tcp.h

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/*
 * libmavconn
 * Copyright 2014,2015 Vladimir Ermakov, All rights reserved.
 *
 * This file is part of the mavros package and subject to the license terms
 * in the top-level LICENSE file of the mavros repository.
 * https://github.com/mavlink/mavros/tree/master/LICENSE.md
 */

#pragma once

#include <list>
#include <atomic>
#include <boost/asio.hpp>
#include <mavconn/interface.h>
#include <mavconn/msgbuffer.h>

namespace mavconn {

class MAVConnTCPClient : public MAVConnInterface {
public:
        MAVConnTCPClient(uint8_t system_id = 1, uint8_t component_id = MAV_COMP_ID_UDP_BRIDGE,
                        std::string server_host = "localhost", unsigned short server_port = 5760);
        explicit MAVConnTCPClient(uint8_t system_id, uint8_t component_id,
                        boost::asio::io_service &server_io);
        ~MAVConnTCPClient();

        void close();

        using MAVConnInterface::send_message;
        void send_message(const mavlink_message_t *message, uint8_t sysid, uint8_t compid);
        void send_bytes(const uint8_t *bytes, size_t length);

        inline bool is_open() { return socket.is_open(); };

private:
        friend class MAVConnTCPServer;
        boost::asio::io_service io_service;
        std::unique_ptr<boost::asio::io_service::work> io_work;
        std::thread io_thread;

        boost::asio::ip::tcp::socket socket;
        boost::asio::ip::tcp::endpoint server_ep;

        std::atomic<bool> tx_in_progress;
        std::list<MsgBuffer*> tx_q;
        uint8_t rx_buf[MsgBuffer::MAX_SIZE];
        std::recursive_mutex mutex;

        void client_connected(int server_channel);

        void do_recv();
        void async_receive_end(boost::system::error_code, size_t bytes_transferred);
        void do_send(bool check_tx_state);
        void async_send_end(boost::system::error_code, size_t bytes_transferred);
};

class MAVConnTCPServer : public MAVConnInterface {
public:
        MAVConnTCPServer(uint8_t system_id = 1, uint8_t component_id = MAV_COMP_ID_UDP_BRIDGE,
                        std::string bind_host = "localhost", unsigned short bind_port = 5760);
        ~MAVConnTCPServer();

        void close();

        using MAVConnInterface::send_message;
        void send_message(const mavlink_message_t *message, uint8_t sysid, uint8_t compid);
        void send_bytes(const uint8_t *bytes, size_t length);

        mavlink_status_t get_status();
        IOStat get_iostat();
        inline bool is_open() { return acceptor.is_open(); };

private:
        boost::asio::io_service io_service;
        std::unique_ptr<boost::asio::io_service::work> io_work;
        std::thread io_thread;

        boost::asio::ip::tcp::acceptor acceptor;
        boost::asio::ip::tcp::endpoint bind_ep;

        boost::shared_ptr<MAVConnTCPClient> acceptor_client;
        std::list<boost::shared_ptr<MAVConnTCPClient> > client_list;
        std::recursive_mutex mutex;

        void do_accept();
        void async_accept_end(boost::system::error_code);

        // client slots
        void client_closed(boost::weak_ptr<MAVConnTCPClient> weak_instp);
        void recv_message(const mavlink_message_t *message, uint8_t sysid, uint8_t compid);
};

}; // namespace mavconn