transport_udp.h

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#ifndef ROSCPP_TRANSPORT_UDP_H
#define ROSCPP_TRANSPORT_UDP_H
 
#include <ros/types.h>
#include <ros/transport/transport.h>
 
#include <boost/thread/mutex.hpp>
#include "ros/io.h"
#include <ros/common.h>
 
namespace ros
{
 
class TransportUDP;
typedef boost::shared_ptr<TransportUDP> TransportUDPPtr;
 
class PollSet;
 
#define ROS_UDP_DATA0 0
#define ROS_UDP_DATAN 1
#define ROS_UDP_PING 2
#define ROS_UDP_ERR 3
typedef struct TransportUDPHeader {
  uint32_t connection_id_;
  uint8_t op_;
  uint8_t message_id_;
  uint16_t block_;
} TransportUDPHeader;
 
class ROSCPP_DECL TransportUDP : public Transport
{
public:
  enum Flags
  {
    SYNCHRONOUS = 1<<0,
  };
 
  TransportUDP(PollSet* poll_set, int flags = 0, int max_datagram_size = 0);
  virtual ~TransportUDP();
 
  bool connect(const std::string& host, int port, int conn_id);
 
  std::string getClientURI();
 
  bool createIncoming(int port, bool is_server);
  TransportUDPPtr createOutgoing(std::string host, int port, int conn_id, int max_datagram_size);
  int getServerPort() const {return server_port_;}
 
  // overrides from Transport
  virtual int32_t read(uint8_t* buffer, uint32_t size);
  virtual int32_t write(uint8_t* buffer, uint32_t size);
 
  virtual void enableWrite();
  virtual void disableWrite();
  virtual void enableRead();
  virtual void disableRead();
 
  virtual void close();
 
  virtual std::string getTransportInfo();
 
  virtual bool requiresHeader() {return false;}
 
  virtual const char* getType() {return "UDPROS";}
 
  int getMaxDatagramSize() const {return max_datagram_size_;}
 
private:
  bool initializeSocket();
 
  bool setSocket(int sock);
 
  void socketUpdate(int events);
 
  socket_fd_t sock_;
  bool closed_;
  boost::mutex close_mutex_;
 
  bool expecting_read_;
  bool expecting_write_;
 
  bool is_server_;
  sockaddr_in server_address_;
  sockaddr_in local_address_;
  int server_port_;
  int local_port_;
 
  std::string cached_remote_host_;
 
  PollSet* poll_set_;
  int flags_;
 
  uint32_t connection_id_;
  uint8_t current_message_id_;
  uint16_t total_blocks_;
  uint16_t last_block_;
 
  uint32_t max_datagram_size_;
 
  uint8_t* data_buffer_;
  uint8_t* data_start_;
  uint32_t data_filled_;
 
  uint8_t* reorder_buffer_;
  uint8_t* reorder_start_;
  TransportUDPHeader reorder_header_;
  uint32_t reorder_bytes_;
};
 
}
 
#endif // ROSCPP_TRANSPORT_UDP_H