCommand(false),
-		m_hasStatus(false)
+		m_hasCommand(false)
 	{
 
 	}
@@ -105,8 +64,7 @@ struct	TcpNetworkedInternalData
         m_tcpSocket.Initialize();
         
         m_isConnected = m_tcpSocket.Open(m_hostName.c_str(),m_port);
-
-        m_isConnected = true;
+        
 		return m_isConnected;
 	}
 
@@ -117,203 +75,66 @@ struct	TcpNetworkedInternalData
 		//int serviceResult = enet_host_service(m_client, &m_event, 0);
         int maxLen = 4 + sizeof(SharedMemoryStatus)+SHARED_MEMORY_MAX_STREAM_CHUNK_SIZE;
         
-        int recBytes = m_tcpSocket.Receive(maxLen);
+        int rBytes = m_tcpSocket.Receive(maxLen);
+		if (rBytes<=0)
+			return false;
 
-        if (gVerboseNetworkMessagesClient2)
-        {
-            printf("A packet of length %d bytes received\n", recBytes);
-        }
-        
-        unsigned char* data = (unsigned char*)m_tcpSocket.GetData();
-        
-        int packetSizeInBytes = b3DeserializeInt2(data);
+		//append to tmp buffer
+		//recBytes
 
-        if (packetSizeInBytes == recBytes)
-        {
+		unsigned char* d2 = (unsigned char*)m_tcpSocket.GetData();
 
-            SharedMemoryStatus* statPtr = (SharedMemoryStatus*)&data[4];
-            if (statPtr->m_type == CMD_STEP_FORWARD_SIMULATION_COMPLETED)
-            {
-                SharedMemoryStatus dummy;
-                dummy.m_type = CMD_STEP_FORWARD_SIMULATION_COMPLETED;
-                m_lastStatus = dummy;
-                m_stream.resize(0);
-            }
-            else
-            {
 
-                m_lastStatus = *statPtr;
-                int streamOffsetInBytes = 4 + sizeof(SharedMemoryStatus);
-                int numStreamBytes = packetSizeInBytes - streamOffsetInBytes;
-                m_stream.resize(numStreamBytes);
-                for (int i = 0; i < numStreamBytes; i++)
-                {
-                    m_stream[i] = data[i + streamOffsetInBytes];
-                }
-            }
-        }
-        else
-        {
-            printf("unknown status message received\n");
-        }
-        
+		int curSize = m_tempBuffer.size();
+		m_tempBuffer.resize(curSize+rBytes);
+		for (int i=0;i<rBytes;i++)
+		{
+			m_tempBuffer[curSize+i] = d2[i];
+		}
+
+		int packetSizeInBytes = -1;
+
+		if (m_tempBuffer.size()>=4)
+		{
+			packetSizeInBytes = b3DeserializeInt2(&m_tempBuffer[0]);
+		}
+
+		if (m_tempBuffer.size() == packetSizeInBytes)
+		{
+			unsigned char* data = &m_tempBuffer[0];
+			if (gVerboseNetworkMessagesClient2)
+			{
+				printf("A packet of length %d bytes received\n", m_tempBuffer.size());
+			}
+
+			hasStatus = true;
+			SharedMemoryStatus* statPtr = (SharedMemoryStatus*)&data[4];
+			if (statPtr->m_type == CMD_STEP_FORWARD_SIMULATION_COMPLETED)
+			{
+				SharedMemoryStatus dummy;
+				dummy.m_type = CMD_STEP_FORWARD_SIMULATION_COMPLETED;
+				m_lastStatus = dummy;
+				m_stream.resize(0);
+			}
+			else
+			{
+
+				m_lastStatus = *statPtr;
+				int streamOffsetInBytes = 4 + sizeof(SharedMemoryStatus);
+				int numStreamBytes = packetSizeInBytes - streamOffsetInBytes;
+				m_stream.resize(numStreamBytes);
+				for (int i = 0; i < numStreamBytes; i++)
+				{
+					m_stream[i] = data[i + streamOffsetInBytes];
+				}
+			}
+			m_tempBuffer.clear();
+		}
 		return hasStatus;
 	}
 
 };
 
-enum TCPThreadEnums
-{
-	eTCPRequestTerminate = 13,
-	eTCPIsUnInitialized,
-	eTCPIsInitialized,
-	eTCPInitializationFailed,
-	eTCPHasTerminated
-};
-
-
-
-enum TCPCommandEnums
-{
-	eTCPIdle = 13,
-	eTCP_ConnectRequest,
-	eTCP_Connected,
-	eTCP_ConnectionFailed,
-	eTCP_DisconnectRequest,
-	eTCP_Disconnected,
-
-};
-
-void	TCPThreadFunc(void* userPtr, void* lsMemory)
-{
-	printf("TCPThreadFunc thread started\n");
-
-	TcpNetworkedInternalData* args = (TcpNetworkedInternalData*)userPtr;
-//	int workLeft = true;
-	b3Clock clock;
-	clock.reset();
-	bool init = true;
-	if (init)
-	{
-
-		args->m_cs->lock();
-		args->m_cs->setSharedParam(0, eTCPIsInitialized);
-		args->m_cs->unlock();
-
-
-		double deltaTimeInSeconds = 0;
-
-		do
-		{
-			b3Clock::usleep(0);
-
-			deltaTimeInSeconds += double(clock.getTimeMicroseconds()) / 1000000.;
-
-			{
-			
-				clock.reset();
-				deltaTimeInSeconds = 0.f;
-				switch (args->m_cs->getSharedParam(1))
-				{
-					case eTCP_ConnectRequest:
-					{
-						bool connected = args->connectTCP();
-						if (connected)
-						{
-							args->m_cs->setSharedParam(1, eTCP_Connected);
-						}
-						else
-						{
-							args->m_cs->setSharedParam(1, eTCP_ConnectionFailed);
-						}
-						break;
-					}
-					default:
-					{
-					}				
-				};
-
-				if (args->m_isConnected)
-				{
-
-					args->m_cs->lock();
-					bool hasCommand = args->m_hasCommand;
-					args->m_cs->unlock();
-
-
-					if (hasCommand)
-					{
-						int sz = 0;
-                        unsigned char* data = 0;
-                        
-
-						if (args->m_clientCmd.m_type == CMD_STEP_FORWARD_SIMULATION)
-						{
-							sz = sizeof(int);
-                            data = (unsigned char*) &args->m_clientCmd.m_type;
-						}
-						else
-						{
-							sz = sizeof(SharedMemoryCommand);
-                            data = (unsigned char*)&args->m_clientCmd;
-    					}
-						int res;
-						
-                        args->m_tcpSocket.Send((const uint8 *)data,sz);
-                        
-						args->m_cs->lock();
-						args->m_hasCommand = false;
-						args->m_cs->unlock();
-					}
-
-
-					bool hasNewStatus = args->checkData();
-					if (hasNewStatus)
-					{
-						if (args->m_hasStatus)
-						{
-							//overflow: last status hasn't been processed yet
-							b3Assert(0);
-							printf("Error: received new status but previous status not processed yet");
-						}
-						else
-						{
-							args->m_cs->lock();
-							args->m_hasStatus = hasNewStatus;
-							args->m_cs->unlock();
-						}
-					}
-				}
-
-			}
-
-		} while (args->m_cs->getSharedParam(0) != eTCPRequestTerminate);
-	}
-	else
-	{
-		args->m_cs->lock();
-		args->m_cs->setSharedParam(0, eTCPInitializationFailed);
-		args->m_cs->unlock();
-	}
-
-
-	printf("finished\n");
-
-}
-
-
-
-void*	TCPlsMemoryFunc()
-{
-	//don't create local store memory, just return 0
-	return new TCPThreadLocalStorage;
-}
-
-
-
-
-
-
 
 TcpNetworkedPhysicsProcessor::TcpNetworkedPhysicsProcessor(const char* hostName, int port)
 {
@@ -338,49 +159,42 @@ bool TcpNetworkedPhysicsProcessor::processCommand(const struct SharedMemoryComma
 	{
 		printf("PhysicsClientTCP::processCommand\n");
 	}
-//	int sz = sizeof(SharedMemoryCommand);
-	int timeout = 1024 * 1024 * 1024;
 
-	m_data->m_cs->lock();
-	m_data->m_clientCmd = clientCmd;
-	m_data->m_hasCommand = true;
-	m_data->m_cs->unlock();
-
-	while (m_data->m_hasCommand &&  (timeout-- > 0))
 	{
-		b3Clock::usleep(0);
-	}
+		int sz = 0;
+        unsigned char* data = 0;
+        m_data->m_tempBuffer.clear();
 
-#if 0
+		if (clientCmd.m_type == CMD_STEP_FORWARD_SIMULATION)
+		{
+			sz = sizeof(int);
+            data = (unsigned char*) &clientCmd.m_type;
+		}
+		else
+		{
+			sz = sizeof(SharedMemoryCommand);
+            data = (unsigned char*)&clientCmd;
+    	}
+		int res;
+						
+        m_data->m_tcpSocket.Send((const uint8 *)data,sz);
 
-	timeout = 1024 * 1024 * 1024;
-
-	bool hasStatus = false;
-
-	const SharedMemoryStatus* stat = 0;
-	while ((!hasStatus) && (timeout-- > 0))
-	{
-		hasStatus = receiveStatus(serverStatusOut, bufferServerToClient, bufferSizeInBytes);
-		b3Clock::usleep(100);
-	}
-	return hasStatus;
-
-#endif
+	}                    
 
 	return false;
 }
 
 bool TcpNetworkedPhysicsProcessor::receiveStatus(struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes)
 {
-	bool hasStatus = false;
-	if (m_data->m_hasStatus)
+	bool hasStatus = m_data->checkData();
+
+	if (hasStatus)
 	{
 		if (gVerboseNetworkMessagesClient2)
 		{
 			printf("TcpNetworkedPhysicsProcessor::receiveStatus\n");
 		}
 
-		hasStatus = true;
 		serverStatusOut = m_data->m_lastStatus;
 		int numStreamBytes = m_data->m_stream.size();
 
@@ -396,9 +210,6 @@ bool TcpNetworkedPhysicsProcessor::receiveStatus(struct SharedMemoryStatus& serv
 			printf("Error: steam buffer overflow\n");
 		}
 
-		m_data->m_cs->lock();
-		m_data->m_hasStatus = false;
-		m_data->m_cs->unlock();
 	}
 
 	
@@ -427,70 +238,18 @@ bool TcpNetworkedPhysicsProcessor::isConnected() const
 
 bool TcpNetworkedPhysicsProcessor::connect()
 {
-	if (m_data->m_threadSupport==0)
-	{
-		m_data->m_threadSupport = createTCPThreadSupport(1);
-	
-		m_data->m_cs = m_data->m_threadSupport->createCriticalSection();
-		m_data->m_cs->setSharedParam(0, eTCPIsUnInitialized);
-		m_data->m_threadSupport->runTask(B3_THREAD_SCHEDULE_TASK, (void*) m_data, 0);
-
-		while (m_data->m_cs->getSharedParam(0) == eTCPIsUnInitialized)
-		{
-			b3Clock::usleep(1000);
-		}
-
-		m_data->m_cs->lock();
-		m_data->m_cs->setSharedParam(1, eTCP_ConnectRequest);
-		m_data->m_cs->unlock();
-
-		while (m_data->m_cs->getSharedParam(1) == eTCP_ConnectRequest)
-		{
-			b3Clock::usleep(1000);
-		}
-
-	}
-	unsigned int sharedParam = m_data->m_cs->getSharedParam(1);
-	bool isConnected = (sharedParam == eTCP_Connected);
+	bool isConnected = m_data->connectTCP();
 	return isConnected;
 }
 
 void TcpNetworkedPhysicsProcessor::disconnect()
 {
-	if (m_data->m_threadSupport)
-	{
-		m_data->m_cs->lock();
-		m_data->m_cs->setSharedParam(0, eTCPRequestTerminate);
-		m_data->m_cs->unlock();
-
-		int numActiveThreads = 1;
-
-		while (numActiveThreads)
-		{
-			int arg0, arg1;
-			if (m_data->m_threadSupport->isTaskCompleted(&arg0, &arg1, 0))
-			{
-				numActiveThreads--;
-				printf("numActiveThreads = %d\n", numActiveThreads);
-			}
-			else
-			{
-				b3Clock::usleep(1000);
-			}
-		};
-
-		printf("stopping threads\n");
-
-		delete m_data->m_threadSupport;
-		m_data->m_threadSupport = 0;
-		m_data->m_isConnected = false;
-	}
-
-
-
+	m_data->m_tcpSocket.Close();
+	m_data->m_isConnected = false;
 }
 
 
 
 
 
+
diff --git a/examples/SharedMemory/tcp/main.cpp b/examples/SharedMemory/tcp/main.cpp
index 497766f08..efd667ed9 100644
--- a/examples/SharedMemory/tcp/main.cpp
+++ b/examples/SharedMemory/tcp/main.cpp
@@ -17,7 +17,6 @@ typedef SharedMemoryCommandProcessor MyCommandProcessor;
 #include "PhysicsServerCommandProcessor.h"
 #include "../Utils/b3Clock.h"
 
-#define MAX_PACKET 4096
 
 bool gVerboseNetworkMessagesServer = true;
 
@@ -75,6 +74,8 @@ int main(int argc, char *argv[])
         socket.Initialize();
         
         socket.Listen("localhost", port);
+
+		b3AlignedObjectArray<char> bytesReceived;
         
         while (!exitRequested)
         {
@@ -93,111 +94,130 @@ int main(int argc, char *argv[])
                     //printf("try receive\n");
                     bool receivedData = false;
                     
-                    if (pClient->Receive(MAX_PACKET))
+					int maxLen = 4 + sizeof(SharedMemoryStatus)+SHARED_MEMORY_MAX_STREAM_CHUNK_SIZE;
+       
+                    if (pClient->Receive(maxLen))
                     {
-                        char* msg = (char*) pClient->GetData();
-                        int numBytesRec = pClient->GetBytesReceived();
-                        if (gVerboseNetworkMessagesServer)
-                        {
-                            printf("received message length [%d]\n",numBytesRec);
-                        }
+						
+                        char* msg2 = (char*) pClient->GetData();
+                        int numBytesRec2 = pClient->GetBytesReceived();
+
+						int curSize = bytesReceived.size();
+						bytesReceived.resize(bytesReceived.size()+numBytesRec2);
+						for (int i=0;i<numBytesRec2;i++)
+						{
+							bytesReceived[curSize+i] = msg2[i];
+						}
+
+						if (bytesReceived.size() == 4 || bytesReceived.size()==sizeof(SharedMemoryCommand))
+						{
+							int numBytesRec = bytesReceived.size();
+
+							if (gVerboseNetworkMessagesServer)
+							{
+								printf("received message length [%d]\n",numBytesRec);
+							}
                         
-                        receivedData = true;
+							receivedData = true;
                         
-                        if (strncmp(msg,"stop",4)==0)
-                        {
-                            printf("Stop request received\n");
-                            exitRequested = true;
-                            break;
-                        }
+							if (strncmp(&bytesReceived[0],"stop",4)==0)
+							{
+								printf("Stop request received\n");
+								exitRequested = true;
+								bytesReceived.clear();
+								break;
+							}
                         
                         
-                        SharedMemoryCommand cmd;
+							SharedMemoryCommand cmd;
                         
-                        SharedMemoryCommand* cmdPtr = 0;
+							SharedMemoryCommand* cmdPtr = 0;
                         
-                        //performance test
-                        if (numBytesRec == sizeof(int))
-                        {
-                            cmdPtr = &cmd;
-                            cmd.m_type = *(int*)pClient->GetData();
-                        }
+							//performance test
+							if (numBytesRec == sizeof(int))
+							{
+								cmdPtr = &cmd;
+								cmd.m_type = *(int*)&bytesReceived[0];
+							}
                         
-                        if (numBytesRec == sizeof(SharedMemoryCommand))
-                        {
-                            cmdPtr = (SharedMemoryCommand*)pClient->GetData();
-                        }
-                        if (cmdPtr)
-                        {
-                            SharedMemoryStatus serverStatus;
-                            b3AlignedObjectArray<char> buffer;
-                            buffer.resize(SHARED_MEMORY_MAX_STREAM_CHUNK_SIZE);
+							if (numBytesRec == sizeof(SharedMemoryCommand))
+							{
+								cmdPtr = (SharedMemoryCommand*)&bytesReceived[0];
+							}
+							if (cmdPtr)
+							{
+								SharedMemoryStatus serverStatus;
+								b3AlignedObjectArray<char> buffer;
+								buffer.resize(SHARED_MEMORY_MAX_STREAM_CHUNK_SIZE);
                             
-                            bool hasStatus = sm->processCommand(*cmdPtr,serverStatus, &buffer[0], buffer.size());
+								bool hasStatus = sm->processCommand(*cmdPtr,serverStatus, &buffer[0], buffer.size());
                             
-                            double startTimeSeconds = clock.getTimeInSeconds();
-                            double curTimeSeconds  = clock.getTimeInSeconds();
+								double startTimeSeconds = clock.getTimeInSeconds();
+								double curTimeSeconds  = clock.getTimeInSeconds();
                             
-                            while ((!hasStatus) && ((curTimeSeconds - startTimeSeconds) <timeOutInSeconds))
-                            {
-                                hasStatus = sm->receiveStatus(serverStatus, &buffer[0], buffer.size());
-                                curTimeSeconds = clock.getTimeInSeconds();
-                            }
-                            if (gVerboseNetworkMessagesServer)
-                            {
-                                printf("buffer.size = %d\n", buffer.size());
-                                printf("serverStatus.m_numDataStreamBytes = %d\n", serverStatus.m_numDataStreamBytes);
-                            }
-                            if (hasStatus)
-                            {
-                                b3AlignedObjectArray<unsigned char> packetData;
-                                unsigned char* statBytes = (unsigned char*)&serverStatus;
+								while ((!hasStatus) && ((curTimeSeconds - startTimeSeconds) <timeOutInSeconds))
+								{
+									hasStatus = sm->receiveStatus(serverStatus, &buffer[0], buffer.size());
+									curTimeSeconds = clock.getTimeInSeconds();
+								}
+								if (gVerboseNetworkMessagesServer)
+								{
+									printf("buffer.size = %d\n", buffer.size());
+									printf("serverStatus.m_numDataStreamBytes = %d\n", serverStatus.m_numDataStreamBytes);
+								}
+								if (hasStatus)
+								{
+									b3AlignedObjectArray<unsigned char> packetData;
+									unsigned char* statBytes = (unsigned char*)&serverStatus;
                                 
-                                if (cmdPtr->m_type == CMD_STEP_FORWARD_SIMULATION)
-                                {
-                                    packetData.resize(4 + sizeof(int));
-                                    int sz = packetData.size();
-                                    int curPos = 0;
+									if (cmdPtr->m_type == CMD_STEP_FORWARD_SIMULATION)
+									{
+										packetData.resize(4 + sizeof(int));
+										int sz = packetData.size();
+										int curPos = 0;
                                     
-                                    MySerializeInt(sz, &packetData[curPos]);
-                                    curPos += 4;
-                                    for (int i = 0; i < sizeof(int); i++)
-                                    {
-                                        packetData[i + curPos] = statBytes[i];
-                                    }
-                                    curPos += sizeof(int);
+										MySerializeInt(sz, &packetData[curPos]);
+										curPos += 4;
+										for (int i = 0; i < sizeof(int); i++)
+										{
+											packetData[i + curPos] = statBytes[i];
+										}
+										curPos += sizeof(int);
                                     
-                                    pClient->Send( &packetData[0], packetData.size() );
+										pClient->Send( &packetData[0], packetData.size() );
                                    
-                                }
-                                else
-                                {
-                                    //create packetData with [int packetSizeInBytes, status, streamBytes)
-                                    packetData.resize(4 + sizeof(SharedMemoryStatus) + serverStatus.m_numDataStreamBytes);
-                                    int sz = packetData.size();
-                                    int curPos = 0;
+									}
+									else
+									{
+										//create packetData with [int packetSizeInBytes, status, streamBytes)
+										packetData.resize(4 + sizeof(SharedMemoryStatus) + serverStatus.m_numDataStreamBytes);
+										int sz = packetData.size();
+										int curPos = 0;
                                     
-                                    MySerializeInt(sz, &packetData[curPos]);
-                                    curPos += 4;
-                                    for (int i = 0; i < sizeof(SharedMemoryStatus); i++)
-                                    {
-                                        packetData[i + curPos] = statBytes[i];
-                                    }
-                                    curPos += sizeof(SharedMemoryStatus);
+										MySerializeInt(sz, &packetData[curPos]);
+										curPos += 4;
+										for (int i = 0; i < sizeof(SharedMemoryStatus); i++)
+										{
+											packetData[i + curPos] = statBytes[i];
+										}
+										curPos += sizeof(SharedMemoryStatus);
                                     
-                                    for (int i = 0; i < serverStatus.m_numDataStreamBytes; i++)
-                                    {
-                                        packetData[i + curPos] = buffer[i];
-                                    }
+										for (int i = 0; i < serverStatus.m_numDataStreamBytes; i++)
+										{
+											packetData[i + curPos] = buffer[i];
+										}
                                     
-                                    pClient->Send( &packetData[0], packetData.size() );
-                                }
-                            }
-                        }
-                        else
-                        {
-                            printf("received packet with unknown contents\n");
-                        }
+										pClient->Send( &packetData[0], packetData.size() );
+									}
+								}
+							}
+							else
+							{
+								printf("received packet with unknown contents\n");
+							}
+							bytesReceived.clear();
+
+						}
                     }
                     if (!receivedData)
                     {
diff --git a/test/clsocket/EchoServer.cpp b/test/clsocket/EchoServer.cpp
index 74c03ac7c..4388fc2f2 100644
--- a/test/clsocket/EchoServer.cpp
+++ b/test/clsocket/EchoServer.cpp
@@ -28,10 +28,12 @@ int main(int argc, char **argv)
 			{
 				//printf("try receive\n");
 				bool receivedData = false;
-				
-				if (pClient->Receive(MAX_PACKET))
+				int recBytes = 0;
+				recBytes = pClient->Receive(MAX_PACKET);
+				if (recBytes)
 				{
 					char* msg = (char*) pClient->GetData();
+					msg[recBytes]=0;
 					printf("received message [%s]\n",msg);
 					//------------------------------------------------------------------
 					// Send response to client and close connection to the client.

From 28146e816f4641c23af02f57fffa3fc280bc0f03 Mon Sep 17 00:00:00 2001
From: Erwin Coumans <erwincoumans@google.com>
Date: Mon, 20 Feb 2017 20:34:05 -0800
Subject: [PATCH 11/12] export TCP connection mode to pybullet made TCP
 disconnection detection more reliable

---
 examples/SharedMemory/tcp/main.cpp            | 34 ++++++++++++++----
 .../clsocket/src/SimpleSocket.h               |  8 +++++
 examples/pybullet/CMakeLists.txt              |  7 ++--
 examples/pybullet/pybullet.c                  | 36 ++++++++++++++++---
 4 files changed, 72 insertions(+), 13 deletions(-)

diff --git a/examples/SharedMemory/tcp/main.cpp b/examples/SharedMemory/tcp/main.cpp
index efd667ed9..3eb0b3c02 100644
--- a/examples/SharedMemory/tcp/main.cpp
+++ b/examples/SharedMemory/tcp/main.cpp
@@ -74,8 +74,10 @@ int main(int argc, char *argv[])
         socket.Initialize();
         
         socket.Listen("localhost", port);
-
-		b3AlignedObjectArray<char> bytesReceived;
+        socket.SetBlocking();
+        
+        int curNumErr = 0;
+        
         
         while (!exitRequested)
         {
@@ -83,9 +85,12 @@ int main(int argc, char *argv[])
 
             if ((pClient = socket.Accept()) != NULL)
             {
+                b3AlignedObjectArray<char> bytesReceived;
+
                 int clientPort = socket.GetClientPort();
                 printf("connected from %s:%d\n", socket.GetClientAddr(),clientPort);
                 
+                
                 //----------------------------------------------------------------------
                 // Receive request from the client.
                 //----------------------------------------------------------------------
@@ -96,9 +101,27 @@ int main(int argc, char *argv[])
                     
 					int maxLen = 4 + sizeof(SharedMemoryStatus)+SHARED_MEMORY_MAX_STREAM_CHUNK_SIZE;
        
+
+                    //heuristic to detect disconnected clients
+                    CSimpleSocket::CSocketError err = pClient->GetSocketError();
+                    if (err != CSimpleSocket::SocketSuccess)
+                    {
+                        b3Clock::usleep(100);
+                        
+                        curNumErr++;
+                       
+                        if (curNumErr>100)
+                        {
+                            printf("TCP Connection error = %d, curNumErr = %d\n", (int)err, curNumErr);
+                            
+                            break;
+                        }
+                    }
+                    
                     if (pClient->Receive(maxLen))
                     {
-						
+					
+                        curNumErr = 0;
                         char* msg2 = (char*) pClient->GetData();
                         int numBytesRec2 = pClient->GetBytesReceived();
 
@@ -221,9 +244,8 @@ int main(int argc, char *argv[])
                     }
                     if (!receivedData)
                     {
-                        printf("Didn't receive data.\n");
-                        break;
-                    } 
+                        //printf("Didn't receive data.\n");
+                    }
                 }
                 printf("Disconnecting client.\n");
                 pClient->Close();
diff --git a/examples/ThirdPartyLibs/clsocket/src/SimpleSocket.h b/examples/ThirdPartyLibs/clsocket/src/SimpleSocket.h
index 603f46715..2fe555e79 100644
--- a/examples/ThirdPartyLibs/clsocket/src/SimpleSocket.h
+++ b/examples/ThirdPartyLibs/clsocket/src/SimpleSocket.h
@@ -413,6 +413,14 @@ public:
     CSocketError GetSocketError(void) {
         return m_socketErrno;
     };
+    /*
+     CSocketError GetSocketError(void) {
+     CSocketError err = m_socketErrno;
+     m_socketErrno = SocketSuccess;
+     return err;
+     
+     };
+     */
 
     /// Get the total time the of the last operation in milliseconds.
     ///  @return number of milliseconds of last operation.
diff --git a/examples/pybullet/CMakeLists.txt b/examples/pybullet/CMakeLists.txt
index e2d302370..6405903a5 100644
--- a/examples/pybullet/CMakeLists.txt
+++ b/examples/pybullet/CMakeLists.txt
@@ -95,7 +95,7 @@ ENDIF(WIN32)
 
 
 IF(BUILD_PYBULLET_ENET)
-	ADD_LIBRARY(pybullet SHARED ${pybullet_SRCS} 
+	set(pybullet_SRCS ${pybullet_SRCS} 
 		../../examples/SharedMemory/PhysicsClientUDP.cpp
 		../../examples/SharedMemory/PhysicsClientUDP_C_API.cpp
 		../../examples/SharedMemory/PhysicsClientUDP.h		
@@ -110,10 +110,11 @@ IF(BUILD_PYBULLET_ENET)
 		../../examples/ThirdPartyLibs/enet/peer.c
 		../../examples/ThirdPartyLibs/enet/protocol.c
 	)
-ELSE(BUILD_PYBULLET_ENET)
-	ADD_LIBRARY(pybullet SHARED ${pybullet_SRCS})
 ENDIF(BUILD_PYBULLET_ENET)
 
+
+ADD_LIBRARY(pybullet SHARED ${pybullet_SRCS})
+
 SET_TARGET_PROPERTIES(pybullet PROPERTIES PREFIX "")
 SET_TARGET_PROPERTIES(pybullet PROPERTIES POSTFIX "")
 
diff --git a/examples/pybullet/pybullet.c b/examples/pybullet/pybullet.c
index a33b3afda..179f052a0 100644
--- a/examples/pybullet/pybullet.c
+++ b/examples/pybullet/pybullet.c
@@ -5,6 +5,10 @@
 #include "../SharedMemory/PhysicsClientUDP_C_API.h"
 #endif //BT_ENABLE_ENET
 
+#ifdef BT_ENABLE_CLSOCKET
+#include "../SharedMemory/PhysicsClientTCP_C_API.h"
+#endif //BT_ENABLE_CLSOCKET
+
 #ifdef __APPLE__
 #include <Python/Python.h>
 #else
@@ -25,6 +29,7 @@ enum eCONNECT_METHOD {
   eCONNECT_DIRECT = 2,
   eCONNECT_SHARED_MEMORY = 3,
   eCONNECT_UDP = 4,
+  eCONNECT_TCP = 5,
 };
 
 static PyObject* SpamError;
@@ -227,7 +232,9 @@ static PyObject* pybullet_connectPhysicsServer(PyObject* self, PyObject* args, P
   {
    
 	int key = SHARED_MEMORY_KEY;
-	int port = 1234;
+	int udpPort = 1234;
+    int tcpPort = 6667;
+      
 	const char* hostName = "localhost";
 
 	int size = PySequence_Size(args);
@@ -236,7 +243,7 @@ static PyObject* pybullet_connectPhysicsServer(PyObject* self, PyObject* args, P
 		if (!PyArg_ParseTuple(args, "i", &method)) {
 			PyErr_SetString(SpamError,
 				"connectPhysicsServer expected argument  GUI, "
-				"DIRECT, SHARED_MEMORY or UDP");
+				"DIRECT, SHARED_MEMORY, UDP or TCP");
 			return NULL;
 		}
 	}
@@ -250,7 +257,7 @@ static PyObject* pybullet_connectPhysicsServer(PyObject* self, PyObject* args, P
 			if (sPhysicsClientsGUI[i] ==eCONNECT_GUI)
 			{
 				PyErr_SetString(SpamError,
-					"Only one local in-process GUI connection allowed. Use DIRECT connection mode or start a separate GUI physics server (ExampleBrowser, App_SharedMemoryPhysics_GUI, App_SharedMemoryPhysics_VR) and connect over SHARED_MEMORY or UDP instead.");
+					"Only one local in-process GUI connection allowed. Use DIRECT connection mode or start a separate GUI physics server (ExampleBrowser, App_SharedMemoryPhysics_GUI, App_SharedMemoryPhysics_VR) and connect over SHARED_MEMORY, UDP or TCP instead.");
 				return NULL;
 			}
 		}
@@ -275,12 +282,18 @@ static PyObject* pybullet_connectPhysicsServer(PyObject* self, PyObject* args, P
 
 	if (size == 3)
 	{
+        int port = -1;
 		if (!PyArg_ParseTuple(args, "isi", &method, &hostName, &port))
 		{
 			PyErr_SetString(SpamError,
 				"connectPhysicsServer 3 arguments: method, hostname, port");
 			return NULL;
 		}
+        if (port>=0)
+        {
+            udpPort = port;
+            tcpPort = port;
+        }
 	}
 
 
@@ -308,7 +321,7 @@ static PyObject* pybullet_connectPhysicsServer(PyObject* self, PyObject* args, P
 	{
 #ifdef BT_ENABLE_ENET
 
-		  sm = b3ConnectPhysicsUDP(hostName, port);
+		  sm = b3ConnectPhysicsUDP(hostName, udpPort);
 #else
  		PyErr_SetString(SpamError, "UDP is not enabled in this pybullet build");
 		return NULL;
@@ -316,6 +329,20 @@ static PyObject* pybullet_connectPhysicsServer(PyObject* self, PyObject* args, P
 
 		  break;
 	}
+        case eCONNECT_TCP:
+        {
+#ifdef BT_ENABLE_CLSOCKET
+            
+            sm = b3ConnectPhysicsTCP(hostName, tcpPort);
+#else
+            PyErr_SetString(SpamError, "TCP is not enabled in this pybullet build");
+            return NULL;
+#endif //BT_ENABLE_CLSOCKET
+            
+            break;
+        }
+            
+            
 
       default: {
         PyErr_SetString(SpamError, "connectPhysicsServer unexpected argument");
@@ -5126,6 +5153,7 @@ initpybullet(void)
   PyModule_AddIntConstant(m, "DIRECT", eCONNECT_DIRECT);  // user read
   PyModule_AddIntConstant(m, "GUI", eCONNECT_GUI);        // user read
   PyModule_AddIntConstant(m, "UDP", eCONNECT_UDP);        // user read
+  PyModule_AddIntConstant(m, "TCP", eCONNECT_TCP);        // user read
 
   PyModule_AddIntConstant(m, "JOINT_REVOLUTE", eRevoluteType);        // user read
   PyModule_AddIntConstant(m, "JOINT_PRISMATIC", ePrismaticType);        // user read

From 5c74b0a1997bcfc1209275ad50ebee66e43d8fb4 Mon Sep 17 00:00:00 2001
From: Erwin Coumans <erwincoumans@google.com>
Date: Mon, 20 Feb 2017 20:55:37 -0800
Subject: [PATCH 12/12] add cmake support for TCP / clsocket in pybullet

---
 CMakeLists.txt                   |  1 +
 examples/pybullet/CMakeLists.txt | 29 ++++++++++++++++++++++++++++-
 2 files changed, 29 insertions(+), 1 deletion(-)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 66f887175..d3fb18d3c 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -218,6 +218,7 @@ IF(BUILD_PYBULLET)
 
 	OPTION(BUILD_PYBULLET_NUMPY "Set when you want to build pybullet with NumPy support" OFF)
 	OPTION(BUILD_PYBULLET_ENET "Set when you want to build pybullet with enet UDP networking support" ON)
+	OPTION(BUILD_PYBULLET_CLSOCKET "Set when you want to build pybullet with enet TCP networking support" ON)
 	
 	IF(BUILD_PYBULLET_NUMPY)	
 		set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} ${CMAKE_CURRENT_LIST_DIR}/build3/cmake)
diff --git a/examples/pybullet/CMakeLists.txt b/examples/pybullet/CMakeLists.txt
index 6405903a5..41e0a6c07 100644
--- a/examples/pybullet/CMakeLists.txt
+++ b/examples/pybullet/CMakeLists.txt
@@ -4,6 +4,7 @@ INCLUDE_DIRECTORIES(
 		${BULLET_PHYSICS_SOURCE_DIR}/examples
 		${BULLET_PHYSICS_SOURCE_DIR}/examples/ThirdPartyLibs
 		${BULLET_PHYSICS_SOURCE_DIR}/examples/ThirdPartyLibs/enet/include
+                ${BULLET_PHYSICS_SOURCE_DIR}/examples/ThirdPartyLibs/clsocket/src
 		${PYTHON_INCLUDE_DIRS}
   )
 IF(BUILD_PYBULLET_NUMPY)
@@ -79,6 +80,9 @@ SET(pybullet_SRCS
 		../../examples/MultiThreading/b3ThreadSupportInterface.cpp
 		
 )
+IF(BUILD_PYBULLET_CLSOCKET)
+ ADD_DEFINITIONS(-DBT_ENABLE_CLSOCKET)
+ENDIF(BUILD_PYBULLET_CLSOCKET)
 
 IF(WIN32)
 	LINK_LIBRARIES(
@@ -87,10 +91,22 @@ IF(WIN32)
 	IF(BUILD_PYBULLET_ENET)
 		ADD_DEFINITIONS(-DWIN32 -DBT_ENABLE_ENET)
 	ENDIF(BUILD_PYBULLET_ENET)
+	IF(BUILD_PYBULLET_CLSOCKET)
+		ADD_DEFINITIONS(-DWIN32)
+	ENDIF(BUILD_PYBULLET_CLSOCKET)
+
 ELSE(WIN32)
 	IF(BUILD_PYBULLET_ENET)
 		ADD_DEFINITIONS(-DHAS_SOCKLEN_T -DBT_ENABLE_ENET)
 	ENDIF(BUILD_PYBULLET_ENET)
+
+	IF(BUILD_PYBULLET_CLSOCKET)	
+		IF(APPLE)
+			ADD_DEFINITIONS(-D_DARWIN)
+		ELSE()
+			ADD_DEFINITIONS(-D_LINUX)
+		ENDIF()
+	ENDIF(BUILD_PYBULLET_CLSOCKET)
 ENDIF(WIN32)
 
 
@@ -112,6 +128,17 @@ IF(BUILD_PYBULLET_ENET)
 	)
 ENDIF(BUILD_PYBULLET_ENET)
 
+IF(BUILD_PYBULLET_CLSOCKET)
+	set(pybullet_SRCS ${pybullet_SRCS}
+		 ../../examples/SharedMemory/PhysicsClientTCP.cpp
+                 ../../examples/SharedMemory/PhysicsClientTCP.h
+                 ../../examples/SharedMemory/PhysicsClientTCP_C_API.cpp
+                 ../../examples/SharedMemory/PhysicsClientTCP_C_API.h
+		 ../../examples/ThirdPartyLibs/clsocket/src/SimpleSocket.cpp
+		 ../../examples/ThirdPartyLibs/clsocket/src/ActiveSocket.cpp
+		 ../../examples/ThirdPartyLibs/clsocket/src/PassiveSocket.cpp
+	)
+ENDIF()
 
 ADD_LIBRARY(pybullet SHARED ${pybullet_SRCS})
 
@@ -124,7 +151,7 @@ SET_TARGET_PROPERTIES(pybullet PROPERTIES DEBUG_POSTFIX "_d")
 
 
 IF(WIN32)
-	IF(BUILD_PYBULLET_ENET)
+	IF(BUILD_PYBULLET_ENET OR BUILD_PYBULLET_CLSOCKET)
 		TARGET_LINK_LIBRARIES(pybullet ws2_32 )
 	ENDIF(BUILD_PYBULLET_ENET)