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00035 #ifndef ROSCPP_TRANSPORT_UDP_H
00036 #define ROSCPP_TRANSPORT_UDP_H
00037
00038 #include <ros/types.h>
00039 #include <ros/transport/transport.h>
00040
00041 #include <boost/thread/mutex.hpp>
00042 #include "ros/io.h"
00043 #include <ros/common.h>
00044
00045 namespace ros
00046 {
00047
00048 class TransportUDP;
00049 typedef boost::shared_ptr<TransportUDP> TransportUDPPtr;
00050
00051 class PollSet;
00052
00053 #define ROS_UDP_DATA0 0
00054 #define ROS_UDP_DATAN 1
00055 #define ROS_UDP_PING 2
00056 #define ROS_UDP_ERR 3
00057 typedef struct TransportUDPHeader {
00058 uint32_t connection_id_;
00059 uint8_t op_;
00060 uint8_t message_id_;
00061 uint16_t block_;
00062 } TransportUDPHeader;
00063
00067 class ROSCPP_DECL TransportUDP : public Transport
00068 {
00069 public:
00070 enum Flags
00071 {
00072 SYNCHRONOUS = 1<<0,
00073 };
00074
00075 TransportUDP(PollSet* poll_set, int flags = 0, int max_datagram_size = 0);
00076 virtual ~TransportUDP();
00077
00084 bool connect(const std::string& host, int port, int conn_id);
00085
00089 std::string getClientURI();
00090
00095 bool createIncoming(int port, bool is_server);
00099 TransportUDPPtr createOutgoing(std::string host, int port, int conn_id, int max_datagram_size);
00103 int getServerPort() const {return server_port_;}
00104
00105
00106 virtual int32_t read(uint8_t* buffer, uint32_t size);
00107 virtual int32_t write(uint8_t* buffer, uint32_t size);
00108
00109 virtual void enableWrite();
00110 virtual void disableWrite();
00111 virtual void enableRead();
00112 virtual void disableRead();
00113
00114 virtual void close();
00115
00116 virtual std::string getTransportInfo();
00117
00118 virtual bool requiresHeader() {return false;}
00119
00120 virtual const char* getType() {return "UDPROS";}
00121
00122 int getMaxDatagramSize() const {return max_datagram_size_;}
00123
00124 private:
00128 bool initializeSocket();
00129
00135 bool setSocket(int sock);
00136
00137 void socketUpdate(int events);
00138
00139 socket_fd_t sock_;
00140 bool closed_;
00141 boost::mutex close_mutex_;
00142
00143 bool expecting_read_;
00144 bool expecting_write_;
00145
00146 bool is_server_;
00147 sockaddr_in server_address_;
00148 sockaddr_in local_address_;
00149 int server_port_;
00150 int local_port_;
00151
00152 std::string cached_remote_host_;
00153
00154 PollSet* poll_set_;
00155 int flags_;
00156
00157 uint32_t connection_id_;
00158 uint8_t current_message_id_;
00159 uint16_t total_blocks_;
00160 uint16_t last_block_;
00161
00162 uint32_t max_datagram_size_;
00163
00164 uint8_t* data_buffer_;
00165 uint8_t* data_start_;
00166 uint32_t data_filled_;
00167
00168 uint8_t* reorder_buffer_;
00169 uint8_t* reorder_start_;
00170 TransportUDPHeader reorder_header_;
00171 uint32_t reorder_bytes_;
00172 };
00173
00174 }
00175
00176 #endif // ROSCPP_TRANSPORT_UDP_H
00177
roscpp
Author(s): Morgan Quigley, Josh Faust, Brian Gerkey, Troy Straszheim
autogenerated on Thu Jun 6 2019 21:10:05