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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 <ros/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 static bool s_use_ipv6_;
00061
00062 public:
00063 enum Flags
00064 {
00065 SYNCHRONOUS = 1<<0,
00066 };
00067
00068 TransportTCP(PollSet* poll_set, int flags = 0);
00069 virtual ~TransportTCP();
00070
00077 bool connect(const std::string& host, int port);
00078
00082 std::string getClientURI();
00083
00084 typedef boost::function<void(const TransportTCPPtr&)> AcceptCallback;
00091 bool listen(int port, int backlog, const AcceptCallback& accept_cb);
00095 TransportTCPPtr accept();
00099 int getServerPort() { return server_port_; }
00100 int getLocalPort() { return local_port_; }
00101
00102 void setNoDelay(bool nodelay);
00103 void setKeepAlive(bool use, uint32_t idle, uint32_t interval, uint32_t count);
00104
00105 const std::string& getConnectedHost() { return connected_host_; }
00106 int getConnectedPort() { return connected_port_; }
00107
00108
00109 virtual int32_t read(uint8_t* buffer, uint32_t size);
00110 virtual int32_t write(uint8_t* buffer, uint32_t size);
00111
00112 virtual void enableWrite();
00113 virtual void disableWrite();
00114 virtual void enableRead();
00115 virtual void disableRead();
00116
00117 virtual void close();
00118
00119 virtual std::string getTransportInfo();
00120
00121 virtual void parseHeader(const Header& header);
00122
00123 virtual const char* getType() { return "TCPROS"; }
00124
00125 private:
00129 bool initializeSocket();
00130
00131 bool setNonBlocking();
00132
00138 bool setSocket(int sock);
00139
00140 void socketUpdate(int events);
00141
00142 socket_fd_t sock_;
00143 bool closed_;
00144 boost::recursive_mutex close_mutex_;
00145
00146 bool expecting_read_;
00147 bool expecting_write_;
00148
00149 bool is_server_;
00150 sockaddr_storage server_address_;
00151 socklen_t sa_len_;
00152 sockaddr_storage local_address_;
00153 socklen_t la_len_;
00154
00155 int server_port_;
00156 int local_port_;
00157 AcceptCallback accept_cb_;
00158
00159 std::string cached_remote_host_;
00160
00161 PollSet* poll_set_;
00162 int flags_;
00163
00164 std::string connected_host_;
00165 int connected_port_;
00166 };
00167
00168 }
00169
00170 #endif // ROSCPP_TRANSPORT_TCP_H
00171
roscpp
Author(s): Morgan Quigley, Josh Faust, Brian Gerkey, Troy Straszheim
autogenerated on Thu Jun 6 2019 21:10:05