Public Types | Public Member Functions | Static Public Attributes | Private Member Functions | Private Attributes
ros::TransportTCP Class Reference

TCPROS transport. More...

#include <transport_tcp.h>

Inheritance diagram for ros::TransportTCP:
Inheritance graph
[legend]

List of all members.

Public Types

typedef boost::function< void(const
TransportTCPPtr &)> 
AcceptCallback
enum  Flags { SYNCHRONOUS = 1<<0 }

Public Member Functions

TransportTCPPtr accept ()
 Accept a connection on a server socket. Blocks until a connection is available.
virtual void close ()
 Close this transport. Once this call has returned, writing on this transport should always return an error.
bool connect (const std::string &host, int port)
 Connect to a remote host.
virtual void disableRead ()
 Disable reading on this transport. Allows derived classes to, for example, disable read polling for asynchronous sockets.
virtual void disableWrite ()
 Disable writing on this transport. Allows derived classes to, for example, disable write polling for asynchronous sockets.
virtual void enableRead ()
 Enable reading on this transport. Allows derived classes to, for example, enable read polling for asynchronous sockets.
virtual void enableWrite ()
 Enable writing on this transport. Allows derived classes to, for example, enable write polling for asynchronous sockets.
std::string getClientURI ()
 Returns the URI of the remote host.
const std::string & getConnectedHost ()
int getConnectedPort ()
int getLocalPort ()
int getServerPort ()
 Returns the port this transport is listening on.
virtual std::string getTransportInfo ()
 Returns a string description of both the type of transport and who the transport is connected to.
virtual const char * getType ()
 Return a string that details the type of transport (Eg. TCPROS)
bool listen (int port, int backlog, const AcceptCallback &accept_cb)
 Start a server socket and listen on a port.
virtual void parseHeader (const Header &header)
 Provides an opportunity for transport-specific options to come in through the header.
virtual int32_t read (uint8_t *buffer, uint32_t size)
 Read a number of bytes into the supplied buffer. Not guaranteed to actually read that number of bytes.
void setKeepAlive (bool use, uint32_t idle, uint32_t interval, uint32_t count)
void setNoDelay (bool nodelay)
 TransportTCP (PollSet *poll_set, int flags=0)
virtual int32_t write (uint8_t *buffer, uint32_t size)
 Write a number of bytes from the supplied buffer. Not guaranteed to actually write that number of bytes.
virtual ~TransportTCP ()

Static Public Attributes

static bool s_use_ipv6_ = false
static bool s_use_keepalive_ = true

Private Member Functions

bool initializeSocket ()
 Initializes the assigned socket -- sets it to non-blocking and enables reading.
bool setNonBlocking ()
bool setSocket (int sock)
 Set the socket to be used by this transport.
void socketUpdate (int events)

Private Attributes

AcceptCallback accept_cb_
std::string cached_remote_host_
boost::recursive_mutex close_mutex_
bool closed_
std::string connected_host_
int connected_port_
bool expecting_read_
bool expecting_write_
int flags_
bool is_server_
socklen_t la_len_
sockaddr_storage local_address_
int local_port_
PollSetpoll_set_
socklen_t sa_len_
sockaddr_storage server_address_
int server_port_
socket_fd_t sock_

Detailed Description

TCPROS transport.

Definition at line 56 of file transport_tcp.h.


Member Typedef Documentation

typedef boost::function<void(const TransportTCPPtr&)> ros::TransportTCP::AcceptCallback

Definition at line 84 of file transport_tcp.h.


Member Enumeration Documentation

Enumerator:
SYNCHRONOUS 

Definition at line 63 of file transport_tcp.h.


Constructor & Destructor Documentation

ros::TransportTCP::TransportTCP ( PollSet poll_set,
int  flags = 0 
)

Definition at line 51 of file transport_tcp.cpp.

Definition at line 65 of file transport_tcp.cpp.


Member Function Documentation

TransportTCPPtr ros::TransportTCP::accept ( )

Accept a connection on a server socket. Blocks until a connection is available.

Definition at line 618 of file transport_tcp.cpp.

void ros::TransportTCP::close ( ) [virtual]

Close this transport. Once this call has returned, writing on this transport should always return an error.

Implements ros::Transport.

Definition at line 420 of file transport_tcp.cpp.

bool ros::TransportTCP::connect ( const std::string &  host,
int  port 
)

Connect to a remote host.

Parameters:
hostThe hostname/IP to connect to
portThe port to connect to
Returns:
Whether or not the connection was successful

Definition at line 212 of file transport_tcp.cpp.

void ros::TransportTCP::disableRead ( ) [virtual]

Disable reading on this transport. Allows derived classes to, for example, disable read polling for asynchronous sockets.

Implements ros::Transport.

Definition at line 558 of file transport_tcp.cpp.

void ros::TransportTCP::disableWrite ( ) [virtual]

Disable writing on this transport. Allows derived classes to, for example, disable write polling for asynchronous sockets.

Implements ros::Transport.

Definition at line 598 of file transport_tcp.cpp.

void ros::TransportTCP::enableRead ( ) [virtual]

Enable reading on this transport. Allows derived classes to, for example, enable read polling for asynchronous sockets.

Implements ros::Transport.

Definition at line 538 of file transport_tcp.cpp.

void ros::TransportTCP::enableWrite ( ) [virtual]

Enable writing on this transport. Allows derived classes to, for example, enable write polling for asynchronous sockets.

Implements ros::Transport.

Definition at line 578 of file transport_tcp.cpp.

Returns the URI of the remote host.

Definition at line 715 of file transport_tcp.cpp.

const std::string& ros::TransportTCP::getConnectedHost ( ) [inline]

Definition at line 105 of file transport_tcp.h.

Definition at line 106 of file transport_tcp.h.

Definition at line 100 of file transport_tcp.h.

Returns the port this transport is listening on.

Definition at line 99 of file transport_tcp.h.

std::string ros::TransportTCP::getTransportInfo ( ) [virtual]

Returns a string description of both the type of transport and who the transport is connected to.

Implements ros::Transport.

Definition at line 708 of file transport_tcp.cpp.

virtual const char* ros::TransportTCP::getType ( ) [inline, virtual]

Return a string that details the type of transport (Eg. TCPROS)

Returns:
The stringified transport type

Implements ros::Transport.

Definition at line 123 of file transport_tcp.h.

Initializes the assigned socket -- sets it to non-blocking and enables reading.

Definition at line 91 of file transport_tcp.cpp.

bool ros::TransportTCP::listen ( int  port,
int  backlog,
const AcceptCallback accept_cb 
)

Start a server socket and listen on a port.

Parameters:
portThe port to listen on
backlogdefines the maximum length for the queue of pending connections. Identical to the backlog parameter to the ::listen function
accept_cbThe function to call when a client socket has connected

Definition at line 353 of file transport_tcp.cpp.

void ros::TransportTCP::parseHeader ( const Header header) [virtual]

Provides an opportunity for transport-specific options to come in through the header.

Reimplemented from ros::Transport.

Definition at line 151 of file transport_tcp.cpp.

int32_t ros::TransportTCP::read ( uint8_t *  buffer,
uint32_t  size 
) [virtual]

Read a number of bytes into the supplied buffer. Not guaranteed to actually read that number of bytes.

Parameters:
bufferBuffer to read from
sizeSize, in bytes, to read
Returns:
The number of bytes actually read, or -1 if there was an error

Implements ros::Transport.

Definition at line 466 of file transport_tcp.cpp.

void ros::TransportTCP::setKeepAlive ( bool  use,
uint32_t  idle,
uint32_t  interval,
uint32_t  count 
)

Definition at line 171 of file transport_tcp.cpp.

void ros::TransportTCP::setNoDelay ( bool  nodelay)

Definition at line 161 of file transport_tcp.cpp.

Definition at line 76 of file transport_tcp.cpp.

bool ros::TransportTCP::setSocket ( int  sock) [private]

Set the socket to be used by this transport.

Parameters:
sockA valid TCP socket
Returns:
Whether setting the socket was successful

Definition at line 70 of file transport_tcp.cpp.

void ros::TransportTCP::socketUpdate ( int  events) [private]

Definition at line 645 of file transport_tcp.cpp.

int32_t ros::TransportTCP::write ( uint8_t *  buffer,
uint32_t  size 
) [virtual]

Write a number of bytes from the supplied buffer. Not guaranteed to actually write that number of bytes.

Parameters:
bufferBuffer to write from
sizeSize, in bytes, to write
Returns:
The number of bytes actually written, or -1 if there was an error

Implements ros::Transport.

Definition at line 505 of file transport_tcp.cpp.


Member Data Documentation

Definition at line 157 of file transport_tcp.h.

Definition at line 159 of file transport_tcp.h.

boost::recursive_mutex ros::TransportTCP::close_mutex_ [private]

Definition at line 144 of file transport_tcp.h.

Definition at line 143 of file transport_tcp.h.

std::string ros::TransportTCP::connected_host_ [private]

Definition at line 164 of file transport_tcp.h.

Definition at line 165 of file transport_tcp.h.

Definition at line 146 of file transport_tcp.h.

Definition at line 147 of file transport_tcp.h.

Definition at line 162 of file transport_tcp.h.

Definition at line 149 of file transport_tcp.h.

socklen_t ros::TransportTCP::la_len_ [private]

Definition at line 153 of file transport_tcp.h.

sockaddr_storage ros::TransportTCP::local_address_ [private]

Definition at line 152 of file transport_tcp.h.

Definition at line 156 of file transport_tcp.h.

Definition at line 161 of file transport_tcp.h.

bool ros::TransportTCP::s_use_ipv6_ = false [static]

Definition at line 60 of file transport_tcp.h.

Definition at line 59 of file transport_tcp.h.

socklen_t ros::TransportTCP::sa_len_ [private]

Definition at line 151 of file transport_tcp.h.

sockaddr_storage ros::TransportTCP::server_address_ [private]

Definition at line 150 of file transport_tcp.h.

Definition at line 155 of file transport_tcp.h.

socket_fd_t ros::TransportTCP::sock_ [private]

Definition at line 142 of file transport_tcp.h.


The documentation for this class was generated from the following files:


roscpp
Author(s): Morgan Quigley, Josh Faust, Brian Gerkey, Troy Straszheim
autogenerated on Tue Mar 7 2017 04:01:04