AsyncTCPClient.h

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// this is for emacs file handling -*- mode: c++; indent-tabs-mode: nil -*-

// -- BEGIN LICENSE BLOCK ----------------------------------------------

// -- END LICENSE BLOCK ------------------------------------------------

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#ifndef SICK_SAFETYSCANNERS_COMMUNICATION_ASYNCTCPCLIENT_H
#define SICK_SAFETYSCANNERS_COMMUNICATION_ASYNCTCPCLIENT_H

#include <ros/ros.h>

#include <functional>
#include <iostream>
#include <thread>

#include <boost/array.hpp>
#include <boost/asio.hpp>
#include <boost/cstdint.hpp>
#include <boost/function.hpp>
#include <boost/thread/condition.hpp>
#include <boost/thread/mutex.hpp>

#include <sick_safetyscanners/datastructure/PacketBuffer.h>

namespace sick {
namespace communication {

class AsyncTCPClient
{
public:
  typedef boost::function<void(const sick::datastructure::PacketBuffer&)> PacketHandler;

  AsyncTCPClient(const PacketHandler& packet_handler,
                 boost::asio::io_service& io_service,
                 const boost::asio::ip::address_v4& server_ip,
                 const uint16_t& server_port);

  virtual ~AsyncTCPClient();

  void doConnect();

  void doDisconnect();

  void doSendAndReceive(const std::vector<uint8_t>& sendBuffer);

  void initiateReceive();

  void setPacketHandler(const PacketHandler& packet_handler);

private:
  datastructure::PacketBuffer::ArrayBuffer m_recv_buffer;

  PacketHandler m_packet_handler;

  std::shared_ptr<boost::asio::io_service::work> m_io_work_ptr;
  boost::asio::io_service& m_io_service;
  std::shared_ptr<boost::asio::ip::tcp::socket> m_socket_ptr;
  boost::asio::ip::tcp::endpoint m_remote_endpoint;
  std::thread m_service_thread;

  boost::condition m_connect_condition;
  boost::mutex m_connect_mutex;
  boost::mutex m_socket_mutex;

  void startReceive();
  void handleReceive(const boost::system::error_code& error, const std::size_t& bytes_transferred);


  AsyncTCPClient(AsyncTCPClient&); // block default copy constructor

  void handleSendAndReceive(const boost::system::error_code& error,
                            const std::size_t& bytes_transferred);
};
} // namespace communication
} // namespace sick

#endif // SICK_SAFETYSCANNERS_COMMUNICATION_ASYNCTCPCLIENT_H