udp_socket_session.h

Go to the documentation of this file.

#ifndef ROSSERIAL_SERVER_UDP_SOCKET_SESSION_H
#define ROSSERIAL_SERVER_UDP_SOCKET_SESSION_H

#include <iostream>
#include <boost/bind.hpp>
#include <boost/asio.hpp>

#include <ros/ros.h>

#include "rosserial_server/session.h"
#include "rosserial_server/udp_stream.h"


namespace rosserial_server
{

using boost::asio::ip::udp;

class UdpSocketSession : public Session<UdpStream>
{
public:
  UdpSocketSession(boost::asio::io_service& io_service,
                   udp::endpoint server_endpoint,
                   udp::endpoint client_endpoint)
    : Session(io_service), timer_(io_service),
      server_endpoint_(server_endpoint), client_endpoint_(client_endpoint)
  {
    ROS_INFO_STREAM("rosserial_server UDP session created between " << server_endpoint << " and " << client_endpoint);
    check_connection();
  }

private:
  void check_connection()
  {
    if (!is_active())
    {
      socket().open(server_endpoint_, client_endpoint_);
      start();
    }

    // Every second, check again if the connection should be reinitialized,
    // if the ROS node is still up.
    if (ros::ok())
    {
      timer_.expires_from_now(boost::posix_time::milliseconds(2000));
      timer_.async_wait(boost::bind(&UdpSocketSession::check_connection, this));
    }
  }

  boost::asio::deadline_timer timer_;
  udp::endpoint server_endpoint_;
  udp::endpoint client_endpoint_;
};

}  // namespace

#endif  // ROSSERIAL_SERVER_UDP_SOCKET_SESSION_H