Program Listing for File TCPClient.h

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// this is for emacs file handling -*- mode: c++; indent-tabs-mode: nil -*-

// -- BEGIN LICENSE BLOCK ----------------------------------------------

// -- END LICENSE BLOCK ------------------------------------------------

//----------------------------------------------------------------------
//----------------------------------------------------------------------

#ifndef SICK_SAFETYSCANNERS_BASE_COMMUNICATION_SYNCTCPCLIENT_H
#define SICK_SAFETYSCANNERS_BASE_COMMUNICATION_SYNCTCPCLIENT_H

#include <boost/asio.hpp>
#include <boost/date_time/posix_time/posix_time_types.hpp>
#include <vector>

#include "sick_safetyscanners_base/Types.h"
#include "sick_safetyscanners_base/datastructure/PacketBuffer.h"


namespace sick {
namespace communication {
class TCPClient
{
public:
  TCPClient(sick::types::ip_address_t server_ip, sick::types::port_t server_port);

  TCPClient()                 = delete;
  TCPClient(const TCPClient&) = delete;
  TCPClient& operator=(const TCPClient&) = delete;

  void connect(sick::types::time_duration_t timeout = boost::posix_time::seconds(5));

  void disconnect();

  void send(const std::vector<uint8_t>& sendBuffer);

  bool isConnected();

  sick::datastructure::PacketBuffer
  receive(sick::types::time_duration_t timeout = boost::posix_time::seconds(5));

private:
  boost::asio::io_service m_io_service;
  sick::datastructure::PacketBuffer::ArrayBuffer m_recv_buffer;
  boost::asio::ip::tcp::socket m_socket;
  sick::types::ip_address_t m_server_ip;
  sick::types::port_t m_server_port;
  boost::asio::deadline_timer m_deadline;

  void checkDeadline();

  static void handleReceiveDeadline(const boost::system::error_code& ec,
                                    std::size_t length,
                                    boost::system::error_code* out_ec,
                                    std::size_t* out_length)
  {
    *out_ec     = ec;
    *out_length = length;
  }
};

using TCPClientPtr = std::unique_ptr<sick::communication::TCPClient>;
} // namespace communication
} // namespace sick

#endif // SICK_SAFETYSCANNERS_BASE_COMMUNICATION_SYNCTCPCLIENT_H