connection.h

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#ifndef ROSCPP_CONNECTION_H
#define ROSCPP_CONNECTION_H

#include "ros/header.h"
#include "common.h"

#include <boost/signals2.hpp>

#include <boost/function.hpp>
#include <boost/shared_ptr.hpp>
#include <boost/shared_array.hpp>
#include <boost/enable_shared_from_this.hpp>
#include <boost/thread/mutex.hpp>
#include <boost/thread/recursive_mutex.hpp>

#define READ_BUFFER_SIZE (1024*64)

namespace ros
{

class Transport;
typedef boost::shared_ptr<Transport> TransportPtr;
class Connection;
typedef boost::shared_ptr<Connection> ConnectionPtr;
typedef boost::function<void(const ConnectionPtr&, const boost::shared_array<uint8_t>&, uint32_t, bool)> ReadFinishedFunc;
typedef boost::function<void(const ConnectionPtr&)> WriteFinishedFunc;

typedef boost::function<bool(const ConnectionPtr&, const Header&)> HeaderReceivedFunc;

class ROSCPP_DECL Connection : public boost::enable_shared_from_this<Connection>
{
public:
  enum DropReason
  {
    TransportDisconnect,
    HeaderError,
    Destructing,
  };

  Connection();
  ~Connection();

  void initialize(const TransportPtr& transport, bool is_server, const HeaderReceivedFunc& header_func);
  void drop(DropReason reason);

  bool isDropped();

  bool isSendingHeaderError() { return sending_header_error_; }

  void sendHeaderError(const std::string& error_message);
  void writeHeader(const M_string& key_vals, const WriteFinishedFunc& finished_callback);

  void read(uint32_t size, const ReadFinishedFunc& finished_callback);
  void write(const boost::shared_array<uint8_t>& buffer, uint32_t size, const WriteFinishedFunc& finished_callback, bool immedate = true);

  typedef boost::signals2::signal<void(const ConnectionPtr&, DropReason reason)> DropSignal;
  typedef boost::function<void(const ConnectionPtr&, DropReason reason)> DropFunc;
  boost::signals2::connection addDropListener(const DropFunc& slot);
  void removeDropListener(const boost::signals2::connection& c);

  void setHeaderReceivedCallback(const HeaderReceivedFunc& func);

  const TransportPtr& getTransport() { return transport_; }
  Header& getHeader() { return header_; }

  void setHeader(const Header& header) { header_ = header; }

  std::string getCallerId();
  std::string getRemoteString();

private:
  void onReadable(const TransportPtr& transport);
  void onWriteable(const TransportPtr& transport);
  void onDisconnect(const TransportPtr& transport);


  void onHeaderWritten(const ConnectionPtr& conn);
  void onErrorHeaderWritten(const ConnectionPtr& conn);
  void onHeaderLengthRead(const ConnectionPtr& conn, const boost::shared_array<uint8_t>& buffer, uint32_t size, bool success);
  void onHeaderRead(const ConnectionPtr& conn, const boost::shared_array<uint8_t>& buffer, uint32_t size, bool success);

  void readTransport();
  void writeTransport();

  bool is_server_;
  bool dropped_;
  Header header_;
  TransportPtr transport_;
  HeaderReceivedFunc header_func_;

  boost::shared_array<uint8_t> read_buffer_;
  uint32_t read_filled_;
  uint32_t read_size_;
  ReadFinishedFunc read_callback_;
  boost::recursive_mutex read_mutex_;
  bool reading_;
  volatile uint32_t has_read_callback_;

  boost::shared_array<uint8_t> write_buffer_;
  uint32_t write_sent_;
  uint32_t write_size_;
  WriteFinishedFunc write_callback_;
  boost::mutex write_callback_mutex_;
  boost::recursive_mutex write_mutex_;
  bool writing_;
  volatile uint32_t has_write_callback_;

  WriteFinishedFunc header_written_callback_;

  DropSignal drop_signal_;

  boost::recursive_mutex drop_mutex_;

  bool sending_header_error_;
};
typedef boost::shared_ptr<Connection> ConnectionPtr;

} // namespace ros

#endif // ROSCPP_CONNECTION_H