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00037 #ifndef ROSCPP_IO_H_
00038 #define ROSCPP_IO_H_
00039
00040
00041
00042
00043
00044 #include <string>
00045 #include "common.h"
00046
00047 #ifdef WIN32
00048 #include <winsock2.h>
00049 #include <ws2tcpip.h>
00050 #include <sys/types.h>
00051 #include <io.h>
00052 #include <fcntl.h>
00053 #include <process.h>
00054 #else
00055 #include <poll.h>
00056 #include <sys/poll.h>
00057 #include <arpa/inet.h>
00058 #include <netdb.h>
00059 #include <unistd.h>
00060 #include <netdb.h>
00061 #include <netinet/in.h>
00062 #include <netinet/tcp.h>
00063 #endif
00064
00065
00066
00067
00068
00069 #ifdef WIN32
00070 #define getpid _getpid
00071 #define ROS_INVALID_SOCKET INVALID_SOCKET
00072 #define ROS_SOCKETS_SHUT_RDWR SD_BOTH
00073 #define ROS_SOCKETS_ASYNCHRONOUS_CONNECT_RETURN WSAEWOULDBLOCK
00074 #ifndef POLLRDNORM
00075 #define POLLRDNORM 0x0100
00076 #endif
00077 #ifndef POLLRDBAND
00078 #define POLLRDBAND 0x0200
00079 #endif
00080 #ifndef POLLIN
00081 #define POLLIN (POLLRDNORM | POLLRDBAND)
00082 #endif
00083 #ifndef POLLPRI
00084 #define POLLPRI 0x0400
00085 #endif
00086
00087 #ifndef POLLWRNORM
00088 #define POLLWRNORM 0x0010
00089 #endif
00090 #ifndef POLLOUT
00091 #define POLLOUT (POLLWRNORM)
00092 #endif
00093 #ifndef POLLWRBAND
00094 #define POLLWRBAND 0x0020
00095 #endif
00096 #ifndef POLLERR
00097 #define POLLERR 0x0001
00098 #endif
00099 #ifndef POLLHUP
00100 #define POLLHUP 0x0002
00101 #endif
00102 #ifndef POLLNVAL
00103 #define POLLNVAL 0x0004
00104 #endif
00105 #else
00106 #define ROS_SOCKETS_SHUT_RDWR SHUT_RDWR
00107 #define ROS_INVALID_SOCKET ((int) -1)
00108 #define ROS_SOCKETS_ASYNCHRONOUS_CONNECT_RETURN EINPROGRESS
00109 #endif
00110
00111
00112
00113
00114
00115 namespace ros {
00116
00117
00118
00119
00120
00121 #ifdef WIN32
00122 typedef SOCKET socket_fd_t;
00123 typedef SOCKET signal_fd_t;
00124
00125 typedef struct socket_pollfd {
00126 socket_fd_t fd;
00127 short events;
00128 short revents;
00129 } socket_pollfd;
00130
00131 typedef unsigned long int nfds_t;
00132 #ifdef _MSC_VER
00133 typedef int pid_t;
00134 #endif
00135 #else
00136 typedef int socket_fd_t;
00137 typedef int signal_fd_t;
00138 typedef struct pollfd socket_pollfd;
00139 #endif
00140
00141
00142
00143
00144
00145 ROSCPP_DECL int last_socket_error();
00146 ROSCPP_DECL const char* last_socket_error_string();
00147 ROSCPP_DECL bool last_socket_error_is_would_block();
00148 ROSCPP_DECL int poll_sockets(socket_pollfd *fds, nfds_t nfds, int timeout);
00149 ROSCPP_DECL int set_non_blocking(socket_fd_t &socket);
00150 ROSCPP_DECL int close_socket(socket_fd_t &socket);
00151 ROSCPP_DECL int create_signal_pair(signal_fd_t signal_pair[2]);
00152
00153
00154
00155
00156
00162 inline void close_signal_pair(signal_fd_t signal_pair[2]) {
00163 #ifdef WIN32 // use a socket pair
00164 ::closesocket(signal_pair[0]);
00165 ::closesocket(signal_pair[1]);
00166 #else // use a socket pair on mingw or pipe pair on linux, either way, close works
00167 ::close(signal_pair[0]);
00168 ::close(signal_pair[1]);
00169 #endif
00170 }
00171
00177 #ifdef _MSC_VER
00178 inline int write_signal(const signal_fd_t &signal, const char *buffer, const unsigned int &nbyte) {
00179 return ::send(signal, buffer, nbyte, 0);
00180
00181 }
00182 #else
00183 inline ssize_t write_signal(const signal_fd_t &signal, const void *buffer, const size_t &nbyte) {
00184 return write(signal, buffer, nbyte);
00185 }
00186 #endif
00187
00188
00194 #ifdef _MSC_VER
00195 inline int read_signal(const signal_fd_t &signal, char *buffer, const unsigned int &nbyte) {
00196 return ::recv(signal, buffer, nbyte, 0);
00197
00198 }
00199 #else
00200 inline ssize_t read_signal(const signal_fd_t &signal, void *buffer, const size_t &nbyte) {
00201 return read(signal, buffer, nbyte);
00202 }
00203 #endif
00204
00205 }
00206
00207 #endif
00208
roscpp
Author(s): Morgan Quigley, Josh Faust, Brian Gerkey, Troy Straszheim
autogenerated on Mon Oct 6 2014 11:46:44