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

Definition at line 34 of file CClientTCPSocket.h.

#include <mrpt/comms/CClientTCPSocket.h>

Inheritance diagram for mrpt::comms::CClientTCPSocket:

Public Types
enum	TSeekOrigin { sFromBeginning = 0, sFromCurrent = 1, sFromEnd = 2 }
	Used in CStream::Seek. More...

Public Member Functions
	CClientTCPSocket ()
	Default constructor. More...

	~CClientTCPSocket () override
	Destructor. More...

void	connect (const std::string &remotePartAddress, unsigned short remotePartTCPPort, unsigned int timeout_ms=0)
	Establishes a connection with a remote part. More...

bool	isConnected ()
	Returns true if this objects represents a successfully connected socket. More...

void	close ()
	Closes the connection. More...

void	sendString (const std::string &str)
	Writes a string to the socket. More...

uint64_t	Seek (int64_t off, CStream::TSeekOrigin org=sFromBeginning) override
	This virtual method has no effect in this implementation over a TCP socket, and its use raises an exception. More...

uint64_t	getTotalBytesCount () const override
	This virtual method has no effect in this implementation over a TCP socket, and its use raises an exception. More...

uint64_t	getPosition () const override
	This virtual method has no effect in this implementation over a TCP socket, and its use raises an exception. More...

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. More...

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. More...

template<class MESSAGE >
bool	sendMessage (const MESSAGE &outMsg, const int timeout_ms=-1)
	Send a message through the TCP stream. More...

template<class MESSAGE >
bool	receiveMessage (MESSAGE &inMsg, const unsigned int timeoutStart_ms=100, const unsigned int timeoutBetween_ms=1000)
	Waits for an incoming message through the TCP stream. More...

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

int	setTCPNoDelay (int newValue)
	Set the TCP no delay option of the protocol (Nagle algorithm). More...

int	getTCPNoDelay ()
	Return the value of the TCPNoDelay option. More...

int	setSOSendBufffer (int newValue)
	Set the size of the SO send buffer. More...

int	getSOSendBufffer ()
	Return the current size of the SO send buffer. More...

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). More...

virtual uint64_t	Seek (int64_t Offset, CStream::TSeekOrigin Origin=sFromBeginning)=0
	Introduces a pure virtual method for moving to a specified position in the streamed resource. More...

virtual int	printf (const char *fmt,...) MRPT_printf_format_check(2
	Writes a string to the stream in a textual form. More...

template<typename CONTAINER_TYPE >
virtual int void	printf_vector (const char *fmt, const CONTAINER_TYPE &V, char separator=',')
	Prints a vector in the format [A,B,C,...] using CStream::printf, and the fmt string for each vector element `T`. More...

bool	getline (std::string &out_str)
	Reads from the stream until a ' ' character is found ('' characters are ignored). More...

Static Public Attributes
static unsigned int	DNS_LOOKUP_TIMEOUT_MS = 3000
	See description of CClientTCPSocket. More...

Protected Member Functions
size_t	Read (void *Buffer, size_t Count) override
	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. More...

size_t	Write (const void *Buffer, size_t Count) override
	Introduces a virtual method responsible for writing to the stream. More...

std::string	getLastErrorStr ()
	Returns a description of the last Sockets error. More...

Protected Attributes
uint32_t	m_hSock
	The handle for the connected TCP socket, or INVALID_SOCKET. More...

std::string	m_remotePartIP
	The IP address of the remote part of the connection. More...

unsigned short	m_remotePartPort = 0
	The TCP port of the remote part of the connection. More...

Friends
class	CServerTCPSocket

Member Enumeration Documentation

◆ TSeekOrigin

enum mrpt::io::CStream::TSeekOrigin

inherited

Used in CStream::Seek.

Enumerator
sFromBeginning
sFromCurrent
sFromEnd

Definition at line 32 of file io/CStream.h.

Constructor & Destructor Documentation

◆ CClientTCPSocket()

CClientTCPSocket::CClientTCPSocket ( )

Default constructor.

See also: connect

Definition at line 47 of file CClientTCPSocket.cpp.

References MRPT_END, MRPT_START, and THROW_EXCEPTION.

◆ ~CClientTCPSocket()

CClientTCPSocket::~CClientTCPSocket ( )

override

Destructor.

Definition at line 70 of file CClientTCPSocket.cpp.

References mrpt::exception_to_str().

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Member Function Documentation

◆ close()

void CClientTCPSocket::close ( )

Closes the connection.

Definition at line 88 of file CClientTCPSocket.cpp.

References MRPT_END, and MRPT_START.

Referenced by mrpt::hwdrivers::CNTRIPClient::private_ntrip_thread().

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◆ connect()

void 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.

Definition at line 144 of file CClientTCPSocket.cpp.

References mrpt::comms::net::DNS_resolve_async(), mrpt::format(), mrpt::obs::gnss::lon, MRPT_END, MRPT_START, THROW_EXCEPTION, and THROW_EXCEPTION_FMT.

Referenced by mrpt::comms::net::http_request(), mrpt::hwdrivers::CNTRIPClient::private_ntrip_thread(), and thread_client().

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◆ getLastErrorStr()

std::string CClientTCPSocket::getLastErrorStr ( )

protected

Returns a description of the last Sockets error.

Definition at line 524 of file CClientTCPSocket.cpp.

References mrpt::comms::net::getLastSocketErrorStr().

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◆ getline()

bool 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.

Definition at line 69 of file CStream.cpp.

◆ getPosition()

uint64_t CClientTCPSocket::getPosition ( ) const

overridevirtual

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

Implements mrpt::io::CStream.

Definition at line 544 of file CClientTCPSocket.cpp.

References MRPT_END, MRPT_START, and THROW_EXCEPTION.

◆ getReadPendingBytes()

size_t CClientTCPSocket::getReadPendingBytes ( )

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

Definition at line 449 of file CClientTCPSocket.cpp.

References THROW_EXCEPTION.

Referenced by mrpt::hwdrivers::CHokuyoURG::purgeBuffers().

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◆ getSOSendBufffer()

int CClientTCPSocket::getSOSendBufffer ( )

Return the current size of the SO send buffer.

Definition at line 511 of file CClientTCPSocket.cpp.

◆ getTCPNoDelay()

int CClientTCPSocket::getTCPNoDelay ( )

Return the value of the TCPNoDelay option.

Definition at line 481 of file CClientTCPSocket.cpp.

◆ getTotalBytesCount()

uint64_t CClientTCPSocket::getTotalBytesCount ( ) const

overridevirtual

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

Implements mrpt::io::CStream.

Definition at line 537 of file CClientTCPSocket.cpp.

References MRPT_END, MRPT_START, and THROW_EXCEPTION.

◆ isConnected()

bool CClientTCPSocket::isConnected ( )

Returns true if this objects represents a successfully connected socket.

Definition at line 274 of file CClientTCPSocket.cpp.

Referenced by mrpt::comms::net::http_request(), and mrpt::hwdrivers::CNTRIPClient::private_ntrip_thread().

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◆ printf()

int CStream::printf	(	const char *	fmt,
			...
	)

virtualinherited

Writes a string to the stream in a textual form.

See also: CStdOutStream

Definition at line 30 of file CStream.cpp.

References MRPT_END, MRPT_START, and mrpt::system::os::vsnprintf().

Referenced by mrpt::hmtslam::CTopLCDetector_GridMatching::computeTopologicalObservationModel(), mrpt::apps::MonteCarloLocalization_Base::do_pf_localization(), mrpt::io::CStream::printf_vector(), mrpt::apps::CGridMapAlignerApp::run(), mrpt::apps::RBPF_SLAM_App_Base::run(), and mrpt::apps::ICP_SLAM_App_Base::run().

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◆ printf_vector()

template<typename CONTAINER_TYPE >

virtual int void mrpt::io::CStream::printf_vector	(	const char *	fmt,
		const CONTAINER_TYPE &	V,
		char	separator = `','`
	)

inlineinherited

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

Template Parameters

CONTAINER_TYPE can be any vector<T>, deque<T> or alike.

Definition at line 102 of file io/CStream.h.

References mrpt::io::CStream::printf().

Referenced by mrpt::hmtslam::CTopLCDetector_GridMatching::computeTopologicalObservationModel().

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◆ Read()

size_t CClientTCPSocket::Read	(	void *	Buffer,
		size_t	Count
	)

overrideprotectedvirtual

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::io::CStream.

Definition at line 115 of file CClientTCPSocket.cpp.

References MRPT_END, and MRPT_START.

◆ readAsync()

size_t 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.

Definition at line 278 of file CClientTCPSocket.cpp.

References MRPT_END, MRPT_START, and THROW_EXCEPTION_FMT.

Referenced by mrpt::hwdrivers::CHokuyoURG::ensureBufferHasBytes(), mrpt::comms::net::http_request(), mrpt::hwdrivers::CNTRIPClient::private_ntrip_thread(), and receiveMessage().

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◆ ReadBufferImmediate()

virtual size_t mrpt::io::CStream::ReadBufferImmediate	(	void *	Buffer,
		size_t	Count
	)

inlinevirtualinherited

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::comms::CInterfaceFTDI.

Definition at line 62 of file io/CStream.h.

References mrpt::io::CStream::Read().

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◆ receiveMessage()

template<class MESSAGE >

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

inline

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.

Template Parameters

MESSAGE can be mrpt::serialization::CMessage

Definition at line 194 of file CClientTCPSocket.h.

References readAsync().

Referenced by thread_client().

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◆ Seek() [1/2]

virtual uint64_t mrpt::io::CStream::Seek	(	int64_t	Offset,
		CStream::TSeekOrigin	Origin = `sFromBeginning`
	)

pure virtualinherited

Introduces a pure virtual method for moving to a specified position in the streamed resource.

he Origin parameter indicates how to interpret the Offset parameter. Origin should be one of the following values:

sFromBeginning (Default) Offset is from the beginning of the resource. Seek moves to the position Offset. Offset must be >= 0.
sFromCurrent Offset is from the current position in the resource. Seek moves to Position + Offset.
sFromEnd Offset is from the end of the resource. Offset must be <= 0 to indicate a number of bytes before the end of the file.
Returns
Seek returns the new value of the Position property.

Implemented in mrpt::io::CPipeBaseEndPoint, mrpt::io::CFileStream, mrpt::io::CFileGZInputStream, mrpt::io::CFileGZOutputStream, mrpt::io::CMemoryStream, mrpt::io::CFileOutputStream, and mrpt::io::CFileInputStream.

◆ Seek() [2/2]

uint64_t CClientTCPSocket::Seek	(	int64_t	off,
		CStream::TSeekOrigin	org = `sFromBeginning`
	)

override

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

Definition at line 529 of file CClientTCPSocket.cpp.

References MRPT_END, MRPT_START, and THROW_EXCEPTION.

◆ sendMessage()

template<class MESSAGE >

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

inline

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.

Template Parameters

MESSAGE can be mrpt::serialization::CMessage

Definition at line 160 of file CClientTCPSocket.h.

References writeAsync().

Referenced by thread_server().

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◆ sendString()

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

Writes a string to the socket.

Exceptions

std::exception On communication errors

Definition at line 136 of file CClientTCPSocket.cpp.

Referenced by mrpt::comms::net::http_request(), and mrpt::hwdrivers::CNTRIPClient::private_ntrip_thread().

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◆ setSOSendBufffer()

int CClientTCPSocket::setSOSendBufffer ( int newValue )

Set the size of the SO send buffer.

This buffer is used to store data, and is sended when is full.

Parameters

newValue New size of the SO send buffer.

Returns: Return a number lower than 0 if any error occurred.

Definition at line 501 of file CClientTCPSocket.cpp.

◆ setTCPNoDelay()

int CClientTCPSocket::setTCPNoDelay ( int newValue )

Set the TCP no delay option of the protocol (Nagle algorithm).

Parameters

newValue New value (0 enable Nagle algorithm, 1 disable).

Returns: Return a number lower than 0 if any error occurred.

Definition at line 470 of file CClientTCPSocket.cpp.

◆ Write()

size_t CClientTCPSocket::Write	(	const void *	Buffer,
		size_t	Count
	)

overrideprotectedvirtual

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::io::CStream.

Definition at line 127 of file CClientTCPSocket.cpp.

References MRPT_END, and MRPT_START.

◆ writeAsync()

size_t 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.

Definition at line 369 of file CClientTCPSocket.cpp.

References MRPT_END, MRPT_START, and THROW_EXCEPTION_FMT.

Referenced by mrpt::hwdrivers::CNTRIPClient::private_ntrip_thread(), and sendMessage().

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Friends And Related Function Documentation

◆ CServerTCPSocket

friend class CServerTCPSocket

friend

Definition at line 36 of file CClientTCPSocket.h.

Member Data Documentation

◆ DNS_LOOKUP_TIMEOUT_MS

unsigned int CClientTCPSocket::DNS_LOOKUP_TIMEOUT_MS = 3000

static

See description of CClientTCPSocket.

Definition at line 40 of file CClientTCPSocket.h.

◆ m_hSock

uint32_t mrpt::comms::CClientTCPSocket::m_hSock

protected

The handle for the connected TCP socket, or INVALID_SOCKET.

Definition at line 49 of file CClientTCPSocket.h.

◆ m_remotePartIP

std::string mrpt::comms::CClientTCPSocket::m_remotePartIP

protected

The IP address of the remote part of the connection.

Definition at line 56 of file CClientTCPSocket.h.

◆ m_remotePartPort

unsigned short mrpt::comms::CClientTCPSocket::m_remotePartPort = 0

protected

The TCP port of the remote part of the connection.

Definition at line 58 of file CClientTCPSocket.h.

Detailed Description

Public Types

Public Member Functions

Static Public Attributes

Protected Member Functions

Protected Attributes

Friends

Member Enumeration Documentation

◆ TSeekOrigin

Constructor & Destructor Documentation

◆ CClientTCPSocket()

◆ ~CClientTCPSocket()

Member Function Documentation

◆ close()

◆ connect()

◆ getLastErrorStr()

◆ getline()

◆ getPosition()

◆ getReadPendingBytes()

◆ getSOSendBufffer()

◆ getTCPNoDelay()

◆ getTotalBytesCount()

◆ isConnected()

◆ printf()

◆ printf_vector()

◆ Read()

◆ readAsync()

◆ ReadBufferImmediate()

◆ receiveMessage()

◆ Seek() [1/2]

◆ Seek() [2/2]

◆ sendMessage()

◆ sendString()

◆ setSOSendBufffer()

◆ setTCPNoDelay()

◆ Write()

◆ writeAsync()

Friends And Related Function Documentation

◆ CServerTCPSocket

Member Data Documentation

◆ DNS_LOOKUP_TIMEOUT_MS

◆ m_hSock

◆ m_remotePartIP

◆ m_remotePartPort