connection_manager.h
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27 
28 #include "forwards.h"
29 #include "connection.h"
30 #include "common.h"
31 
32 #include <boost/thread/mutex.hpp>
33 #include <boost/signals2/connection.hpp>
34 
35 namespace ros
36 {
37 
40 
43 
44 class ROSCPP_DECL ConnectionManager
45 {
46 public:
47  static const ConnectionManagerPtr& instance();
48 
51 
54  uint32_t getNewConnectionID();
55 
60  void addConnection(const ConnectionPtr& connection);
61 
62  void clear(Connection::DropReason reason);
63 
64  uint32_t getTCPPort();
65  uint32_t getUDPPort();
66 
67  const TransportTCPPtr& getTCPServerTransport() { return tcpserver_transport_; }
68  const TransportUDPPtr& getUDPServerTransport() { return udpserver_transport_; }
69 
70  void udprosIncomingConnection(const TransportUDPPtr& transport, Header& header);
71 
72  void start();
73  void shutdown();
74 
75 private:
76  void onConnectionDropped(const ConnectionPtr& conn);
77  // Remove any dropped connections from our list, causing them to be destroyed
78  // They can't just be removed immediately when they're dropped because the ros
79  // thread may still be using them (or more likely their transport)
80  void removeDroppedConnections();
81 
82  bool onConnectionHeaderReceived(const ConnectionPtr& conn, const Header& header);
83  void tcprosAcceptConnection(const TransportTCPPtr& transport);
84 
85  PollManagerPtr poll_manager_;
86 
89  boost::mutex connections_mutex_;
91 
92  // The connection ID counter, used to assign unique ID to each inbound or
93  // outbound connection. Access via getNewConnectionID()
96 
97  boost::signals2::connection poll_conn_;
98 
101 
102  const static int MAX_TCPROS_CONN_QUEUE = 100; // magic
103 };
104 
105 }
106 
const TransportUDPPtr & getUDPServerTransport()
ROSCPP_DECL void start()
Actually starts the internals of the node (spins up threads, starts the network polling and xmlrpc lo...
Definition: init.cpp:293
const TransportTCPPtr & getTCPServerTransport()
TransportTCPPtr tcpserver_transport_
std_msgs::Header * header(M &m)
boost::shared_ptr< ConnectionManager > ConnectionManagerPtr
boost::mutex connection_id_counter_mutex_
std::set< ConnectionPtr > S_Connection
Definition: forwards.h:64
std::vector< ConnectionPtr > V_Connection
Definition: forwards.h:65
boost::signals2::connection poll_conn_
TransportUDPPtr udpserver_transport_
ROSCPP_DECL void shutdown()
Disconnects everything and unregisters from the master. It is generally not necessary to call this fu...
Definition: init.cpp:575
boost::mutex dropped_connections_mutex_
V_Connection dropped_connections_
PollManagerPtr poll_manager_
boost::shared_ptr< PollManager > PollManagerPtr


roscpp
Author(s): Morgan Quigley, Josh Faust, Brian Gerkey, Troy Straszheim
autogenerated on Wed Dec 20 2017 03:58:41