tcp.h

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/*
 * libmavconn
 * Copyright 2014,2015,2016 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

#include <list>
#include <atomic>
#include <cstring>
#include <boost/asio.hpp>
#include <mavconn/interface.h>
#include <mavconn/msgbuffer.h>


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, unsigned short server_port = DEFAULT_SERVER_PORT);
        explicit MAVConnTCPClient(uint8_t system_id, uint8_t component_id,
                        boost::asio::io_service &server_io);
        ~MAVConnTCPClient();

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

        boost::asio::ip::tcp::socket socket;
        boost::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);
};

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, unsigned short bind_port = DEFAULT_BIND_PORT);
        ~MAVConnTCPServer();

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

        boost::asio::ip::tcp::acceptor acceptor;
        boost::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);
        void recv_message(const mavlink::mavlink_message_t *message, const Framing framing);
};
}       // namespace mavconn