Detailed Description

A TCP socket that can be connected to a TCP server, implementing MRPT's CStream interface for passing objects as well as generic read/write methods.

Unless otherwise noticed, operations are blocking.

Note that for convenience, DNS lookup is performed with a timeout (default=3000ms), which can be changed by the static member CClientTCPSocket::DNS_LOOKUP_TIMEOUT_MS

#include <mrpt/utils/CClientTCPSocket.h>

Inheritance diagram for mrpt::utils::CClientTCPSocket:

[legend]

List of all members.

Public Types

enum TSeekOrigin { sFromBeginning = 0, sFromCurrent = 1, sFromEnd = 2 }

Used in CStream::Seek. More...

Public Member Functions

CClientTCPSocket ()

Default constructor.

~CClientTCPSocket ()

Destructor.

void connect (const std::string &remotePartAddress, unsigned short remotePartTCPPort, unsigned int timeout_ms=0)

Establishes a connection with a remote part.

bool isConnected ()

Returns true if this objects represents a successfully connected socket.

void close ()

Closes the connection.

void sendString (const std::string &str)

Writes a string to the socket.

uint64_t Seek (long Offset, CStream::TSeekOrigin Origin=sFromBeginning)

This virtual method has no effect in this implementation over a TCP socket, and its use raises an exception.

uint64_t getTotalBytesCount ()

This virtual method has no effect in this implementation over a TCP socket, and its use raises an exception.

uint64_t getPosition ()

This virtual method has no effect in this implementation over a TCP socket, and its use raises an exception.

size_t readAsync (void *Buffer, const size_t Count, const int timeoutStart_ms=-1, const int timeoutBetween_ms=-1)

A method for reading from the socket with an optional timeout.

size_t writeAsync (const void *Buffer, const size_t Count, const int timeout_ms=-1)

A method for writing to the socket with optional timeouts.

bool sendMessage (const CMessage &outMsg, const int timeout_ms=-1)

Send a message through the TCP stream.

bool receiveMessage (CMessage &inMsg, const unsigned int timeoutStart_ms=100, const unsigned int timeoutBetween_ms=1000)

Waits for an incoming message through the TCP stream.

size_t getReadPendingBytes ()

Return the number of bytes already in the receive queue (they can be read without waiting)

size_t ReadBuffer (void *Buffer, size_t Count)

Reads a block of bytes from the stream into Buffer

Exceptions:

std::exception On any error, or if ZERO bytes are read.

template<typename T >

size_t ReadBufferFixEndianness (T *ptr, size_t ElementCount)

Reads a sequence of elemental datatypes, taking care of reordering their bytes from the MRPT stream standard (little endianness) to the format of the running architecture.

virtual size_t ReadBufferImmediate (void *Buffer, size_t Count)

Reads a block of bytes from the stream into Buffer, and returns the amound of bytes actually read, without waiting for more extra bytes to arrive (just those already enqued in the stream).

void WriteBuffer (const void *Buffer, size_t Count)

Writes a block of bytes to the stream from Buffer.

template<typename T >

void WriteBufferFixEndianness (const T *ptr, size_t ElementCount)

Writes a sequence of elemental datatypes, taking care of reordering their bytes from the running architecture to MRPT stream standard (little endianness).

size_t CopyFrom (CStream *Source, size_t Count)

Copies a specified number of bytes from one stream to another.

void WriteObject (const CSerializable *o)

Writes an object to the stream.

CSerializablePtr ReadObject ()

Reads an object from stream, its class determined at runtime, and returns a smart pointer to the object.

void ReadObject (CSerializable *existingObj)

Reads an object from stream, where its class must be the same as the supplied object, where the loaded object will be stored in.

CStream & operator<< (const CSerializablePtr &pObj)

Write an object to a stream in the binary MRPT format.

CStream & operator<< (const CSerializable &obj)

Write an object to a stream in the binary MRPT format.

CStream & operator>> (CSerializablePtr &pObj)

CStream & operator>> (CSerializable &obj)

virtual int printf (const char *fmt,...) MRPT_printf_format_check(2

Writes a string to the stream in a textual form.

template<typename T >

virtual int void printf_vector (const char *fmt, const std::vector< T > &V)

Prints a vector in the format [A,B,C,...] using CStream::printf, and the fmt string for each vector element.

void sendMessage (const utils::CMessage &msg)

Send a message to the device.

bool receiveMessage (utils::CMessage &msg)

Tries to receive a message from the device.

bool getline (std::string &out_str)

Reads from the stream until a '
' character is found ('' characters are ignored).

Static Public Attributes

static unsigned int DNS_LOOKUP_TIMEOUT_MS

See description of CClientTCPSocket.

Protected Member Functions

size_t Read (void *Buffer, size_t Count)

Introduces a virtual method responsible for reading from the stream (This method BLOCKS) This method is implemented as a call to "readAsync" with infinite timeouts.

size_t Write (const void *Buffer, size_t Count)

Introduces a virtual method responsible for writing to the stream.

std::string getLastErrorStr ()

Returns a description of the last error.

Protected Attributes

int m_hSock

The handle for the connected TCP socket, or -1.

std::string

m_remotePartIP

The IP address of the remote part of the connection.

unsigned short m_remotePartPort

The TCP port of the remote part of the connection.

Friends

class CServerTCPSocket

Member Enumeration Documentation

enum mrpt::utils::CStream::TSeekOrigin [inherited]

Used in CStream::Seek.

Enumerator:

sFromBeginning
sFromCurrent
sFromEnd

Definition at line 60 of file CStream.h.

Constructor & Destructor Documentation

mrpt::utils::CClientTCPSocket::CClientTCPSocket ( )

Default constructor.

See also:: connect

mrpt::utils::CClientTCPSocket::~CClientTCPSocket ( )

Destructor.

Member Function Documentation

void mrpt::utils::CClientTCPSocket::close ( )

Closes the connection.

void mrpt::utils::CClientTCPSocket::connect	(	const std::string &	remotePartAddress,
		unsigned short	remotePartTCPPort,
		unsigned int	timeout_ms = `0`
	)

Establishes a connection with a remote part.

Parameters:

remotePartAddress	This string can be a host name, like "server" or "www.mydomain.org", or an IP address "11.22.33.44".
remotePartTCPPort	The port on the remote machine to connect to.
timeout_ms	The timeout to wait for the connection (0: NO TIMEOUT)

Exceptions:

This	method raises an exception if an error is found with a textual description of the error.

size_t mrpt::utils::CStream::CopyFrom	(	CStream *	Source,
		size_t	Count
	)		`[inherited]`

Copies a specified number of bytes from one stream to another.

std::string mrpt::utils::CClientTCPSocket::getLastErrorStr ( ) [protected]

Returns a description of the last error.

bool mrpt::utils::CStream::getline ( std::string & out_str ) [inherited]

Reads from the stream until a '
' character is found ('' characters are ignored).

Returns:: false on EOF or any other read error.

uint64_t mrpt::utils::CClientTCPSocket::getPosition ( ) [inline, virtual]

This virtual method has no effect in this implementation over a TCP socket, and its use raises an exception.

Implements mrpt::utils::CStream.

Definition at line 157 of file CClientTCPSocket.h.

References MRPT_START, THROW_EXCEPTION, and MRPT_END.

size_t mrpt::utils::CClientTCPSocket::getReadPendingBytes ( )

Return the number of bytes already in the receive queue (they can be read without waiting)

uint64_t mrpt::utils::CClientTCPSocket::getTotalBytesCount ( ) [inline, virtual]

This virtual method has no effect in this implementation over a TCP socket, and its use raises an exception.

Implements mrpt::utils::CStream.

Definition at line 148 of file CClientTCPSocket.h.

References MRPT_START, THROW_EXCEPTION, and MRPT_END.

bool mrpt::utils::CClientTCPSocket::isConnected ( )

Returns true if this objects represents a successfully connected socket.

CStream& mrpt::utils::CStream::operator<< ( const CSerializablePtr & pObj ) [inherited]

Write an object to a stream in the binary MRPT format.

CStream& mrpt::utils::CStream::operator<< ( const CSerializable & obj ) [inherited]

Write an object to a stream in the binary MRPT format.

CStream& mrpt::utils::CStream::operator>> ( CSerializablePtr & pObj ) [inherited]

CStream& mrpt::utils::CStream::operator>> ( CSerializable & obj ) [inherited]

virtual int mrpt::utils::CStream::printf	(	const char *	fmt,
			...
	)		`[virtual, inherited]`

Writes a string to the stream in a textual form.

See also:: CStdOutStream

template<typename T >

virtual int void mrpt::utils::CStream::printf_vector	(	const char *	fmt,
		const std::vector< T > &	V
	)		`[inline, inherited]`

Prints a vector in the format [A,B,C,...] using CStream::printf, and the fmt string for each vector element.

Definition at line 219 of file CStream.h.

size_t mrpt::utils::CClientTCPSocket::Read	(	void *	Buffer,
		size_t	Count
	)		`[protected, virtual]`

Introduces a virtual method responsible for reading from the stream (This method BLOCKS) This method is implemented as a call to "readAsync" with infinite timeouts.

See also:: readAsync

Implements mrpt::utils::CStream.

size_t mrpt::utils::CClientTCPSocket::readAsync	(	void *	Buffer,
		const size_t	Count,
		const int	timeoutStart_ms = `-1`,
		const int	timeoutBetween_ms = `-1`
	)

A method for reading from the socket with an optional timeout.

Parameters:

Buffer	The destination of data.
Cound	The number of bytes to read.
timeoutStart_ms	The maximum timeout (in milliseconds) to wait for the starting of data from the other side.
timeoutBetween_ms	The maximum timeout (in milliseconds) to wait for a chunk of data after a previous one. Set timeout's to -1 to block until the desired number of bytes are read, or an error happens.

Returns:: The number of actually read bytes.

size_t mrpt::utils::CStream::ReadBuffer	(	void *	Buffer,
		size_t	Count
	)		`[inherited]`

Reads a block of bytes from the stream into Buffer

Exceptions:

std::exception On any error, or if ZERO bytes are read.

Returns:: The amound of bytes actually read.

Note:: This method is endianness-dependent.

See also:: ReadBufferImmediate ; Important, see: ReadBufferFixEndianness,

template<typename T >

size_t mrpt::utils::CStream::ReadBufferFixEndianness	(	T *	ptr,
		size_t	ElementCount
	)		`[inline, inherited]`

Reads a sequence of elemental datatypes, taking care of reordering their bytes from the MRPT stream standard (little endianness) to the format of the running architecture.

Parameters:

ElementCount	The number of elements (not bytes) to read.
ptr	A pointer to the first output element in an array (or std::vector<>, etc...).

Returns:

The amound of *bytes* (not elements) actually read (under error situations, the last element may be invalid if the data stream abruptly ends). Example of usage:

   uint32_t  N;
   s >> N;
   vector<float>  vec(N);
   if (N) 
     s.ReadBufferFixEndianness<float>(&vec[0],N);

Exceptions:

std::exception On any error, or if ZERO bytes are read.

See also:: ReadBufferFixEndianness, ReadBuffer

Definition at line 109 of file CStream.h.

References mrpt::utils::reverseBytesInPlace().

Referenced by mrpt::math::operator>>().

virtual size_t mrpt::utils::CStream::ReadBufferImmediate	(	void *	Buffer,
		size_t	Count
	)		`[inline, virtual, inherited]`

Reads a block of bytes from the stream into Buffer, and returns the amound of bytes actually read, without waiting for more extra bytes to arrive (just those already enqued in the stream).

Note that this method will fallback to ReadBuffer() in most CStream classes but in some hardware-related classes.

Exceptions:

std::exception On any error, or if ZERO bytes are read.

Reimplemented in mrpt::hwdrivers::CInterfaceFTDI.

Definition at line 127 of file CStream.h.

CSerializablePtr mrpt::utils::CStream::ReadObject ( ) [inherited]

Reads an object from stream, its class determined at runtime, and returns a smart pointer to the object.

Exceptions:

std::exception	On I/O error or undefined class.
mrpt::utils::CExceptionEOF	On an End-Of-File condition found at a correct place: an EOF that abruptly finishes in the middle of one object raises a plain std::exception instead.

Referenced by mrpt::math::operator>>().

void mrpt::utils::CStream::ReadObject ( CSerializable * existingObj ) [inherited]

Reads an object from stream, where its class must be the same as the supplied object, where the loaded object will be stored in.

Exceptions:

std::exception	On I/O error or different class found.
mrpt::utils::CExceptionEOF	On an End-Of-File condition found at a correct place: an EOF that abruptly finishes in the middle of one object raises a plain std::exception instead.

bool mrpt::utils::CClientTCPSocket::receiveMessage	(	CMessage &	inMsg,
		const unsigned int	timeoutStart_ms = `100`,
		const unsigned int	timeoutBetween_ms = `1000`
	)

Waits for an incoming message through the TCP stream.

Parameters:

inMsg	The received message is placed here.
timeoutStart_ms	The maximum timeout (in milliseconds) to wait for the starting of data from the other side.
timeoutBetween_ms	The maximum timeout (in milliseconds) to wait for a chunk of data after a previous one.

Returns:: Returns false on any error (or timeout), or true if everything goes fine.

bool mrpt::utils::CStream::receiveMessage ( utils::CMessage & msg ) [inherited]

Tries to receive a message from the device.

Exceptions:

std::exception On communication errors

Returns:: True if successful, false if there is no new data from the device (but communications seem to work fine)

See also:: The frame format is described in sendMessage()

uint64_t mrpt::utils::CClientTCPSocket::Seek	(	long	Offset,
		CStream::TSeekOrigin	Origin = `sFromBeginning`
	)		`[inline, virtual]`

This virtual method has no effect in this implementation over a TCP socket, and its use raises an exception.

Implements mrpt::utils::CStream.

Definition at line 138 of file CClientTCPSocket.h.

References MRPT_START, MRPT_UNUSED_PARAM, THROW_EXCEPTION, and MRPT_END.

bool mrpt::utils::CClientTCPSocket::sendMessage	(	const CMessage &	outMsg,
		const int	timeout_ms = `-1`
	)

Send a message through the TCP stream.

Parameters:

outMsg	The message to be shown.
timeout_ms	The maximum timeout (in milliseconds) to wait for the socket in each write operation.

Returns:: Returns false on any error, or true if everything goes fine.

void mrpt::utils::CStream::sendMessage ( const utils::CMessage & msg ) [inherited]

Send a message to the device.

Note that only the low byte from the "type" field will be used.

For frames of size < 255 the frame format is an array of bytes in this order:

  <START_FLAG> <HEADER> <LENGTH> <BODY> <END_FLAG>
        <START_FLAG>    = 0x69
        <HEADER>                = A header byte
        <LENGHT>                = Number of bytes of BODY
        <BODY>                  = N x bytes
        <END_FLAG>              = 0X96
  Total length  =       <LENGTH> + 4

For frames of size > 255 the frame format is an array of bytes in this order:

  <START_FLAG> <HEADER> <HIBYTE(LENGTH)> <LOBYTE(LENGTH)> <BODY> <END_FLAG>
        <START_FLAG>    = 0x79
        <HEADER>                = A header byte
        <LENGHT>                = Number of bytes of BODY
        <BODY>                  = N x bytes
        <END_FLAG>              = 0X96
  Total length  =       <LENGTH> + 5

Exceptions:

std::exception On communication errors

void mrpt::utils::CClientTCPSocket::sendString ( const std::string & str )

Writes a string to the socket.

Exceptions:

std::exception On communication errors

size_t mrpt::utils::CClientTCPSocket::Write	(	const void *	Buffer,
		size_t	Count
	)		`[protected, virtual]`

Introduces a virtual method responsible for writing to the stream.

Write attempts to write up to Count bytes to Buffer, and returns the number of bytes actually written. This method is implemented as a call to "writeAsync" with infinite timeouts.

See also:: writeAsync

Implements mrpt::utils::CStream.

size_t mrpt::utils::CClientTCPSocket::writeAsync	(	const void *	Buffer,
		const size_t	Count,
		const int	timeout_ms = `-1`
	)

A method for writing to the socket with optional timeouts.

The method supports writing block by block as the socket allows us to write more data.

Parameters:

Buffer	The data.
Cound	The number of bytes to write.
timeout_ms	The maximum timeout (in milliseconds) to wait for the socket to be available for writing (for each block). Set timeout's to -1 to block until the desired number of bytes are written, or an error happens.

Returns:: The number of actually written bytes.

void mrpt::utils::CStream::WriteBuffer	(	const void *	Buffer,
		size_t	Count
	)		`[inherited]`

Writes a block of bytes to the stream from Buffer.

Exceptions:

std::exception On any error

See also:: Important, see: WriteBufferFixEndianness

Note:: This method is endianness-dependent.

template<typename T >

void mrpt::utils::CStream::WriteBufferFixEndianness	(	const T *	ptr,
		size_t	ElementCount
	)		`[inline, inherited]`

Writes a sequence of elemental datatypes, taking care of reordering their bytes from the running architecture to MRPT stream standard (little endianness).

Parameters:

ElementCount	The number of elements (not bytes) to write.
ptr	A pointer to the first input element in an array (or std::vector<>, etc...). Example of usage: vector<float> vec = ... uint32_t N = vec.size(); s << N if (N) s.WriteBufferFixEndianness<float>(&vec[0],N);

Exceptions:

std::exception On any error