00001 /* +---------------------------------------------------------------------------+ 00002 | The Mobile Robot Programming Toolkit (MRPT) C++ library | 00003 | | 00004 | http://www.mrpt.org/ | 00005 | | 00006 | Copyright (C) 2005-2011 University of Malaga | 00007 | | 00008 | This software was written by the Machine Perception and Intelligent | 00009 | Robotics Lab, University of Malaga (Spain). | 00010 | Contact: Jose-Luis Blanco <jlblanco@ctima.uma.es> | 00011 | | 00012 | This file is part of the MRPT project. | 00013 | | 00014 | MRPT is free software: you can redistribute it and/or modify | 00015 | it under the terms of the GNU General Public License as published by | 00016 | the Free Software Foundation, either version 3 of the License, or | 00017 | (at your option) any later version. | 00018 | | 00019 | MRPT is distributed in the hope that it will be useful, | 00020 | but WITHOUT ANY WARRANTY; without even the implied warranty of | 00021 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the | 00022 | GNU General Public License for more details. | 00023 | | 00024 | You should have received a copy of the GNU General Public License | 00025 | along with MRPT. If not, see <http://www.gnu.org/licenses/>. | 00026 | | 00027 +---------------------------------------------------------------------------+ */ 00028 #ifndef CClientTCPSocket_H 00029 #define CClientTCPSocket_H 00030 00031 #include <mrpt/config.h> 00032 #include <mrpt/utils/utils_defs.h> 00033 #include <mrpt/system/os.h> 00034 #include <mrpt/utils/CStream.h> 00035 00036 namespace mrpt 00037 { 00038 namespace utils 00039 { 00040 class CServerTCPSocket; 00041 class CMessage; 00042 00043 /** \defgroup network_grp Networking, sockets, DNS 00044 * \ingroup mrpt_base_grp */ 00045 00046 /** 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. 00047 * Unless otherwise noticed, operations are blocking. 00048 * 00049 * 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 00050 * \ingroup network_grp 00051 */ 00052 class BASE_IMPEXP CClientTCPSocket : public CStream 00053 { 00054 friend class CServerTCPSocket; 00055 00056 public: 00057 /** See description of CClientTCPSocket */ 00058 static unsigned int DNS_LOOKUP_TIMEOUT_MS; 00059 00060 protected: 00061 00062 #ifdef MRPT_OS_WINDOWS 00063 /** The handle for the connected TCP socket, or INVALID_SOCKET 00064 */ 00065 # if MRPT_WORD_SIZE==64 00066 uint64_t m_hSock; 00067 # else 00068 uint32_t m_hSock; 00069 # endif 00070 #else 00071 00072 /** The handle for the connected TCP socket, or -1 00073 */ 00074 int m_hSock; 00075 #endif 00076 00077 /** The IP address of the remote part of the connection. 00078 */ 00079 std::string m_remotePartIP; 00080 00081 /** The TCP port of the remote part of the connection. 00082 */ 00083 unsigned short m_remotePartPort; 00084 00085 00086 /** Introduces a virtual method responsible for reading from the stream (This method BLOCKS) 00087 * This method is implemented as a call to "readAsync" with infinite timeouts. 00088 * \sa readAsync 00089 */ 00090 size_t Read(void *Buffer, size_t Count); 00091 00092 /** Introduces a virtual method responsible for writing to the stream. 00093 * Write attempts to write up to Count bytes to Buffer, and returns the number of bytes actually written. 00094 * This method is implemented as a call to "writeAsync" with infinite timeouts. 00095 * \sa writeAsync 00096 */ 00097 size_t Write(const void *Buffer, size_t Count); 00098 00099 /** Returns a description of the last error */ 00100 std::string getLastErrorStr(); 00101 00102 public: 00103 /** Default constructor 00104 * \sa connect 00105 */ 00106 CClientTCPSocket( ); 00107 00108 /** Destructor 00109 */ 00110 ~CClientTCPSocket( ); 00111 00112 /** Establishes a connection with a remote part. 00113 * \param remotePartAddress This string can be a host name, like "server" or "www.mydomain.org", or an IP address "11.22.33.44". 00114 * \param remotePartTCPPort The port on the remote machine to connect to. 00115 * \param timeout_ms The timeout to wait for the connection (0: NO TIMEOUT) 00116 * \exception This method raises an exception if an error is found with a textual description of the error. 00117 */ 00118 void connect( 00119 const std::string &remotePartAddress, 00120 unsigned short remotePartTCPPort, 00121 unsigned int timeout_ms = 0 ); 00122 00123 /** Returns true if this objects represents a successfully connected socket. 00124 */ 00125 bool isConnected(); 00126 00127 /** Closes the connection. 00128 */ 00129 void close(); 00130 00131 /** Writes a string to the socket. 00132 * \exception std::exception On communication errors 00133 */ 00134 void sendString( const std::string &str ); 00135 00136 /** This virtual method has no effect in this implementation over a TCP socket, and its use raises an exception 00137 */ 00138 uint64_t Seek(long Offset, CStream::TSeekOrigin Origin = sFromBeginning) 00139 { 00140 MRPT_START 00141 MRPT_UNUSED_PARAM(Offset); MRPT_UNUSED_PARAM(Origin); 00142 THROW_EXCEPTION("This method has no effect in this class!"); 00143 MRPT_END 00144 } 00145 00146 /** This virtual method has no effect in this implementation over a TCP socket, and its use raises an exception 00147 */ 00148 uint64_t getTotalBytesCount() 00149 { 00150 MRPT_START 00151 THROW_EXCEPTION("This method has no effect in this class!"); 00152 MRPT_END 00153 } 00154 00155 /** This virtual method has no effect in this implementation over a TCP socket, and its use raises an exception 00156 */ 00157 uint64_t getPosition() 00158 { 00159 MRPT_START 00160 THROW_EXCEPTION("This method has no effect in this class!"); 00161 MRPT_END 00162 } 00163 00164 /** A method for reading from the socket with an optional timeout. 00165 * \param Buffer The destination of data. 00166 * \param Cound The number of bytes to read. 00167 * \param timeoutStart_ms The maximum timeout (in milliseconds) to wait for the starting of data from the other side. 00168 * \param timeoutBetween_ms The maximum timeout (in milliseconds) to wait for a chunk of data after a previous one. 00169 * Set timeout's to -1 to block until the desired number of bytes are read, or an error happens. 00170 * \return The number of actually read bytes. 00171 */ 00172 size_t readAsync( 00173 void *Buffer, 00174 const size_t Count, 00175 const int timeoutStart_ms = -1, 00176 const int timeoutBetween_ms = -1); 00177 00178 /** A method for writing to the socket with optional timeouts. 00179 * The method supports writing block by block as the socket allows us to write more data. 00180 * \param Buffer The data. 00181 * \param Cound The number of bytes to write. 00182 * \param timeout_ms The maximum timeout (in milliseconds) to wait for the socket to be available for writing (for each block). 00183 * Set timeout's to -1 to block until the desired number of bytes are written, or an error happens. 00184 * \return The number of actually written bytes. 00185 */ 00186 size_t writeAsync( 00187 const void *Buffer, 00188 const size_t Count, 00189 const int timeout_ms = -1 ); 00190 00191 /** Send a message through the TCP stream. 00192 * \param outMsg The message to be shown. 00193 * \param timeout_ms The maximum timeout (in milliseconds) to wait for the socket in each write operation. 00194 * \return Returns false on any error, or true if everything goes fine. 00195 */ 00196 bool sendMessage( 00197 const CMessage& outMsg, 00198 const int timeout_ms = -1 00199 ); 00200 00201 /** Waits for an incoming message through the TCP stream. 00202 * \param inMsg The received message is placed here. 00203 * \param timeoutStart_ms The maximum timeout (in milliseconds) to wait for the starting of data from the other side. 00204 * \param timeoutBetween_ms The maximum timeout (in milliseconds) to wait for a chunk of data after a previous one. 00205 * \return Returns false on any error (or timeout), or true if everything goes fine. 00206 */ 00207 bool receiveMessage( 00208 CMessage& inMsg, 00209 const unsigned int timeoutStart_ms = 100, 00210 const unsigned int timeoutBetween_ms = 1000 00211 ); 00212 00213 /** Return the number of bytes already in the receive queue (they can be read without waiting) */ 00214 size_t getReadPendingBytes(); 00215 00216 }; // End of class def. 00217 00218 } // End of namespace 00219 } // end of namespace 00220 #endif
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