UDPROS transport. More...

#include <transport_udp.h>

Inheritance diagram for ros::TransportUDP:

Public Types
enum	Flags { SYNCHRONOUS = 1<<0 }

Public Types inherited from ros::Transport
typedef boost::function< void(const TransportPtr &)>	Callback

Public Member Functions
virtual void	close ()
	Close this transport. Once this call has returned, writing on this transport should always return an error. More...

bool	connect (const std::string &host, int port, int conn_id)
	Connect to a remote host. More...

bool	createIncoming (int port, bool is_server)
	Start a server socket and listen on a port. More...

TransportUDPPtr	createOutgoing (std::string host, int port, int conn_id, int max_datagram_size)
	Create a connection to a server socket. More...

virtual void	disableRead ()
	Disable reading on this transport. Allows derived classes to, for example, disable read polling for asynchronous sockets. More...

virtual void	disableWrite ()
	Disable writing on this transport. Allows derived classes to, for example, disable write polling for asynchronous sockets. More...

virtual void	enableRead ()
	Enable reading on this transport. Allows derived classes to, for example, enable read polling for asynchronous sockets. More...

virtual void	enableWrite ()
	Enable writing on this transport. Allows derived classes to, for example, enable write polling for asynchronous sockets. More...

std::string	getClientURI ()
	Returns the URI of the remote host. More...

int	getMaxDatagramSize () const

int	getServerPort () const
	Returns the port this transport is listening on. More...

virtual std::string	getTransportInfo ()
	Returns a string description of both the type of transport and who the transport is connected to. More...

virtual const char *	getType ()
	Return a string that details the type of transport (Eg. TCPROS) More...

virtual int32_t	read (uint8_t *buffer, uint32_t size)
	Read a number of bytes into the supplied buffer. Not guaranteed to actually read that number of bytes. More...

virtual bool	requiresHeader ()
	Returns a boolean to indicate if the transport mechanism is reliable or not. More...

	TransportUDP (PollSet *poll_set, int flags=0, int max_datagram_size=0)

virtual int32_t	write (uint8_t *buffer, uint32_t size)
	Write a number of bytes from the supplied buffer. Not guaranteed to actually write that number of bytes. More...

virtual	~TransportUDP ()

Public Member Functions inherited from ros::Transport
virtual void	parseHeader (const Header &header)
	Provides an opportunity for transport-specific options to come in through the header. More...

void	setDisconnectCallback (const Callback &cb)
	Set the function to call when this transport has disconnected, either through a call to close(). Or a disconnect from the remote host. More...

void	setReadCallback (const Callback &cb)
	Set the function to call when there is data available to be read by this transport. More...

void	setWriteCallback (const Callback &cb)
	Set the function to call when there is space available to write on this transport. More...

	Transport ()

virtual	~Transport ()

Private Member Functions
bool	initializeSocket ()
	Initializes the assigned socket – sets it to non-blocking and enables reading. More...

bool	setSocket (int sock)
	Set the socket to be used by this transport. More...

void	socketUpdate (int events)

Private Attributes
std::string	cached_remote_host_

boost::mutex	close_mutex_

bool	closed_

uint32_t	connection_id_

uint8_t	current_message_id_

uint8_t *	data_buffer_

uint32_t	data_filled_

uint8_t *	data_start_

bool	expecting_read_

bool	expecting_write_

int	flags_

bool	is_server_

uint16_t	last_block_

sockaddr_in	local_address_

int	local_port_

uint32_t	max_datagram_size_

PollSet *	poll_set_

uint8_t *	reorder_buffer_

uint32_t	reorder_bytes_

TransportUDPHeader	reorder_header_

uint8_t *	reorder_start_

sockaddr_in	server_address_

int	server_port_

socket_fd_t	sock_

uint16_t	total_blocks_

Additional Inherited Members
Protected Member Functions inherited from ros::Transport
bool	isHostAllowed (const std::string &host) const
	returns true if the transport is allowed to connect to the host passed to it. More...

bool	isOnlyLocalhostAllowed () const
	returns true if this transport is only allowed to talk to localhost More...

Protected Attributes inherited from ros::Transport
Callback	disconnect_cb_

Callback	read_cb_

Callback	write_cb_

Detailed Description

UDPROS transport.

Definition at line 67 of file transport_udp.h.

Member Enumeration Documentation

◆ Flags

enum ros::TransportUDP::Flags

Enumerator
SYNCHRONOUS

Definition at line 70 of file transport_udp.h.

Constructor & Destructor Documentation

◆ TransportUDP()

ros::TransportUDP::TransportUDP	(	PollSet *	poll_set,
		int	flags = `0`,
		int	max_datagram_size = `0`
	)

Definition at line 62 of file transport_udp.cpp.

◆ ~TransportUDP()

ros::TransportUDP::~TransportUDP ( )

virtual

Definition at line 92 of file transport_udp.cpp.

Member Function Documentation

◆ close()

void ros::TransportUDP::close ( )

virtual

Close this transport. Once this call has returned, writing on this transport should always return an error.

Implements ros::Transport.

Definition at line 307 of file transport_udp.cpp.

◆ connect()

bool ros::TransportUDP::connect	(	const std::string &	host,
		int	port,
		int	conn_id
	)

Connect to a remote host.

Parameters

host	The hostname/IP to connect to
port	The port to connect to

Returns: Whether or not the connection was successful

Definition at line 151 of file transport_udp.cpp.

◆ createIncoming()

bool ros::TransportUDP::createIncoming	(	int	port,
		bool	is_server
	)

Start a server socket and listen on a port.

Parameters

port	The port to listen on

Definition at line 242 of file transport_udp.cpp.

◆ createOutgoing()

TransportUDPPtr ros::TransportUDP::createOutgoing	(	std::string	host,
		int	port,
		int	conn_id,
		int	max_datagram_size
	)

Create a connection to a server socket.

Definition at line 694 of file transport_udp.cpp.

◆ disableRead()

void ros::TransportUDP::disableRead ( )

virtual

Disable reading on this transport. Allows derived classes to, for example, disable read polling for asynchronous sockets.

Implements ros::Transport.

Definition at line 638 of file transport_udp.cpp.

◆ disableWrite()

void ros::TransportUDP::disableWrite ( )

virtual

Disable writing on this transport. Allows derived classes to, for example, disable write polling for asynchronous sockets.

Implements ros::Transport.

Definition at line 676 of file transport_udp.cpp.

◆ enableRead()

void ros::TransportUDP::enableRead ( )

virtual

Enable reading on this transport. Allows derived classes to, for example, enable read polling for asynchronous sockets.

Implements ros::Transport.

Definition at line 620 of file transport_udp.cpp.

◆ enableWrite()

void ros::TransportUDP::enableWrite ( )

virtual

Enable writing on this transport. Allows derived classes to, for example, enable write polling for asynchronous sockets.

Implements ros::Transport.

Definition at line 658 of file transport_udp.cpp.

◆ getClientURI()

std::string ros::TransportUDP::getClientURI ( )

Returns the URI of the remote host.

Definition at line 708 of file transport_udp.cpp.

◆ getMaxDatagramSize()

int ros::TransportUDP::getMaxDatagramSize ( ) const

inline

Definition at line 122 of file transport_udp.h.

◆ getServerPort()

int ros::TransportUDP::getServerPort ( ) const

inline

Returns the port this transport is listening on.

Definition at line 103 of file transport_udp.h.

◆ getTransportInfo()

std::string ros::TransportUDP::getTransportInfo ( )

virtual

Returns a string description of both the type of transport and who the transport is connected to.

Implements ros::Transport.

Definition at line 144 of file transport_udp.cpp.

◆ getType()

virtual const char* ros::TransportUDP::getType ( )

inlinevirtual

Return a string that details the type of transport (Eg. TCPROS)

Returns: The stringified transport type

Implements ros::Transport.

Definition at line 120 of file transport_udp.h.

◆ initializeSocket()

bool ros::TransportUDP::initializeSocket ( )

private

Initializes the assigned socket – sets it to non-blocking and enables reading.

Definition at line 280 of file transport_udp.cpp.

◆ read()

int32_t ros::TransportUDP::read	(	uint8_t *	buffer,
		uint32_t	size
	)

virtual

Read a number of bytes into the supplied buffer. Not guaranteed to actually read that number of bytes.

Parameters

buffer	Buffer to read from
size	Size, in bytes, to read

Returns: The number of bytes actually read, or -1 if there was an error

Implements ros::Transport.

Definition at line 351 of file transport_udp.cpp.

◆ requiresHeader()

virtual bool ros::TransportUDP::requiresHeader ( )

inlinevirtual

Returns a boolean to indicate if the transport mechanism is reliable or not.

Reimplemented from ros::Transport.

Definition at line 118 of file transport_udp.h.

◆ setSocket()

bool ros::TransportUDP::setSocket ( int sock )

private

Set the socket to be used by this transport.

Parameters

sock	A valid UDP socket

Returns: Whether setting the socket was successful

Definition at line 99 of file transport_udp.cpp.

◆ socketUpdate()

void ros::TransportUDP::socketUpdate ( int events )

private

Definition at line 105 of file transport_udp.cpp.

◆ write()

int32_t ros::TransportUDP::write	(	uint8_t *	buffer,
		uint32_t	size
	)

virtual

Write a number of bytes from the supplied buffer. Not guaranteed to actually write that number of bytes.

Parameters

buffer	Buffer to write from
size	Size, in bytes, to write

Returns: The number of bytes actually written, or -1 if there was an error

Implements ros::Transport.

Definition at line 530 of file transport_udp.cpp.

Member Data Documentation

◆ cached_remote_host_

std::string ros::TransportUDP::cached_remote_host_

private

Definition at line 152 of file transport_udp.h.

◆ close_mutex_

boost::mutex ros::TransportUDP::close_mutex_

private

Definition at line 141 of file transport_udp.h.

◆ closed_

bool ros::TransportUDP::closed_

private

Definition at line 140 of file transport_udp.h.

◆ connection_id_

uint32_t ros::TransportUDP::connection_id_

private

Definition at line 157 of file transport_udp.h.

◆ current_message_id_

uint8_t ros::TransportUDP::current_message_id_

private

Definition at line 158 of file transport_udp.h.

◆ data_buffer_

uint8_t* ros::TransportUDP::data_buffer_

private

Definition at line 164 of file transport_udp.h.

◆ data_filled_

uint32_t ros::TransportUDP::data_filled_

private

Definition at line 166 of file transport_udp.h.

◆ data_start_

uint8_t* ros::TransportUDP::data_start_

private

Definition at line 165 of file transport_udp.h.

◆ expecting_read_

bool ros::TransportUDP::expecting_read_

private

Definition at line 143 of file transport_udp.h.

◆ expecting_write_

bool ros::TransportUDP::expecting_write_

private

Definition at line 144 of file transport_udp.h.

◆ flags_

int ros::TransportUDP::flags_

private

Definition at line 155 of file transport_udp.h.

◆ is_server_

bool ros::TransportUDP::is_server_

private

Definition at line 146 of file transport_udp.h.

◆ last_block_

uint16_t ros::TransportUDP::last_block_

private

Definition at line 160 of file transport_udp.h.

◆ local_address_

sockaddr_in ros::TransportUDP::local_address_

private

Definition at line 148 of file transport_udp.h.

◆ local_port_

int ros::TransportUDP::local_port_

private

Definition at line 150 of file transport_udp.h.

◆ max_datagram_size_

uint32_t ros::TransportUDP::max_datagram_size_

private

Definition at line 162 of file transport_udp.h.

◆ poll_set_

PollSet* ros::TransportUDP::poll_set_

private

Definition at line 154 of file transport_udp.h.

◆ reorder_buffer_

uint8_t* ros::TransportUDP::reorder_buffer_

private

Definition at line 168 of file transport_udp.h.

◆ reorder_bytes_

uint32_t ros::TransportUDP::reorder_bytes_

private

Definition at line 171 of file transport_udp.h.

◆ reorder_header_

TransportUDPHeader ros::TransportUDP::reorder_header_

private

Definition at line 170 of file transport_udp.h.

◆ reorder_start_

uint8_t* ros::TransportUDP::reorder_start_

private

Definition at line 169 of file transport_udp.h.

◆ server_address_

sockaddr_in ros::TransportUDP::server_address_

private

Definition at line 147 of file transport_udp.h.

◆ server_port_

int ros::TransportUDP::server_port_

private

Definition at line 149 of file transport_udp.h.

◆ sock_

socket_fd_t ros::TransportUDP::sock_

private

Definition at line 139 of file transport_udp.h.

◆ total_blocks_

uint16_t ros::TransportUDP::total_blocks_

private

Definition at line 159 of file transport_udp.h.

The documentation for this class was generated from the following files:

Public Types

Public Member Functions

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Member Enumeration Documentation

◆ Flags

Constructor & Destructor Documentation

◆ TransportUDP()

◆ ~TransportUDP()

Member Function Documentation

◆ close()

◆ connect()

◆ createIncoming()

◆ createOutgoing()

◆ disableRead()

◆ disableWrite()

◆ enableRead()

◆ enableWrite()

◆ getClientURI()

◆ getMaxDatagramSize()

◆ getServerPort()

◆ getTransportInfo()

◆ getType()

◆ initializeSocket()

◆ read()

◆ requiresHeader()

◆ setSocket()

◆ socketUpdate()

◆ write()

Member Data Documentation

◆ cached_remote_host_

◆ close_mutex_

◆ closed_

◆ connection_id_

◆ current_message_id_

◆ data_buffer_

◆ data_filled_

◆ data_start_

◆ expecting_read_

◆ expecting_write_

◆ flags_

◆ is_server_

◆ last_block_

◆ local_address_

◆ local_port_

◆ max_datagram_size_

◆ poll_set_

◆ reorder_buffer_

◆ reorder_bytes_

◆ reorder_header_

◆ reorder_start_

◆ server_address_

◆ server_port_

◆ sock_

◆ total_blocks_