TCPROS transport. More...

#include <transport_tcp.h>

Inheritance diagram for ros::TransportTCP:

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_

bool	async_connected_

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_

PollSet *	poll_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

enum ros::TransportTCP::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 54 of file transport_tcp.cpp.

◆ ~TransportTCP()

ros::TransportTCP::~TransportTCP ( )

virtual

Definition at line 69 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 669 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 439 of file transport_tcp.cpp.

◆ connect()

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

Connect to a remote host.

Parameters

host	The hostname/IP to connect to
port	The port to connect to

Returns: Whether or not the connection was successful

Definition at line 230 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 609 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 649 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 589 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 629 of file transport_tcp.cpp.

◆ getClientURI()

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

Returns the URI of the remote host.

Definition at line 769 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 762 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 95 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

port	The port to listen on
backlog	defines the maximum length for the queue of pending connections. Identical to the backlog parameter to the ::listen function
accept_cb	The function to call when a client socket has connected

Definition at line 372 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 159 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

buffer	Buffer to read from
size	Size, in bytes, to read

Returns: The number of bytes actually read, or -1 if there was an error

Implements ros::Transport.

Definition at line 485 of file transport_tcp.cpp.

◆ setKeepAlive()

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

Definition at line 179 of file transport_tcp.cpp.

◆ setNoDelay()

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

Definition at line 169 of file transport_tcp.cpp.

◆ setNonBlocking()

bool ros::TransportTCP::setNonBlocking ( )

private

Definition at line 80 of file transport_tcp.cpp.

◆ setSocket()

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

private

Set the socket to be used by this transport.

Parameters

sock	A valid TCP socket

Returns: Whether setting the socket was successful

Definition at line 74 of file transport_tcp.cpp.

◆ socketUpdate()

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

private

Definition at line 696 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

buffer	Buffer to write from
size	Size, in bytes, to write

Returns: The number of bytes actually written, or -1 if there was an error

Implements ros::Transport.

Definition at line 540 of file transport_tcp.cpp.

Member Data Documentation

◆ accept_cb_

AcceptCallback ros::TransportTCP::accept_cb_

private

Definition at line 158 of file transport_tcp.h.

◆ async_connected_

bool ros::TransportTCP::async_connected_

private

Definition at line 143 of file transport_tcp.h.

◆ cached_remote_host_

std::string ros::TransportTCP::cached_remote_host_

private

Definition at line 160 of file transport_tcp.h.

◆ close_mutex_

boost::recursive_mutex ros::TransportTCP::close_mutex_

private

Definition at line 145 of file transport_tcp.h.

◆ closed_

bool ros::TransportTCP::closed_

private

Definition at line 144 of file transport_tcp.h.

◆ connected_host_

std::string ros::TransportTCP::connected_host_

private

Definition at line 165 of file transport_tcp.h.

◆ connected_port_

int ros::TransportTCP::connected_port_

private

Definition at line 166 of file transport_tcp.h.

◆ expecting_read_

bool ros::TransportTCP::expecting_read_

private

Definition at line 147 of file transport_tcp.h.

◆ expecting_write_

bool ros::TransportTCP::expecting_write_

private

Definition at line 148 of file transport_tcp.h.

◆ flags_

int ros::TransportTCP::flags_

private

Definition at line 163 of file transport_tcp.h.

◆ is_server_

bool ros::TransportTCP::is_server_

private

Definition at line 150 of file transport_tcp.h.

◆ la_len_

socklen_t ros::TransportTCP::la_len_

private

Definition at line 154 of file transport_tcp.h.

◆ local_address_

sockaddr_storage ros::TransportTCP::local_address_

private

Definition at line 153 of file transport_tcp.h.

◆ local_port_

int ros::TransportTCP::local_port_

private

Definition at line 157 of file transport_tcp.h.

◆ poll_set_

PollSet* ros::TransportTCP::poll_set_

private

Definition at line 162 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 152 of file transport_tcp.h.

◆ server_address_

sockaddr_storage ros::TransportTCP::server_address_

private

Definition at line 151 of file transport_tcp.h.

◆ server_port_

int ros::TransportTCP::server_port_

private

Definition at line 156 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:

Public Types

Public Member Functions

Static Public Attributes

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ AcceptCallback

Member Enumeration Documentation

◆ Flags

Constructor & Destructor Documentation

◆ TransportTCP()

◆ ~TransportTCP()

Member Function Documentation

◆ accept()

◆ close()

◆ connect()

◆ disableRead()

◆ disableWrite()

◆ enableRead()

◆ enableWrite()

◆ getClientURI()

◆ getConnectedHost()

◆ getConnectedPort()

◆ getLocalPort()

◆ getServerPort()

◆ getTransportInfo()

◆ getType()

◆ initializeSocket()

◆ listen()

◆ parseHeader()

◆ read()

◆ setKeepAlive()

◆ setNoDelay()

◆ setNonBlocking()

◆ setSocket()

◆ socketUpdate()

◆ write()

Member Data Documentation

◆ accept_cb_

◆ async_connected_

◆ cached_remote_host_

◆ close_mutex_

◆ closed_

◆ connected_host_

◆ connected_port_

◆ expecting_read_

◆ expecting_write_

◆ flags_

◆ is_server_

◆ la_len_

◆ local_address_

◆ local_port_

◆ poll_set_

◆ s_use_ipv6_

◆ s_use_keepalive_

◆ sa_len_

◆ server_address_

◆ server_port_

◆ sock_