Program Listing for File tcp_server.h
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// this is for emacs file handling -*- mode: c++; indent-tabs-mode: nil -*-
// -- BEGIN LICENSE BLOCK ----------------------------------------------
// Copyright 2021 FZI Forschungszentrum Informatik
// Created on behalf of Universal Robots A/S
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
// -- END LICENSE BLOCK ------------------------------------------------
//----------------------------------------------------------------------
//----------------------------------------------------------------------
#ifndef UR_CLIENT_LIBRARY_TCP_SERVER_H_INCLUDED
#define UR_CLIENT_LIBRARY_TCP_SERVER_H_INCLUDED
#include <netdb.h>
#include <sys/socket.h>
#include <sys/types.h>
#include <unistd.h>
#include <atomic>
#include <chrono>
#include <functional>
#include <thread>
namespace urcl
{
namespace comm
{
class TCPServer
{
public:
TCPServer() = delete;
explicit TCPServer(const int port, const size_t max_num_tries = 0,
const std::chrono::milliseconds reconnection_time = std::chrono::seconds(1));
virtual ~TCPServer();
void setConnectCallback(std::function<void(const int)> func)
{
new_connection_callback_ = func;
}
void setDisconnectCallback(std::function<void(const int)> func)
{
disconnect_callback_ = func;
}
void setMessageCallback(std::function<void(const int, char*, int)> func)
{
message_callback_ = func;
}
void start();
void shutdown();
bool write(const int fd, const uint8_t* buf, const size_t buf_len, size_t& written);
uint32_t getMaxClientsAllowed() const
{
return max_clients_allowed_;
}
void setMaxClientsAllowed(const uint32_t& max_clients_allowed)
{
max_clients_allowed_ = max_clients_allowed;
}
private:
void init();
void bind(const size_t max_num_tries, const std::chrono::milliseconds reconnection_time);
void startListen();
void handleConnect();
void handleDisconnect(const int fd);
void readData(const int fd);
void spin();
void worker();
std::atomic<bool> keep_running_;
std::thread worker_thread_;
std::atomic<int> listen_fd_;
int port_;
int maxfd_;
fd_set masterfds_;
fd_set tempfds_;
uint32_t max_clients_allowed_;
std::vector<int> client_fds_;
// Pipe for the self-pipe trick (https://cr.yp.to/docs/selfpipe.html)
int self_pipe_[2];
static const int INPUT_BUFFER_SIZE = 100;
char input_buffer_[INPUT_BUFFER_SIZE];
std::function<void(const int)> new_connection_callback_;
std::function<void(const int)> disconnect_callback_;
std::function<void(const int, char* buffer, int nbytesrecv)> message_callback_;
};
} // namespace comm
} // namespace urcl
#endif // ifndef UR_CLIENT_LIBRARY_TCP_SERVER_H_INCLUDED