tcp_server.h

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#ifndef ROSSERIAL_SERVER_TCP_SERVER_H
#define ROSSERIAL_SERVER_TCP_SERVER_H

#include <iostream>
#include <boost/bind.hpp>
#include <boost/asio.hpp>

#include <ros/ros.h>

namespace rosserial_server
{

using boost::asio::ip::tcp;

template<typename Session>
class TcpServer
{
public:
  TcpServer(boost::asio::io_service& io_service, short port)
    : io_service_(io_service),
      acceptor_(io_service, tcp::endpoint(tcp::v4(), port))
  {
    start_accept();
  }

private:
  void start_accept()
  {
    Session* new_session = new Session(io_service_);
    acceptor_.async_accept(new_session->socket(),
        boost::bind(&TcpServer::handle_accept, this, new_session,
          boost::asio::placeholders::error));
  }

  void handle_accept(Session* new_session,
      const boost::system::error_code& error)
  {
    if (!error)
    {
      new_session->start();
    }
    else
    {
      delete new_session;
    }

    start_accept();
  }

  boost::asio::io_service& io_service_;
  tcp::acceptor acceptor_;
};

}  // namespace

#endif  // ROSSERIAL_SERVER_TCP_SERVER_H