connection_manager.h
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00001 /*
00002  * Copyright (C) 2009, Willow Garage, Inc.
00003  *
00004  * Redistribution and use in source and binary forms, with or without
00005  * modification, are permitted provided that the following conditions are met:
00006  *   * Redistributions of source code must retain the above copyright notice,
00007  *     this list of conditions and the following disclaimer.
00008  *   * Redistributions in binary form must reproduce the above copyright
00009  *     notice, this list of conditions and the following disclaimer in the
00010  *     documentation and/or other materials provided with the distribution.
00011  *   * Neither the names of Willow Garage, Inc. nor the names of its
00012  *     contributors may be used to endorse or promote products derived from
00013  *     this software without specific prior written permission.
00014  *
00015  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00016  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00017  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
00018  * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
00019  * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
00020  * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
00021  * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
00022  * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
00023  * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
00024  * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00025  * POSSIBILITY OF SUCH DAMAGE.
00026  */
00027 
00028 #include "forwards.h"
00029 #include "connection.h"
00030 #include "common.h"
00031 
00032 #include <boost/thread/mutex.hpp>
00033 #include <boost/signals2/connection.hpp>
00034 
00035 namespace ros
00036 {
00037 
00038 class PollManager;
00039 typedef boost::shared_ptr<PollManager> PollManagerPtr;
00040 
00041 class ConnectionManager;
00042 typedef boost::shared_ptr<ConnectionManager> ConnectionManagerPtr;
00043 
00044 class ROSCPP_DECL ConnectionManager
00045 {
00046 public:
00047   static const ConnectionManagerPtr& instance();
00048 
00049   ConnectionManager();
00050   ~ConnectionManager();
00051 
00054   uint32_t getNewConnectionID();
00055 
00060   void addConnection(const ConnectionPtr& connection);
00061 
00062   void clear(Connection::DropReason reason);
00063 
00064   uint32_t getTCPPort();
00065   uint32_t getUDPPort();
00066 
00067   const TransportTCPPtr& getTCPServerTransport() { return tcpserver_transport_; }
00068   const TransportUDPPtr& getUDPServerTransport() { return udpserver_transport_; }
00069 
00070   void udprosIncomingConnection(const TransportUDPPtr& transport, Header& header);
00071 
00072   void start();
00073   void shutdown();
00074 
00075 private:
00076   void onConnectionDropped(const ConnectionPtr& conn);
00077   // Remove any dropped connections from our list, causing them to be destroyed
00078   // They can't just be removed immediately when they're dropped because the ros
00079   // thread may still be using them (or more likely their transport)
00080   void removeDroppedConnections();
00081 
00082   bool onConnectionHeaderReceived(const ConnectionPtr& conn, const Header& header);
00083   void tcprosAcceptConnection(const TransportTCPPtr& transport);
00084 
00085   PollManagerPtr poll_manager_;
00086 
00087   S_Connection connections_;
00088   V_Connection dropped_connections_;
00089   boost::mutex connections_mutex_;
00090   boost::mutex dropped_connections_mutex_;
00091 
00092   // The connection ID counter, used to assign unique ID to each inbound or
00093   // outbound connection.  Access via getNewConnectionID()
00094   uint32_t connection_id_counter_;
00095   boost::mutex connection_id_counter_mutex_;
00096 
00097   boost::signals2::connection poll_conn_;
00098 
00099   TransportTCPPtr tcpserver_transport_;
00100   TransportUDPPtr udpserver_transport_;
00101 
00102   const static int MAX_TCPROS_CONN_QUEUE = 100; // magic
00103 };
00104 
00105 }
00106 


roscpp
Author(s): Morgan Quigley, Josh Faust, Brian Gerkey, Troy Straszheim
autogenerated on Tue Mar 7 2017 04:01:03