Encapsulates a connection to a remote host, independent of the transport type. More...

#include <connection.h>

Inheritance diagram for ros::Connection:

Public Types
typedef boost::function< void(const ConnectionPtr &, DropReason reason)>	DropFunc

enum	DropReason { TransportDisconnect, HeaderError, Destructing }

typedef boost::signals2::signal< void(const ConnectionPtr &, DropReason reason)>	DropSignal

Public Member Functions
boost::signals2::connection	addDropListener (const DropFunc &slot)
	Add a callback to be called when this connection has dropped. More...

	Connection ()

void	drop (DropReason reason)
	Drop this connection. Anything added as a drop listener through addDropListener will get called back when this connection has been dropped. More...

std::string	getCallerId ()

Header &	getHeader ()
	Get the Header associated with this connection. More...

std::string	getRemoteString ()

const TransportPtr &	getTransport ()
	Get the Transport associated with this connection. More...

void	initialize (const TransportPtr &transport, bool is_server, const HeaderReceivedFunc &header_func)
	Initialize this connection. More...

bool	isDropped ()
	Returns whether or not this connection has been dropped. More...

bool	isSendingHeaderError ()
	Returns true if we're currently sending a header error (and will be automatically dropped when it's finished) More...

void	read (uint32_t size, const ReadFinishedFunc &finished_callback)
	Read a number of bytes, calling a callback when finished. More...

void	removeDropListener (const boost::signals2::connection &c)

void	sendHeaderError (const std::string &error_message)
	Send a header error message, of the form "error=<message>". Drops the connection once the data has written successfully (or fails to write) More...

void	setHeader (const Header &header)
	Set the Header associated with this connection (used with UDPROS, which receives the connection during XMLRPC negotiation). More...

void	setHeaderReceivedCallback (const HeaderReceivedFunc &func)
	Set the header receipt callback. More...

void	write (const boost::shared_array< uint8_t > &buffer, uint32_t size, const WriteFinishedFunc &finished_callback, bool immedate=true)
	Write a buffer of bytes, calling a callback when finished. More...

void	writeHeader (const M_string &key_vals, const WriteFinishedFunc &finished_callback)
	Send a list of string key/value pairs as a header message. More...

	~Connection ()

Private Member Functions
void	onDisconnect (const TransportPtr &transport)
	Called by the Transport when it has been disconnected, either through a call to close() or through an error in the connection (such as a remote disconnect) More...

void	onErrorHeaderWritten (const ConnectionPtr &conn)

void	onHeaderLengthRead (const ConnectionPtr &conn, const boost::shared_array< uint8_t > &buffer, uint32_t size, bool success)

void	onHeaderRead (const ConnectionPtr &conn, const boost::shared_array< uint8_t > &buffer, uint32_t size, bool success)

void	onHeaderWritten (const ConnectionPtr &conn)

void	onReadable (const TransportPtr &transport)
	Called by the Transport when there is data available to be read. More...

void	onWriteable (const TransportPtr &transport)
	Called by the Transport when it is possible to write data. More...

void	readTransport ()
	Read data off our transport. Also manages calling the read callback. If there is any data to be read, read() will read it until the fixed read buffer is filled. More...

void	writeTransport ()
	Write data to our transport. Also manages calling the write callback. More...

Private Attributes
boost::recursive_mutex	drop_mutex_
	Synchronizes drop() calls. More...

DropSignal	drop_signal_
	Signal raised when this connection is dropped. More...

bool	dropped_
	Have we dropped? More...

volatile uint32_t	has_read_callback_

volatile uint32_t	has_write_callback_

Header	header_
	Incoming header. More...

HeaderReceivedFunc	header_func_
	Function that handles the incoming header. More...

WriteFinishedFunc	header_written_callback_
	Function to call when the outgoing header has finished writing. More...

bool	is_server_
	Are we a server? Servers wait for clients to send a header and then send a header in response. More...

boost::shared_array< uint8_t >	read_buffer_
	Read buffer that ends up being passed to the read callback. More...

ReadFinishedFunc	read_callback_
	Function to call when the read is finished. More...

uint32_t	read_filled_
	Amount of data currently in the read buffer, in bytes. More...

boost::recursive_mutex	read_mutex_
	Mutex used for protecting reading. Recursive because a read can immediately cause another read through the callback. More...

uint32_t	read_size_
	Size of the read buffer, in bytes. More...

bool	reading_
	Flag telling us if we're in the middle of a read (mostly to avoid recursive deadlocking) More...

bool	sending_header_error_
	If we're sending a header error we disable most other calls. More...

TransportPtr	transport_
	Transport associated with us. More...

boost::shared_array< uint8_t >	write_buffer_
	Buffer to write from. More...

WriteFinishedFunc	write_callback_
	Function to call when the current write is finished. More...

boost::mutex	write_callback_mutex_

boost::recursive_mutex	write_mutex_
	Mutex used for protecting writing. Recursive because a write can immediately cause another write through the callback. More...

uint32_t	write_sent_
	Amount of data we've written from the write buffer. More...

uint32_t	write_size_
	Size of the write buffer. More...

bool	writing_
	Flag telling us if we're in the middle of a write (mostly used to avoid recursive deadlocking) More...

Detailed Description

Encapsulates a connection to a remote host, independent of the transport type.

Connection provides automatic header negotiation, as well as easy ways of reading and writing arbitrary amounts of data without having to set up your own state machines.

Definition at line 70 of file connection.h.

Member Typedef Documentation

◆ DropFunc

typedef boost::function<void(const ConnectionPtr&, DropReason reason)> ros::Connection::DropFunc

Definition at line 148 of file connection.h.

◆ DropSignal

typedef boost::signals2::signal<void(const ConnectionPtr&, DropReason reason)> ros::Connection::DropSignal

Definition at line 147 of file connection.h.

Member Enumeration Documentation

◆ DropReason

enum ros::Connection::DropReason

Enumerator
TransportDisconnect
HeaderError
Destructing

Definition at line 73 of file connection.h.

Constructor & Destructor Documentation

◆ Connection()

ros::Connection::Connection ( )

Definition at line 47 of file connection.cpp.

◆ ~Connection()

ros::Connection::~Connection ( )

Definition at line 62 of file connection.cpp.

Member Function Documentation

◆ addDropListener()

boost::signals2::connection ros::Connection::addDropListener ( const DropFunc & slot )

Add a callback to be called when this connection has dropped.

Definition at line 87 of file connection.cpp.

◆ drop()

void ros::Connection::drop ( DropReason reason )

Drop this connection. Anything added as a drop listener through addDropListener will get called back when this connection has been dropped.

Definition at line 325 of file connection.cpp.

◆ getCallerId()

std::string ros::Connection::getCallerId ( )

Definition at line 464 of file connection.cpp.

◆ getHeader()

Header& ros::Connection::getHeader ( )

inline

Get the Header associated with this connection.

Definition at line 167 of file connection.h.

◆ getRemoteString()

std::string ros::Connection::getRemoteString ( )

Definition at line 475 of file connection.cpp.

◆ getTransport()

const TransportPtr& ros::Connection::getTransport ( )

inline

Get the Transport associated with this connection.

Definition at line 163 of file connection.h.

◆ initialize()

void ros::Connection::initialize	(	const TransportPtr &	transport,
		bool	is_server,
		const HeaderReceivedFunc &	header_func
	)

Initialize this connection.

Definition at line 69 of file connection.cpp.

◆ isDropped()

bool ros::Connection::isDropped ( )

Returns whether or not this connection has been dropped.

Definition at line 348 of file connection.cpp.

◆ isSendingHeaderError()

bool ros::Connection::isSendingHeaderError ( )

inline

Returns true if we're currently sending a header error (and will be automatically dropped when it's finished)

Definition at line 101 of file connection.h.

◆ onDisconnect()

void ros::Connection::onDisconnect ( const TransportPtr & transport )

private

Called by the Transport when it has been disconnected, either through a call to close() or through an error in the connection (such as a remote disconnect)

Definition at line 317 of file connection.cpp.

◆ onErrorHeaderWritten()

void ros::Connection::onErrorHeaderWritten ( const ConnectionPtr & conn )

private

Definition at line 450 of file connection.cpp.

◆ onHeaderLengthRead()

void ros::Connection::onHeaderLengthRead	(	const ConnectionPtr &	conn,
		const boost::shared_array< uint8_t > &	buffer,
		uint32_t	size,
		bool	success
	)

private

Definition at line 386 of file connection.cpp.

◆ onHeaderRead()

void ros::Connection::onHeaderRead	(	const ConnectionPtr &	conn,
		const boost::shared_array< uint8_t > &	buffer,
		uint32_t	size,
		bool	success
	)

private

Definition at line 409 of file connection.cpp.

◆ onHeaderWritten()

void ros::Connection::onHeaderWritten ( const ConnectionPtr & conn )

private

Definition at line 441 of file connection.cpp.

◆ onReadable()

void ros::Connection::onReadable ( const TransportPtr & transport )

private

Called by the Transport when there is data available to be read.

Definition at line 99 of file connection.cpp.

◆ onWriteable()

void ros::Connection::onWriteable ( const TransportPtr & transport )

private

Called by the Transport when it is possible to write data.

Definition at line 256 of file connection.cpp.

◆ read()

void ros::Connection::read	(	uint32_t	size,
		const ReadFinishedFunc &	finished_callback
	)

Read a number of bytes, calling a callback when finished.

read() will not queue up multiple reads. Once read() has been called, it is not valid to call it again until the finished callback has been called. It is valid to call read() from within the finished callback.

The finished callback is of the form void(const ConnectionPtr&, const boost::shared_array<uint8_t>&, uint32_t)

Note: The finished callback may be called from within this call to read() if the data has already arrived

Parameters

size	The size, in bytes, of data to read
finished_callback	The function to call when this read is finished

Definition at line 264 of file connection.cpp.

◆ readTransport()

void ros::Connection::readTransport ( )

private

Read data off our transport. Also manages calling the read callback. If there is any data to be read, read() will read it until the fixed read buffer is filled.

Definition at line 107 of file connection.cpp.

◆ removeDropListener()

void ros::Connection::removeDropListener ( const boost::signals2::connection & c )

Definition at line 93 of file connection.cpp.

◆ sendHeaderError()

void ros::Connection::sendHeaderError ( const std::string & error_message )

Send a header error message, of the form "error=<message>". Drops the connection once the data has written successfully (or fails to write)

Parameters

error_message The error message

Definition at line 377 of file connection.cpp.

◆ setHeader()

void ros::Connection::setHeader ( const Header & header )

inline

Set the Header associated with this connection (used with UDPROS, which receives the connection during XMLRPC negotiation).

Definition at line 173 of file connection.h.

◆ setHeaderReceivedCallback()

void ros::Connection::setHeaderReceivedCallback ( const HeaderReceivedFunc & func )

Set the header receipt callback.

Definition at line 456 of file connection.cpp.

◆ write()

void ros::Connection::write	(	const boost::shared_array< uint8_t > &	buffer,
		uint32_t	size,
		const WriteFinishedFunc &	finished_callback,
		bool	immedate = `true`
	)

Write a buffer of bytes, calling a callback when finished.

write() will not queue up multiple writes. Once write() has been called, it is not valid to call it again until the finished callback has been called. It is valid to call write() from within the finished callback.

The finished callback is of the form void(const ConnectionPtr&)

Note: The finished callback may be called from within this call to write() if the data can be written immediately

Parameters

buffer	The buffer of data to write
size	The size of the buffer, in bytes
finished_callback	The function to call when the write has finished
immediate	Whether to immediately try to write as much data as possible to the socket or to pass the data off to the server thread

Definition at line 289 of file connection.cpp.

◆ writeHeader()

void ros::Connection::writeHeader	(	const M_string &	key_vals,
		const WriteFinishedFunc &	finished_callback
	)

Send a list of string key/value pairs as a header message.

Parameters

key_vals	The values to send. Neither keys nor values can have any newlines in them
finished_callback	The function to call when the header has finished writing

Definition at line 354 of file connection.cpp.

◆ writeTransport()

void ros::Connection::writeTransport ( )

private

Write data to our transport. Also manages calling the write callback.

Definition at line 192 of file connection.cpp.

Member Data Documentation

◆ drop_mutex_

boost::recursive_mutex ros::Connection::drop_mutex_

private

Synchronizes drop() calls.

Definition at line 262 of file connection.h.

◆ drop_signal_

DropSignal ros::Connection::drop_signal_

private

Signal raised when this connection is dropped.

Definition at line 259 of file connection.h.

◆ dropped_

bool ros::Connection::dropped_

private

Have we dropped?

Definition at line 212 of file connection.h.

◆ has_read_callback_

volatile uint32_t ros::Connection::has_read_callback_

private

flag telling us if there is a read callback 32-bit loads and stores are atomic on x86 and PPC... TODO: use a cross-platform atomic operations library to ensure this is done atomically

Definition at line 235 of file connection.h.

◆ has_write_callback_

volatile uint32_t ros::Connection::has_write_callback_

private

flag telling us if there is a write callback 32-bit loads and stores are atomic on x86 and PPC... TODO: use a cross-platform atomic operations library to ensure this is done atomically

Definition at line 253 of file connection.h.

◆ header_

Header ros::Connection::header_

private

Incoming header.

Definition at line 214 of file connection.h.

◆ header_func_

HeaderReceivedFunc ros::Connection::header_func_

private

Function that handles the incoming header.

Definition at line 218 of file connection.h.

◆ header_written_callback_

WriteFinishedFunc ros::Connection::header_written_callback_

private

Function to call when the outgoing header has finished writing.

Definition at line 256 of file connection.h.

◆ is_server_

bool ros::Connection::is_server_

private

Are we a server? Servers wait for clients to send a header and then send a header in response.

Definition at line 210 of file connection.h.

◆ read_buffer_

boost::shared_array<uint8_t> ros::Connection::read_buffer_

private

Read buffer that ends up being passed to the read callback.

Definition at line 221 of file connection.h.

◆ read_callback_

ReadFinishedFunc ros::Connection::read_callback_

private

Function to call when the read is finished.

Definition at line 227 of file connection.h.

◆ read_filled_

uint32_t ros::Connection::read_filled_

private

Amount of data currently in the read buffer, in bytes.

Definition at line 223 of file connection.h.

◆ read_mutex_

boost::recursive_mutex ros::Connection::read_mutex_

private

Mutex used for protecting reading. Recursive because a read can immediately cause another read through the callback.

Definition at line 229 of file connection.h.

◆ read_size_

uint32_t ros::Connection::read_size_

private

Size of the read buffer, in bytes.

Definition at line 225 of file connection.h.

◆ reading_

bool ros::Connection::reading_

private

Flag telling us if we're in the middle of a read (mostly to avoid recursive deadlocking)

Definition at line 231 of file connection.h.

◆ sending_header_error_

bool ros::Connection::sending_header_error_

private

If we're sending a header error we disable most other calls.

Definition at line 265 of file connection.h.

◆ transport_

TransportPtr ros::Connection::transport_

private

Transport associated with us.

Definition at line 216 of file connection.h.

◆ write_buffer_

boost::shared_array<uint8_t> ros::Connection::write_buffer_

private

Buffer to write from.

Definition at line 238 of file connection.h.

◆ write_callback_

WriteFinishedFunc ros::Connection::write_callback_

private

Function to call when the current write is finished.

Definition at line 244 of file connection.h.

◆ write_callback_mutex_

boost::mutex ros::Connection::write_callback_mutex_

private

Definition at line 245 of file connection.h.

◆ write_mutex_

boost::recursive_mutex ros::Connection::write_mutex_

private

Mutex used for protecting writing. Recursive because a write can immediately cause another write through the callback.

Definition at line 247 of file connection.h.

◆ write_sent_

uint32_t ros::Connection::write_sent_

private

Amount of data we've written from the write buffer.

Definition at line 240 of file connection.h.

◆ write_size_

uint32_t ros::Connection::write_size_

private

Size of the write buffer.

Definition at line 242 of file connection.h.

◆ writing_

bool ros::Connection::writing_

private

Flag telling us if we're in the middle of a write (mostly used to avoid recursive deadlocking)

Definition at line 249 of file connection.h.

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

Public Types

Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Member Typedef Documentation

◆ DropFunc

◆ DropSignal

Member Enumeration Documentation

◆ DropReason

Constructor & Destructor Documentation

◆ Connection()

◆ ~Connection()

Member Function Documentation

◆ addDropListener()

◆ drop()

◆ getCallerId()

◆ getHeader()

◆ getRemoteString()

◆ getTransport()

◆ initialize()

◆ isDropped()

◆ isSendingHeaderError()

◆ onDisconnect()

◆ onErrorHeaderWritten()

◆ onHeaderLengthRead()

◆ onHeaderRead()

◆ onHeaderWritten()

◆ onReadable()

◆ onWriteable()

◆ read()

◆ readTransport()

◆ removeDropListener()

◆ sendHeaderError()

◆ setHeader()

◆ setHeaderReceivedCallback()

◆ write()

◆ writeHeader()

◆ writeTransport()

Member Data Documentation

◆ drop_mutex_

◆ drop_signal_

◆ dropped_

◆ has_read_callback_

◆ has_write_callback_

◆ header_

◆ header_func_

◆ header_written_callback_

◆ is_server_

◆ read_buffer_

◆ read_callback_

◆ read_filled_

◆ read_mutex_

◆ read_size_

◆ reading_

◆ sending_header_error_

◆ transport_

◆ write_buffer_

◆ write_callback_

◆ write_callback_mutex_

◆ write_mutex_

◆ write_sent_

◆ write_size_

◆ writing_