Program Listing for File tcp.hpp

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//
// libmavconn
// Copyright 2014,2015,2016,2021 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
#ifndef MAVCONN__TCP_HPP_
#define MAVCONN__TCP_HPP_

#include <atomic>
#include <cstring>
#include <deque>
#include <list>
#include <memory>
#include <string>

#include <asio.hpp>
#include <mavconn/interface.hpp>
#include <mavconn/msgbuffer.hpp>

namespace mavconn
{

class MAVConnTCPClient : public MAVConnInterface,
  public std::enable_shared_from_this<MAVConnTCPClient>
{
public:
  static constexpr auto DEFAULT_SERVER_HOST = "localhost";
  static constexpr auto DEFAULT_SERVER_PORT = 5760;

  MAVConnTCPClient(
    uint8_t system_id = 1, uint8_t component_id = MAV_COMP_ID_UDP_BRIDGE,
    std::string server_host = DEFAULT_SERVER_HOST,
    uint16_t server_port = DEFAULT_SERVER_PORT);

  explicit MAVConnTCPClient(
    uint8_t system_id, uint8_t component_id,
    asio::io_service & server_io);

  virtual ~MAVConnTCPClient();

  void connect(
    const ReceivedCb & cb_handle_message,
    const ClosedCb & cb_handle_closed_port = ClosedCb()) override;
  void close() override;

  void send_message(const mavlink::mavlink_message_t * message) override;
  void send_message(const mavlink::Message & message, const uint8_t source_compid) override;
  void send_bytes(const uint8_t * bytes, size_t length) override;

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

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

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

  std::atomic<bool> is_destroying;

  std::atomic<bool> tx_in_progress;
  std::deque<MsgBuffer> tx_q;
  std::array<uint8_t, MsgBuffer::MAX_SIZE> rx_buf;
  std::recursive_mutex mutex;

  void client_connected(size_t server_channel);

  void do_recv();
  void do_send(bool check_tx_state);

  void stop();
};

class MAVConnTCPServer : public MAVConnInterface,
  public std::enable_shared_from_this<MAVConnTCPServer>
{
public:
  static constexpr auto DEFAULT_BIND_HOST = "localhost";
  static constexpr auto DEFAULT_BIND_PORT = 5760;

  MAVConnTCPServer(
    uint8_t system_id = 1, uint8_t component_id = MAV_COMP_ID_UDP_BRIDGE,
    std::string bind_host = DEFAULT_BIND_HOST, uint16_t bind_port = DEFAULT_BIND_PORT);
  virtual ~MAVConnTCPServer();

  void connect(
    const ReceivedCb & cb_handle_message,
    const ClosedCb & cb_handle_closed_port = ClosedCb()) override;
  void close() override;

  void send_message(const mavlink::mavlink_message_t * message) override;
  void send_message(const mavlink::Message & message, const uint8_t source_compid) override;
  void send_bytes(const uint8_t * bytes, size_t length) override;

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

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

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

  std::atomic<bool> is_destroying;

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

  void do_accept();

  // client slots
  void client_closed(std::weak_ptr<MAVConnTCPClient> weak_instp);
};

}  // namespace mavconn

#endif  // MAVCONN__TCP_HPP_