-
Notifications
You must be signed in to change notification settings - Fork 12
Expand file tree
/
Copy pathtcp_interface.cpp
More file actions
124 lines (99 loc) · 3.07 KB
/
tcp_interface.cpp
File metadata and controls
124 lines (99 loc) · 3.07 KB
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
/*
* Unpublished Copyright (c) 2009-2017 AutonomouStuff, LLC, All Rights Reserved.
*
* This file is part of the network_interface ROS 1.0 driver which is released under the MIT license.
* See file LICENSE included with this software or go to https://opensource.org/licenses/MIT for full license details.
*/
#include <network_interface/network_interface.h>
#include <string>
#include <vector>
using namespace AS::Network; // NOLINT
using boost::asio::ip::tcp;
// Default constructor.
TCPInterface::TCPInterface() :
socket_(io_service_)
{
}
ReturnStatuses TCPInterface::open(std::string ip_address, const int &port)
{
if (socket_.is_open())
return ReturnStatuses::OK;
std::stringstream sPort;
sPort << port;
tcp::resolver res(io_service_);
tcp::resolver::query query(tcp::v4(), ip_address, sPort.str());
tcp::resolver::iterator it = res.resolve(query);
boost::system::error_code ec;
socket_.connect(*it, ec);
if (ec.value() == boost::system::errc::success)
{
return ReturnStatuses::OK;
}
else if (ec.value() == boost::asio::error::invalid_argument)
{
return ReturnStatuses::BAD_PARAM;
}
else
{
close();
return ReturnStatuses::INIT_FAILED;
}
}
ReturnStatuses TCPInterface::close()
{
if (!socket_.is_open())
return ReturnStatuses::OK;
boost::system::error_code ec;
socket_.close(ec);
if (ec.value() == boost::system::errc::success)
return ReturnStatuses::OK;
else
return ReturnStatuses::CLOSE_FAILED;
}
bool TCPInterface::is_open()
{
return socket_.is_open();
}
ReturnStatuses TCPInterface::read(std::vector<uint8_t> *msg)
{
if (!socket_.is_open())
return ReturnStatuses::SOCKET_CLOSED;
error_.assign(boost::system::errc::success, boost::system::system_category());
msg->resize(socket_.available(), 0);
boost::asio::read(socket_, boost::asio::buffer(*msg), error_);
// Reset the io service so that it is available for the next call to TCPInterface::read
io_service_.reset();
if (error_.value() == boost::system::errc::success)
return ReturnStatuses::OK;
else
return ReturnStatuses::READ_FAILED;
}
ReturnStatuses TCPInterface::read_exactly(std::vector<uint8_t> *msg, const size_t &bytes_to_read)
{
if (!socket_.is_open())
return ReturnStatuses::SOCKET_CLOSED;
error_.assign(boost::system::errc::success, boost::system::system_category());
msg->resize(bytes_to_read, 0);
boost::asio::read(socket_, boost::asio::buffer(*msg), boost::asio::transfer_exactly(bytes_to_read));
// Reset the io service so that it is available for the next call to TCPInterface::read_exactly
io_service_.reset();
if (error_.value() == boost::system::errc::success)
return ReturnStatuses::OK;
else
return ReturnStatuses::READ_FAILED;
}
ReturnStatuses TCPInterface::write(const std::vector<uint8_t> &msg)
{
if (!socket_.is_open())
return ReturnStatuses::SOCKET_CLOSED;
boost::system::error_code ec;
boost::asio::write(socket_, boost::asio::buffer(msg), ec);
if (ec.value() == boost::system::errc::success)
{
return ReturnStatuses::OK;
}
else
{
return ReturnStatuses::WRITE_FAILED;
}
}