UDPROS transport. More...

#include <transport_udp.h>

Inheritance diagram for ros::TransportUDP:

Public Types
enum	Flags { SYNCHRONOUS = 1<<0 }
Public Member Functions
virtual void	close ()
	Close this transport. Once this call has returned, writing on this transport should always return an error.
bool	connect (const std::string &host, int port, int conn_id)
	Connect to a remote host.
bool	createIncoming (int port, bool is_server)
	Start a server socket and listen on a port.
TransportUDPPtr	createOutgoing (std::string host, int port, int conn_id, int max_datagram_size)
	Create a connection to a server socket.
virtual void	disableRead ()
	Disable reading on this transport. Allows derived classes to, for example, disable read polling for asynchronous sockets.
virtual void	disableWrite ()
	Disable writing on this transport. Allows derived classes to, for example, disable write polling for asynchronous sockets.
virtual void	enableRead ()
	Enable reading on this transport. Allows derived classes to, for example, enable read polling for asynchronous sockets.
virtual void	enableWrite ()
	Enable writing on this transport. Allows derived classes to, for example, enable write polling for asynchronous sockets.
std::string	getClientURI ()
	Returns the URI of the remote host.
int	getMaxDatagramSize () const
int	getServerPort () const
	Returns the port this transport is listening on.
virtual std::string	getTransportInfo ()
	Returns a string description of both the type of transport and who the transport is connected to.
virtual const char *	getType ()
	Return a string that details the type of transport (Eg. TCPROS)
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.
virtual bool	requiresHeader ()
	Returns a boolean to indicate if the transport mechanism is reliable or not.
	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.
virtual	~TransportUDP ()
Private Member Functions
bool	initializeSocket ()
	Initializes the assigned socket -- sets it to non-blocking and enables reading.
bool	setSocket (int sock)
	Set the socket to be used by this transport.
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_
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_

Detailed Description

UDPROS transport.

Definition at line 67 of file transport_udp.h.

Member Enumeration Documentation

enum ros::TransportUDP::Flags

Enumerator:

SYNCHRONOUS

Definition at line 70 of file transport_udp.h.

Constructor & Destructor Documentation

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

Definition at line 53 of file transport_udp.cpp.

ros::TransportUDP::~TransportUDP ( ) [virtual]

Definition at line 80 of file transport_udp.cpp.

Member Function Documentation

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 280 of file transport_udp.cpp.

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 137 of file transport_udp.cpp.

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 221 of file transport_udp.cpp.

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 666 of file transport_udp.cpp.

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 610 of file transport_udp.cpp.

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 648 of file transport_udp.cpp.

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 592 of file transport_udp.cpp.

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 630 of file transport_udp.cpp.

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

Returns the URI of the remote host.

int ros::TransportUDP::getMaxDatagramSize ( ) const [inline]

Definition at line 122 of file transport_udp.h.

int ros::TransportUDP::getServerPort ( ) const [inline]

Returns the port this transport is listening on.

Definition at line 103 of file transport_udp.h.

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 132 of file transport_udp.cpp.

virtual const char* ros::TransportUDP::getType ( ) [inline, virtual]

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.

bool ros::TransportUDP::initializeSocket ( ) [private]

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

Definition at line 257 of file transport_udp.cpp.

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 324 of file transport_udp.cpp.

virtual bool ros::TransportUDP::requiresHeader ( ) [inline, virtual]

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.

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 87 of file transport_udp.cpp.

void ros::TransportUDP::socketUpdate ( int events ) [private]

Definition at line 93 of file transport_udp.cpp.

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 503 of file transport_udp.cpp.

Member Data Documentation

std::string ros::TransportUDP::cached_remote_host_ [private]

Definition at line 150 of file transport_udp.h.

boost::mutex ros::TransportUDP::close_mutex_ [private]

Definition at line 141 of file transport_udp.h.

bool ros::TransportUDP::closed_ [private]

Definition at line 140 of file transport_udp.h.

uint32_t ros::TransportUDP::connection_id_ [private]

Definition at line 155 of file transport_udp.h.

uint8_t ros::TransportUDP::current_message_id_ [private]

Definition at line 156 of file transport_udp.h.

uint8_t* ros::TransportUDP::data_buffer_ [private]

Definition at line 162 of file transport_udp.h.

uint32_t ros::TransportUDP::data_filled_ [private]

Definition at line 164 of file transport_udp.h.

uint8_t* ros::TransportUDP::data_start_ [private]

Definition at line 163 of file transport_udp.h.

bool ros::TransportUDP::expecting_read_ [private]

Definition at line 143 of file transport_udp.h.

bool ros::TransportUDP::expecting_write_ [private]

Definition at line 144 of file transport_udp.h.

int ros::TransportUDP::flags_ [private]

Definition at line 153 of file transport_udp.h.

bool ros::TransportUDP::is_server_ [private]

Definition at line 146 of file transport_udp.h.

uint16_t ros::TransportUDP::last_block_ [private]

Definition at line 158 of file transport_udp.h.

uint32_t ros::TransportUDP::max_datagram_size_ [private]

Definition at line 160 of file transport_udp.h.

PollSet* ros::TransportUDP::poll_set_ [private]

Definition at line 152 of file transport_udp.h.

uint8_t* ros::TransportUDP::reorder_buffer_ [private]

Definition at line 166 of file transport_udp.h.

uint32_t ros::TransportUDP::reorder_bytes_ [private]

Definition at line 169 of file transport_udp.h.

TransportUDPHeader ros::TransportUDP::reorder_header_ [private]

Definition at line 168 of file transport_udp.h.

uint8_t* ros::TransportUDP::reorder_start_ [private]

Definition at line 167 of file transport_udp.h.

sockaddr_in ros::TransportUDP::server_address_ [private]

Definition at line 147 of file transport_udp.h.

int ros::TransportUDP::server_port_ [private]

Definition at line 148 of file transport_udp.h.

socket_fd_t ros::TransportUDP::sock_ [private]

Definition at line 139 of file transport_udp.h.

uint16_t ros::TransportUDP::total_blocks_ [private]

Definition at line 157 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

Detailed Description

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation