transport_tcp.h
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00001 /*
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00034 
00035 #ifndef ROSCPP_TRANSPORT_TCP_H
00036 #define ROSCPP_TRANSPORT_TCP_H
00037 
00038 #include <ros/types.h>
00039 #include <ros/transport/transport.h>
00040 
00041 #include <boost/thread/recursive_mutex.hpp>
00042 #include "ros/io.h"
00043 #include <ros/common.h>
00044 
00045 namespace ros
00046 {
00047 
00048 class TransportTCP;
00049 typedef boost::shared_ptr<TransportTCP> TransportTCPPtr;
00050 
00051 class PollSet;
00052 
00056 class ROSCPP_DECL TransportTCP : public Transport
00057 {
00058 public:
00059   static bool s_use_keepalive_;
00060   static bool s_use_ipv6_;
00061 
00062 public:
00063   enum Flags
00064   {
00065     SYNCHRONOUS = 1<<0,
00066   };
00067 
00068   TransportTCP(PollSet* poll_set, int flags = 0);
00069   virtual ~TransportTCP();
00070 
00077   bool connect(const std::string& host, int port);
00078 
00082   std::string getClientURI();
00083 
00084   typedef boost::function<void(const TransportTCPPtr&)> AcceptCallback;
00091   bool listen(int port, int backlog, const AcceptCallback& accept_cb);
00095   TransportTCPPtr accept();
00099   int getServerPort() { return server_port_; }
00100   int getLocalPort() { return local_port_; }
00101 
00102   void setNoDelay(bool nodelay);
00103   void setKeepAlive(bool use, uint32_t idle, uint32_t interval, uint32_t count);
00104 
00105   const std::string& getConnectedHost() { return connected_host_; }
00106   int getConnectedPort() { return connected_port_; }
00107 
00108   // overrides from Transport
00109   virtual int32_t read(uint8_t* buffer, uint32_t size);
00110   virtual int32_t write(uint8_t* buffer, uint32_t size);
00111 
00112   virtual void enableWrite();
00113   virtual void disableWrite();
00114   virtual void enableRead();
00115   virtual void disableRead();
00116 
00117   virtual void close();
00118 
00119   virtual std::string getTransportInfo();
00120 
00121   virtual void parseHeader(const Header& header);
00122 
00123   virtual const char* getType() { return "TCPROS"; }
00124 
00125 private:
00129   bool initializeSocket();
00130 
00131   bool setNonBlocking();
00132 
00138   bool setSocket(int sock);
00139 
00140   void socketUpdate(int events);
00141 
00142   socket_fd_t sock_;
00143   bool closed_;
00144   boost::recursive_mutex close_mutex_;
00145 
00146   bool expecting_read_;
00147   bool expecting_write_;
00148 
00149   bool is_server_;
00150   sockaddr_storage server_address_;
00151   socklen_t sa_len_;
00152   sockaddr_storage local_address_;
00153   socklen_t la_len_;
00154 
00155   int server_port_;
00156   int local_port_;
00157   AcceptCallback accept_cb_;
00158 
00159   std::string cached_remote_host_;
00160 
00161   PollSet* poll_set_;
00162   int flags_;
00163 
00164   std::string connected_host_;
00165   int connected_port_;
00166 };
00167 
00168 }
00169 
00170 #endif // ROSCPP_TRANSPORT_TCP_H
00171 


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