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>
 
#include "rosserial_server/session.h"
 
 
namespace rosserial_server
{
 
using boost::asio::ip::tcp;
 
template< typename Session = rosserial_server::Session<tcp::socket> >
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