Public Types | Public Member Functions | Static Public Attributes | Private Member Functions | Private Attributes | List of all members
ros::TransportTCP Class Reference

TCPROS transport. More...

#include <transport_tcp.h>

Inheritance diagram for ros::TransportTCP:
Inheritance graph
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Public Types

typedef boost::function< void(const TransportTCPPtr &)> AcceptCallback
 
enum  Flags { SYNCHRONOUS = 1<<0 }
 
- Public Types inherited from ros::Transport
typedef boost::function< void(const TransportPtr &)> Callback
 

Public Member Functions

TransportTCPPtr accept ()
 Accept a connection on a server socket. Blocks until a connection is available. More...
 
virtual void close ()
 Close this transport. Once this call has returned, writing on this transport should always return an error. More...
 
bool connect (const std::string &host, int port)
 Connect to a remote host. More...
 
virtual void disableRead ()
 Disable reading on this transport. Allows derived classes to, for example, disable read polling for asynchronous sockets. More...
 
virtual void disableWrite ()
 Disable writing on this transport. Allows derived classes to, for example, disable write polling for asynchronous sockets. More...
 
virtual void enableRead ()
 Enable reading on this transport. Allows derived classes to, for example, enable read polling for asynchronous sockets. More...
 
virtual void enableWrite ()
 Enable writing on this transport. Allows derived classes to, for example, enable write polling for asynchronous sockets. More...
 
std::string getClientURI ()
 Returns the URI of the remote host. More...
 
const std::string & getConnectedHost ()
 
int getConnectedPort ()
 
int getLocalPort ()
 
int getServerPort ()
 Returns the port this transport is listening on. More...
 
virtual std::string getTransportInfo ()
 Returns a string description of both the type of transport and who the transport is connected to. More...
 
virtual const char * getType ()
 Return a string that details the type of transport (Eg. TCPROS) More...
 
bool listen (int port, int backlog, const AcceptCallback &accept_cb)
 Start a server socket and listen on a port. More...
 
virtual void parseHeader (const Header &header)
 Provides an opportunity for transport-specific options to come in through the header. More...
 
virtual int32_t read (uint8_t *buffer, uint32_t size)
 Read a number of bytes into the supplied buffer. Not guaranteed to actually read that number of bytes. More...
 
void setKeepAlive (bool use, uint32_t idle, uint32_t interval, uint32_t count)
 
void setNoDelay (bool nodelay)
 
 TransportTCP (PollSet *poll_set, int flags=0)
 
virtual int32_t write (uint8_t *buffer, uint32_t size)
 Write a number of bytes from the supplied buffer. Not guaranteed to actually write that number of bytes. More...
 
virtual ~TransportTCP ()
 
- Public Member Functions inherited from ros::Transport
virtual bool requiresHeader ()
 Returns a boolean to indicate if the transport mechanism is reliable or not. More...
 
void setDisconnectCallback (const Callback &cb)
 Set the function to call when this transport has disconnected, either through a call to close(). Or a disconnect from the remote host. More...
 
void setReadCallback (const Callback &cb)
 Set the function to call when there is data available to be read by this transport. More...
 
void setWriteCallback (const Callback &cb)
 Set the function to call when there is space available to write on this transport. More...
 
 Transport ()
 
virtual ~Transport ()
 

Static Public Attributes

static bool s_use_ipv6_ = false
 
static bool s_use_keepalive_ = true
 

Private Member Functions

bool initializeSocket ()
 Initializes the assigned socket – sets it to non-blocking and enables reading. More...
 
bool setNonBlocking ()
 
bool setSocket (int sock)
 Set the socket to be used by this transport. More...
 
void socketUpdate (int events)
 

Private Attributes

AcceptCallback accept_cb_
 
std::string cached_remote_host_
 
boost::recursive_mutex close_mutex_
 
bool closed_
 
std::string connected_host_
 
int connected_port_
 
bool expecting_read_
 
bool expecting_write_
 
int flags_
 
bool is_server_
 
socklen_t la_len_
 
sockaddr_storage local_address_
 
int local_port_
 
PollSetpoll_set_
 
socklen_t sa_len_
 
sockaddr_storage server_address_
 
int server_port_
 
socket_fd_t sock_
 

Additional Inherited Members

- Protected Member Functions inherited from ros::Transport
bool isHostAllowed (const std::string &host) const
 returns true if the transport is allowed to connect to the host passed to it. More...
 
bool isOnlyLocalhostAllowed () const
 returns true if this transport is only allowed to talk to localhost More...
 
- Protected Attributes inherited from ros::Transport
Callback disconnect_cb_
 
Callback read_cb_
 
Callback write_cb_
 

Detailed Description

TCPROS transport.

Definition at line 56 of file transport_tcp.h.

Member Typedef Documentation

◆ AcceptCallback

typedef boost::function<void(const TransportTCPPtr&)> ros::TransportTCP::AcceptCallback

Definition at line 84 of file transport_tcp.h.

Member Enumeration Documentation

◆ Flags

Enumerator
SYNCHRONOUS 

Definition at line 63 of file transport_tcp.h.

Constructor & Destructor Documentation

◆ TransportTCP()

ros::TransportTCP::TransportTCP ( PollSet poll_set,
int  flags = 0 
)

Definition at line 51 of file transport_tcp.cpp.

◆ ~TransportTCP()

ros::TransportTCP::~TransportTCP ( )
virtual

Definition at line 65 of file transport_tcp.cpp.

Member Function Documentation

◆ accept()

TransportTCPPtr ros::TransportTCP::accept ( )

Accept a connection on a server socket. Blocks until a connection is available.

Definition at line 629 of file transport_tcp.cpp.

◆ close()

void ros::TransportTCP::close ( )
virtual

Close this transport. Once this call has returned, writing on this transport should always return an error.

Implements ros::Transport.

Definition at line 431 of file transport_tcp.cpp.

◆ connect()

bool ros::TransportTCP::connect ( const std::string &  host,
int  port 
)

Connect to a remote host.

Parameters
hostThe hostname/IP to connect to
portThe port to connect to
Returns
Whether or not the connection was successful

Definition at line 222 of file transport_tcp.cpp.

◆ disableRead()

void ros::TransportTCP::disableRead ( )
virtual

Disable reading on this transport. Allows derived classes to, for example, disable read polling for asynchronous sockets.

Implements ros::Transport.

Definition at line 569 of file transport_tcp.cpp.

◆ disableWrite()

void ros::TransportTCP::disableWrite ( )
virtual

Disable writing on this transport. Allows derived classes to, for example, disable write polling for asynchronous sockets.

Implements ros::Transport.

Definition at line 609 of file transport_tcp.cpp.

◆ enableRead()

void ros::TransportTCP::enableRead ( )
virtual

Enable reading on this transport. Allows derived classes to, for example, enable read polling for asynchronous sockets.

Implements ros::Transport.

Definition at line 549 of file transport_tcp.cpp.

◆ enableWrite()

void ros::TransportTCP::enableWrite ( )
virtual

Enable writing on this transport. Allows derived classes to, for example, enable write polling for asynchronous sockets.

Implements ros::Transport.

Definition at line 589 of file transport_tcp.cpp.

◆ getClientURI()

std::string ros::TransportTCP::getClientURI ( )

Returns the URI of the remote host.

Definition at line 726 of file transport_tcp.cpp.

◆ getConnectedHost()

const std::string& ros::TransportTCP::getConnectedHost ( )
inline

Definition at line 105 of file transport_tcp.h.

◆ getConnectedPort()

int ros::TransportTCP::getConnectedPort ( )
inline

Definition at line 106 of file transport_tcp.h.

◆ getLocalPort()

int ros::TransportTCP::getLocalPort ( )
inline

Definition at line 100 of file transport_tcp.h.

◆ getServerPort()

int ros::TransportTCP::getServerPort ( )
inline

Returns the port this transport is listening on.

Definition at line 99 of file transport_tcp.h.

◆ getTransportInfo()

std::string ros::TransportTCP::getTransportInfo ( )
virtual

Returns a string description of both the type of transport and who the transport is connected to.

Implements ros::Transport.

Definition at line 719 of file transport_tcp.cpp.

◆ getType()

virtual const char* ros::TransportTCP::getType ( )
inlinevirtual

Return a string that details the type of transport (Eg. TCPROS)

Returns
The stringified transport type

Implements ros::Transport.

Definition at line 123 of file transport_tcp.h.

◆ initializeSocket()

bool ros::TransportTCP::initializeSocket ( )
private

Initializes the assigned socket – sets it to non-blocking and enables reading.

Definition at line 91 of file transport_tcp.cpp.

◆ listen()

bool ros::TransportTCP::listen ( int  port,
int  backlog,
const AcceptCallback accept_cb 
)

Start a server socket and listen on a port.

Parameters
portThe port to listen on
backlogdefines the maximum length for the queue of pending connections. Identical to the backlog parameter to the ::listen function
accept_cbThe function to call when a client socket has connected

Definition at line 364 of file transport_tcp.cpp.

◆ parseHeader()

void ros::TransportTCP::parseHeader ( const Header header)
virtual

Provides an opportunity for transport-specific options to come in through the header.

Reimplemented from ros::Transport.

Definition at line 151 of file transport_tcp.cpp.

◆ read()

int32_t ros::TransportTCP::read ( uint8_t *  buffer,
uint32_t  size 
)
virtual

Read a number of bytes into the supplied buffer. Not guaranteed to actually read that number of bytes.

Parameters
bufferBuffer to read from
sizeSize, in bytes, to read
Returns
The number of bytes actually read, or -1 if there was an error

Implements ros::Transport.

Definition at line 477 of file transport_tcp.cpp.

◆ setKeepAlive()

void ros::TransportTCP::setKeepAlive ( bool  use,
uint32_t  idle,
uint32_t  interval,
uint32_t  count 
)

Definition at line 171 of file transport_tcp.cpp.

◆ setNoDelay()

void ros::TransportTCP::setNoDelay ( bool  nodelay)

Definition at line 161 of file transport_tcp.cpp.

◆ setNonBlocking()

bool ros::TransportTCP::setNonBlocking ( )
private

Definition at line 76 of file transport_tcp.cpp.

◆ setSocket()

bool ros::TransportTCP::setSocket ( int  sock)
private

Set the socket to be used by this transport.

Parameters
sockA valid TCP socket
Returns
Whether setting the socket was successful

Definition at line 70 of file transport_tcp.cpp.

◆ socketUpdate()

void ros::TransportTCP::socketUpdate ( int  events)
private

Definition at line 656 of file transport_tcp.cpp.

◆ write()

int32_t ros::TransportTCP::write ( uint8_t *  buffer,
uint32_t  size 
)
virtual

Write a number of bytes from the supplied buffer. Not guaranteed to actually write that number of bytes.

Parameters
bufferBuffer to write from
sizeSize, in bytes, to write
Returns
The number of bytes actually written, or -1 if there was an error

Implements ros::Transport.

Definition at line 516 of file transport_tcp.cpp.

Member Data Documentation

◆ accept_cb_

AcceptCallback ros::TransportTCP::accept_cb_
private

Definition at line 157 of file transport_tcp.h.

◆ cached_remote_host_

std::string ros::TransportTCP::cached_remote_host_
private

Definition at line 159 of file transport_tcp.h.

◆ close_mutex_

boost::recursive_mutex ros::TransportTCP::close_mutex_
private

Definition at line 144 of file transport_tcp.h.

◆ closed_

bool ros::TransportTCP::closed_
private

Definition at line 143 of file transport_tcp.h.

◆ connected_host_

std::string ros::TransportTCP::connected_host_
private

Definition at line 164 of file transport_tcp.h.

◆ connected_port_

int ros::TransportTCP::connected_port_
private

Definition at line 165 of file transport_tcp.h.

◆ expecting_read_

bool ros::TransportTCP::expecting_read_
private

Definition at line 146 of file transport_tcp.h.

◆ expecting_write_

bool ros::TransportTCP::expecting_write_
private

Definition at line 147 of file transport_tcp.h.

◆ flags_

int ros::TransportTCP::flags_
private

Definition at line 162 of file transport_tcp.h.

◆ is_server_

bool ros::TransportTCP::is_server_
private

Definition at line 149 of file transport_tcp.h.

◆ la_len_

socklen_t ros::TransportTCP::la_len_
private

Definition at line 153 of file transport_tcp.h.

◆ local_address_

sockaddr_storage ros::TransportTCP::local_address_
private

Definition at line 152 of file transport_tcp.h.

◆ local_port_

int ros::TransportTCP::local_port_
private

Definition at line 156 of file transport_tcp.h.

◆ poll_set_

PollSet* ros::TransportTCP::poll_set_
private

Definition at line 161 of file transport_tcp.h.

◆ s_use_ipv6_

bool ros::TransportTCP::s_use_ipv6_ = false
static

Definition at line 60 of file transport_tcp.h.

◆ s_use_keepalive_

bool ros::TransportTCP::s_use_keepalive_ = true
static

Definition at line 59 of file transport_tcp.h.

◆ sa_len_

socklen_t ros::TransportTCP::sa_len_
private

Definition at line 151 of file transport_tcp.h.

◆ server_address_

sockaddr_storage ros::TransportTCP::server_address_
private

Definition at line 150 of file transport_tcp.h.

◆ server_port_

int ros::TransportTCP::server_port_
private

Definition at line 155 of file transport_tcp.h.

◆ sock_

socket_fd_t ros::TransportTCP::sock_
private

Definition at line 142 of file transport_tcp.h.


The documentation for this class was generated from the following files:


roscpp
Author(s): Morgan Quigley, Josh Faust, Brian Gerkey, Troy Straszheim
autogenerated on Thu Apr 25 2019 02:30:48