transport_udp.h
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34 
35 #ifndef ROSCPP_TRANSPORT_UDP_H
36 #define ROSCPP_TRANSPORT_UDP_H
37 
38 #include <ros/types.h>
40 
41 #include <boost/thread/mutex.hpp>
42 #include "ros/io.h"
43 #include <ros/common.h>
44 
45 namespace ros
46 {
47 
48 class TransportUDP;
50 
51 class PollSet;
52 
53 #define ROS_UDP_DATA0 0
54 #define ROS_UDP_DATAN 1
55 #define ROS_UDP_PING 2
56 #define ROS_UDP_ERR 3
57 typedef struct TransportUDPHeader {
58  uint32_t connection_id_;
59  uint8_t op_;
60  uint8_t message_id_;
61  uint16_t block_;
63 
67 class ROSCPP_DECL TransportUDP : public Transport
68 {
69 public:
70  enum Flags
71  {
72  SYNCHRONOUS = 1<<0,
73  };
74 
75  TransportUDP(PollSet* poll_set, int flags = 0, int max_datagram_size = 0);
76  virtual ~TransportUDP();
77 
84  bool connect(const std::string& host, int port, int conn_id);
85 
89  std::string getClientURI();
90 
95  bool createIncoming(int port, bool is_server);
99  TransportUDPPtr createOutgoing(std::string host, int port, int conn_id, int max_datagram_size);
103  int getServerPort() const {return server_port_;}
104 
105  // overrides from Transport
106  virtual int32_t read(uint8_t* buffer, uint32_t size);
107  virtual int32_t write(uint8_t* buffer, uint32_t size);
108 
109  virtual void enableWrite();
110  virtual void disableWrite();
111  virtual void enableRead();
112  virtual void disableRead();
113 
114  virtual void close();
115 
116  virtual std::string getTransportInfo();
117 
118  virtual bool requiresHeader() {return false;}
119 
120  virtual const char* getType() {return "UDPROS";}
121 
122  int getMaxDatagramSize() const {return max_datagram_size_;}
123 
124 private:
128  bool initializeSocket();
129 
135  bool setSocket(int sock);
136 
137  void socketUpdate(int events);
138 
140  bool closed_;
141  boost::mutex close_mutex_;
142 
145 
147  sockaddr_in server_address_;
148  sockaddr_in local_address_;
151 
152  std::string cached_remote_host_;
153 
155  int flags_;
156 
157  uint32_t connection_id_;
159  uint16_t total_blocks_;
160  uint16_t last_block_;
161 
163 
164  uint8_t* data_buffer_;
165  uint8_t* data_start_;
166  uint32_t data_filled_;
167 
168  uint8_t* reorder_buffer_;
169  uint8_t* reorder_start_;
171  uint32_t reorder_bytes_;
172 };
173 
174 }
175 
176 #endif // ROSCPP_TRANSPORT_UDP_H
177 
boost::mutex close_mutex_
socket_fd_t sock_
Abstract base class that allows abstraction of the transport type, eg. TCP, shared memory...
Definition: transport.h:55
Manages a set of sockets being polled through the poll() function call.
Definition: poll_set.h:57
sockaddr_in local_address_
int socket_fd_t
Definition: io.h:136
uint8_t * data_buffer_
uint16_t total_blocks_
virtual const char * getType()
Return a string that details the type of transport (Eg. TCPROS)
uint8_t * reorder_buffer_
boost::shared_ptr< TransportUDP > TransportUDPPtr
Definition: forwards.h:60
std::string cached_remote_host_
uint8_t current_message_id_
int getServerPort() const
Returns the port this transport is listening on.
struct ros::TransportUDPHeader TransportUDPHeader
TransportUDPHeader reorder_header_
int getMaxDatagramSize() const
sockaddr_in server_address_
virtual bool requiresHeader()
Returns a boolean to indicate if the transport mechanism is reliable or not.
uint32_t max_datagram_size_
uint32_t reorder_bytes_
UDPROS transport.
Definition: transport_udp.h:67
uint8_t * data_start_
uint32_t connection_id_
uint8_t * reorder_start_


roscpp
Author(s): Morgan Quigley, Josh Faust, Brian Gerkey, Troy Straszheim
autogenerated on Sun Aug 26 2018 03:03:33