TCPROS transport. More...

#include <transport_tcp.h>

Inheritance diagram for ros::TransportTCP:

Public Types
typedef boost::function< void(const TransportTCPPtr &)>	AcceptCallback
enum	Flags { SYNCHRONOUS = 1<<0 }
Public Member Functions
TransportTCPPtr	accept ()
	Accept a connection on a server socket. Blocks until a connection is available.
virtual void	close ()
	Close this transport. Once this call has returned, writing on this transport should always return an error.
bool	connect (const std::string &host, int port)
	Connect to a remote host.
virtual void	disableRead ()
	Disable reading on this transport. Allows derived classes to, for example, disable read polling for asynchronous sockets.
virtual void	disableWrite ()
	Disable writing on this transport. Allows derived classes to, for example, disable write polling for asynchronous sockets.
virtual void	enableRead ()
	Enable reading on this transport. Allows derived classes to, for example, enable read polling for asynchronous sockets.
virtual void	enableWrite ()
	Enable writing on this transport. Allows derived classes to, for example, enable write polling for asynchronous sockets.
std::string	getClientURI ()
	Returns the URI of the remote host.
const std::string &	getConnectedHost ()
int	getConnectedPort ()
int	getLocalPort ()
int	getServerPort ()
	Returns the port this transport is listening on.
virtual std::string	getTransportInfo ()
	Returns a string description of both the type of transport and who the transport is connected to.
virtual const char *	getType ()
	Return a string that details the type of transport (Eg. TCPROS)
bool	listen (int port, int backlog, const AcceptCallback &accept_cb)
	Start a server socket and listen on a port.
virtual void	parseHeader (const Header &header)
	Provides an opportunity for transport-specific options to come in through the header.
virtual int32_t	read (uint8_t *buffer, uint32_t size)
	Read a number of bytes into the supplied buffer. Not guaranteed to actually read that number of bytes.
void	setKeepAlive (bool use, uint32_t idle, uint32_t interval, uint32_t count)
void	setNoDelay (bool nodelay)
	TransportTCP (PollSet *poll_set, int flags=0)
virtual int32_t	write (uint8_t *buffer, uint32_t size)
	Write a number of bytes from the supplied buffer. Not guaranteed to actually write that number of bytes.
virtual	~TransportTCP ()
Static Public Attributes
static bool	s_use_ipv6_ = false
static bool	s_use_keepalive_ = true
Private Member Functions
bool	initializeSocket ()
	Initializes the assigned socket -- sets it to non-blocking and enables reading.
bool	setNonBlocking ()
bool	setSocket (int sock)
	Set the socket to be used by this transport.
void	socketUpdate (int events)
Private Attributes
AcceptCallback	accept_cb_
std::string	cached_remote_host_
boost::recursive_mutex	close_mutex_
bool	closed_
std::string	connected_host_
int	connected_port_
bool	expecting_read_
bool	expecting_write_
int	flags_
bool	is_server_
socklen_t	la_len_
sockaddr_storage	local_address_
int	local_port_
PollSet *	poll_set_
socklen_t	sa_len_
sockaddr_storage	server_address_
int	server_port_
socket_fd_t	sock_

Detailed Description

TCPROS transport.

Definition at line 56 of file transport_tcp.h.

Member Typedef Documentation

typedef boost::function<void(const TransportTCPPtr&)> ros::TransportTCP::AcceptCallback

Definition at line 84 of file transport_tcp.h.

Member Enumeration Documentation

enum ros::TransportTCP::Flags

Enumerator:

SYNCHRONOUS

Definition at line 63 of file transport_tcp.h.

Constructor & Destructor Documentation

ros::TransportTCP::TransportTCP	(	PollSet *	poll_set,
		int	flags = `0`
	)

Definition at line 51 of file transport_tcp.cpp.

ros::TransportTCP::~TransportTCP ( ) [virtual]

Definition at line 65 of file transport_tcp.cpp.

Member Function Documentation

TransportTCPPtr ros::TransportTCP::accept ( )

Accept a connection on a server socket. Blocks until a connection is available.

Definition at line 618 of file transport_tcp.cpp.

void ros::TransportTCP::close ( ) [virtual]

Close this transport. Once this call has returned, writing on this transport should always return an error.

Implements ros::Transport.

Definition at line 420 of file transport_tcp.cpp.

bool ros::TransportTCP::connect	(	const std::string &	host,
		int	port
	)

Connect to a remote host.

Parameters:

host	The hostname/IP to connect to
port	The port to connect to

Returns:: Whether or not the connection was successful

Definition at line 212 of file transport_tcp.cpp.

void ros::TransportTCP::disableRead ( ) [virtual]

Disable reading on this transport. Allows derived classes to, for example, disable read polling for asynchronous sockets.

Implements ros::Transport.

Definition at line 558 of file transport_tcp.cpp.

void ros::TransportTCP::disableWrite ( ) [virtual]

Disable writing on this transport. Allows derived classes to, for example, disable write polling for asynchronous sockets.

Implements ros::Transport.

Definition at line 598 of file transport_tcp.cpp.

void ros::TransportTCP::enableRead ( ) [virtual]

Enable reading on this transport. Allows derived classes to, for example, enable read polling for asynchronous sockets.

Implements ros::Transport.

Definition at line 538 of file transport_tcp.cpp.

void ros::TransportTCP::enableWrite ( ) [virtual]

Enable writing on this transport. Allows derived classes to, for example, enable write polling for asynchronous sockets.

Implements ros::Transport.

Definition at line 578 of file transport_tcp.cpp.

std::string ros::TransportTCP::getClientURI ( )

Returns the URI of the remote host.

Definition at line 715 of file transport_tcp.cpp.

const std::string& ros::TransportTCP::getConnectedHost ( ) [inline]

Definition at line 105 of file transport_tcp.h.

int ros::TransportTCP::getConnectedPort ( ) [inline]

Definition at line 106 of file transport_tcp.h.

int ros::TransportTCP::getLocalPort ( ) [inline]

Definition at line 100 of file transport_tcp.h.

int ros::TransportTCP::getServerPort ( ) [inline]

Returns the port this transport is listening on.

Definition at line 99 of file transport_tcp.h.

std::string ros::TransportTCP::getTransportInfo ( ) [virtual]

Returns a string description of both the type of transport and who the transport is connected to.

Implements ros::Transport.

Definition at line 708 of file transport_tcp.cpp.

virtual const char* ros::TransportTCP::getType ( ) [inline, virtual]

Return a string that details the type of transport (Eg. TCPROS)

Returns:: The stringified transport type

Implements ros::Transport.

Definition at line 123 of file transport_tcp.h.

bool ros::TransportTCP::initializeSocket ( ) [private]

Initializes the assigned socket -- sets it to non-blocking and enables reading.

Definition at line 91 of file transport_tcp.cpp.

bool ros::TransportTCP::listen	(	int	port,
		int	backlog,
		const AcceptCallback &	accept_cb
	)

Start a server socket and listen on a port.

Parameters:

port	The port to listen on
backlog	defines the maximum length for the queue of pending connections. Identical to the backlog parameter to the ::listen function
accept_cb	The function to call when a client socket has connected

Definition at line 353 of file transport_tcp.cpp.

void ros::TransportTCP::parseHeader ( const Header & header ) [virtual]

Provides an opportunity for transport-specific options to come in through the header.

Reimplemented from ros::Transport.

Definition at line 151 of file transport_tcp.cpp.