UDPROS transport. More...
#include <transport_udp.h>
Public Types | |
| enum | Flags { SYNCHRONOUS = 1<<0 } |
Public Member Functions | |
| virtual void | close () |
| Close this transport. Once this call has returned, writing on this transport should always return an error. | |
| bool | connect (const std::string &host, int port, int conn_id) |
| Connect to a remote host. | |
| bool | createIncoming (int port, bool is_server) |
| Start a server socket and listen on a port. | |
| TransportUDPPtr | createOutgoing (std::string host, int port, int conn_id, int max_datagram_size) |
| Create a connection to a server socket. | |
| virtual void | disableRead () |
| Disable reading on this transport. Allows derived classes to, for example, disable read polling for asynchronous sockets. | |
| virtual void | disableWrite () |
| Disable writing on this transport. Allows derived classes to, for example, disable write polling for asynchronous sockets. | |
| virtual void | enableRead () |
| Enable reading on this transport. Allows derived classes to, for example, enable read polling for asynchronous sockets. | |
| virtual void | enableWrite () |
| Enable writing on this transport. Allows derived classes to, for example, enable write polling for asynchronous sockets. | |
| std::string | getClientURI () |
| Returns the URI of the remote host. | |
| int | getMaxDatagramSize () const |
| int | getServerPort () const |
| Returns the port this transport is listening on. | |
| virtual std::string | getTransportInfo () |
| Returns a string description of both the type of transport and who the transport is connected to. | |
| virtual const char * | getType () |
| Return a string that details the type of transport (Eg. TCPROS). | |
| 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. | |
| virtual bool | requiresHeader () |
| Returns a boolean to indicate if the transport mechanism is reliable or not. | |
| TransportUDP (PollSet *poll_set, int flags=0, int max_datagram_size=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. | |
| virtual | ~TransportUDP () |
Private Member Functions | |
| bool | initializeSocket () |
| Initializes the assigned socket -- sets it to non-blocking and enables reading. | |
| bool | setSocket (int sock) |
| Set the socket to be used by this transport. | |
| void | socketUpdate (int events) |
Private Attributes | |
| std::string | cached_remote_host_ |
| boost::mutex | close_mutex_ |
| bool | closed_ |
| uint32_t | connection_id_ |
| uint8_t | current_message_id_ |
| uint8_t * | data_buffer_ |
| uint32_t | data_filled_ |
| uint8_t * | data_start_ |
| bool | expecting_read_ |
| bool | expecting_write_ |
| int | flags_ |
| bool | is_server_ |
| uint16_t | last_block_ |
| uint32_t | max_datagram_size_ |
| PollSet * | poll_set_ |
| uint8_t * | reorder_buffer_ |
| uint32_t | reorder_bytes_ |
| TransportUDPHeader | reorder_header_ |
| uint8_t * | reorder_start_ |
| sockaddr_in | server_address_ |
| int | server_port_ |
| int | sock_ |
| uint16_t | total_blocks_ |
UDPROS transport.
Definition at line 67 of file transport_udp.h.
Definition at line 70 of file transport_udp.h.
| ros::TransportUDP::TransportUDP | ( | PollSet * | poll_set, | |
| int | flags = 0, |
|||
| int | max_datagram_size = 0 | |||
| ) |
Definition at line 53 of file transport_udp.cpp.
| ros::TransportUDP::~TransportUDP | ( | ) | [virtual] |
Definition at line 80 of file transport_udp.cpp.
| void ros::TransportUDP::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 271 of file transport_udp.cpp.
| bool ros::TransportUDP::connect | ( | const std::string & | host, | |
| int | port, | |||
| int | conn_id | |||
| ) |
Connect to a remote host.
| host | The hostname/IP to connect to | |
| port | The port to connect to |
Definition at line 137 of file transport_udp.cpp.
| bool ros::TransportUDP::createIncoming | ( | int | port, | |
| bool | is_server | |||
| ) |
Start a server socket and listen on a port.
| port | The port to listen on |
Definition at line 210 of file transport_udp.cpp.
| TransportUDPPtr ros::TransportUDP::createOutgoing | ( | std::string | host, | |
| int | port, | |||
| int | conn_id, | |||
| int | max_datagram_size | |||
| ) |
Create a connection to a server socket.
Definition at line 614 of file transport_udp.cpp.
| void ros::TransportUDP::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 558 of file transport_udp.cpp.
| void ros::TransportUDP::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 596 of file transport_udp.cpp.
| void ros::TransportUDP::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 540 of file transport_udp.cpp.
| void ros::TransportUDP::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 578 of file transport_udp.cpp.
| std::string ros::TransportUDP::getClientURI | ( | ) |
Returns the URI of the remote host.
| int ros::TransportUDP::getMaxDatagramSize | ( | ) | const [inline] |
Definition at line 122 of file transport_udp.h.
| int ros::TransportUDP::getServerPort | ( | ) | const [inline] |
Returns the port this transport is listening on.
Definition at line 103 of file transport_udp.h.
| std::string ros::TransportUDP::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 132 of file transport_udp.cpp.
| virtual const char* ros::TransportUDP::getType | ( | ) | [inline, virtual] |
Return a string that details the type of transport (Eg. TCPROS).
Implements ros::Transport.
Definition at line 120 of file transport_udp.h.
| bool ros::TransportUDP::initializeSocket | ( | ) | [private] |
Initializes the assigned socket -- sets it to non-blocking and enables reading.
Definition at line 246 of file transport_udp.cpp.
| int32_t ros::TransportUDP::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.
| buffer | Buffer to read from | |
| size | Size, in bytes, to read |
Implements ros::Transport.
Definition at line 315 of file transport_udp.cpp.
| virtual bool ros::TransportUDP::requiresHeader | ( | ) | [inline, virtual] |
Returns a boolean to indicate if the transport mechanism is reliable or not.
Reimplemented from ros::Transport.
Definition at line 118 of file transport_udp.h.
| bool ros::TransportUDP::setSocket | ( | int | sock | ) | [private] |
Set the socket to be used by this transport.
| sock | A valid UDP socket |
Definition at line 87 of file transport_udp.cpp.
| void ros::TransportUDP::socketUpdate | ( | int | events | ) | [private] |
Definition at line 93 of file transport_udp.cpp.
| int32_t ros::TransportUDP::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.
| buffer | Buffer to write from | |
| size | Size, in bytes, to write |
Implements ros::Transport.
Definition at line 468 of file transport_udp.cpp.
std::string ros::TransportUDP::cached_remote_host_ [private] |
Definition at line 150 of file transport_udp.h.
boost::mutex ros::TransportUDP::close_mutex_ [private] |
Definition at line 141 of file transport_udp.h.
bool ros::TransportUDP::closed_ [private] |
Definition at line 140 of file transport_udp.h.
uint32_t ros::TransportUDP::connection_id_ [private] |
Definition at line 155 of file transport_udp.h.
uint8_t ros::TransportUDP::current_message_id_ [private] |
Definition at line 156 of file transport_udp.h.
uint8_t* ros::TransportUDP::data_buffer_ [private] |
Definition at line 162 of file transport_udp.h.
uint32_t ros::TransportUDP::data_filled_ [private] |
Definition at line 164 of file transport_udp.h.
uint8_t* ros::TransportUDP::data_start_ [private] |
Definition at line 163 of file transport_udp.h.
bool ros::TransportUDP::expecting_read_ [private] |
Definition at line 143 of file transport_udp.h.
bool ros::TransportUDP::expecting_write_ [private] |
Definition at line 144 of file transport_udp.h.
int ros::TransportUDP::flags_ [private] |
Definition at line 153 of file transport_udp.h.
bool ros::TransportUDP::is_server_ [private] |
Definition at line 146 of file transport_udp.h.
uint16_t ros::TransportUDP::last_block_ [private] |
Definition at line 158 of file transport_udp.h.
uint32_t ros::TransportUDP::max_datagram_size_ [private] |
Definition at line 160 of file transport_udp.h.
PollSet* ros::TransportUDP::poll_set_ [private] |
Definition at line 152 of file transport_udp.h.
uint8_t* ros::TransportUDP::reorder_buffer_ [private] |
Definition at line 166 of file transport_udp.h.
uint32_t ros::TransportUDP::reorder_bytes_ [private] |
Definition at line 169 of file transport_udp.h.
Definition at line 168 of file transport_udp.h.
uint8_t* ros::TransportUDP::reorder_start_ [private] |
Definition at line 167 of file transport_udp.h.
sockaddr_in ros::TransportUDP::server_address_ [private] |
Definition at line 147 of file transport_udp.h.
int ros::TransportUDP::server_port_ [private] |
Definition at line 148 of file transport_udp.h.
int ros::TransportUDP::sock_ [private] |
Definition at line 139 of file transport_udp.h.
uint16_t ros::TransportUDP::total_blocks_ [private] |
Definition at line 157 of file transport_udp.h.
