transport_tcp.h
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00001 /*
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00034 
00035 #ifndef ROSCPP_TRANSPORT_TCP_H
00036 #define ROSCPP_TRANSPORT_TCP_H
00037 
00038 #include <ros/types.h>
00039 #include <ros/transport/transport.h>
00040 
00041 #include <boost/thread/recursive_mutex.hpp>
00042 #include "ros/io.h"
00043 #include "../common.h"
00044 
00045 namespace ros
00046 {
00047 
00048 class TransportTCP;
00049 typedef boost::shared_ptr<TransportTCP> TransportTCPPtr;
00050 
00051 class PollSet;
00052 
00056 class ROSCPP_DECL TransportTCP : public Transport
00057 {
00058 public:
00059   static bool s_use_keepalive_;
00060 
00061 public:
00062   enum Flags
00063   {
00064     SYNCHRONOUS = 1<<0,
00065   };
00066 
00067   TransportTCP(PollSet* poll_set, int flags = 0);
00068   virtual ~TransportTCP();
00069 
00076   bool connect(const std::string& host, int port);
00077 
00081   std::string getClientURI();
00082 
00083   typedef boost::function<void(const TransportTCPPtr&)> AcceptCallback;
00090   bool listen(int port, int backlog, const AcceptCallback& accept_cb);
00094   TransportTCPPtr accept();
00098   int getServerPort() { return server_port_; }
00099 
00100   void setNoDelay(bool nodelay);
00101   void setKeepAlive(bool use, uint32_t idle, uint32_t interval, uint32_t count);
00102 
00103   const std::string& getConnectedHost() { return connected_host_; }
00104   int getConnectedPort() { return connected_port_; }
00105 
00106   // overrides from Transport
00107   virtual int32_t read(uint8_t* buffer, uint32_t size);
00108   virtual int32_t write(uint8_t* buffer, uint32_t size);
00109 
00110   virtual void enableWrite();
00111   virtual void disableWrite();
00112   virtual void enableRead();
00113   virtual void disableRead();
00114 
00115   virtual void close();
00116 
00117   virtual std::string getTransportInfo();
00118 
00119   virtual void parseHeader(const Header& header);
00120 
00121   virtual const char* getType() { return "TCPROS"; }
00122 
00123 private:
00127   bool initializeSocket();
00128 
00129   bool setNonBlocking();
00130 
00136   bool setSocket(int sock);
00137 
00138   void socketUpdate(int events);
00139 
00140   socket_fd_t sock_;
00141   bool closed_;
00142   boost::recursive_mutex close_mutex_;
00143 
00144   bool expecting_read_;
00145   bool expecting_write_;
00146 
00147   bool is_server_;
00148   sockaddr_in server_address_;
00149   int server_port_;
00150   AcceptCallback accept_cb_;
00151 
00152   std::string cached_remote_host_;
00153 
00154   PollSet* poll_set_;
00155   int flags_;
00156 
00157   std::string connected_host_;
00158   int connected_port_;
00159 };
00160 
00161 }
00162 
00163 #endif // ROSCPP_TRANSPORT_TCP_H
00164 


roscpp
Author(s): Morgan Quigley mquigley@cs.stanford.edu, Josh Faust jfaust@willowgarage.com, Brian Gerkey gerkey@willowgarage.com, Troy Straszheim straszheim@willowgarage.com
autogenerated on Sat Dec 28 2013 17:35:52