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mrpt::utils::CClientTCPSocket Class Reference

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 33 of file CClientTCPSocket.h.

#include <mrpt/utils/CClientTCPSocket.h>

Inheritance diagram for mrpt::utils::CClientTCPSocket:
Inheritance graph
[legend]

Public Types

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

Public Member Functions

 CClientTCPSocket ()
 Default constructor. More...
 
 ~CClientTCPSocket ()
 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 (uint64_t Offset, CStream::TSeekOrigin Origin=sFromBeginning)
 This virtual method has no effect in this implementation over a TCP socket, and its use raises an exception. More...
 
uint64_t getTotalBytesCount ()
 This virtual method has no effect in this implementation over a TCP socket, and its use raises an exception. More...
 
uint64_t getPosition ()
 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...
 
bool sendMessage (const CMessage &outMsg, const int timeout_ms=-1)
 Send a message through the TCP stream. More...
 
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. More...
 
size_t getReadPendingBytes ()
 Return the number of bytes already in the receive queue (they can be read without waiting) More...
 
int setTCPNoDelay (const 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 (const int &newValue)
 Set the size of the SO send buffer. More...
 
int getSOSendBufffer ()
 Return the current size of the SO send buffer. More...
 
size_t ReadBuffer (void *Buffer, size_t Count)
 Reads a block of bytes from the stream into Buffer. More...
 
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. 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...
 
void WriteBuffer (const void *Buffer, size_t Count)
 Writes a block of bytes to the stream from Buffer. More...
 
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). More...
 
size_t CopyFrom (CStream *Source, size_t Count)
 Copies a specified number of bytes from one stream to another. More...
 
void WriteObject (const CSerializable *o)
 Writes an object to the stream. More...
 
CSerializablePtr ReadObject ()
 Reads an object from stream, its class determined at runtime, and returns a smart pointer to the object. More...
 
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. More...
 
CStreamoperator<< (const CSerializablePtr &pObj)
 Write an object to a stream in the binary MRPT format. More...
 
CStreamoperator<< (const CSerializable &obj)
 Write an object to a stream in the binary MRPT format. More...
 
CStreamoperator>> (CSerializablePtr &pObj)
 
CStreamoperator>> (CSerializable &obj)
 
virtual int printf (const char *fmt,...) MRPT_printf_format_check(2
 Writes a string to the stream in a textual form. More...
 
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. More...
 
void sendMessage (const utils::CMessage &msg)
 Send a message to the device. More...
 
bool receiveMessage (utils::CMessage &msg)
 Tries to receive a message from the device. 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
 See description of CClientTCPSocket. More...
 

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. More...
 
size_t Write (const void *Buffer, size_t Count)
 Introduces a virtual method responsible for writing to the stream. More...
 
std::string getLastErrorStr ()
 Returns a description of the last error. More...
 

Protected Attributes

int m_hSock
 The handle for the connected TCP socket, or -1. More...
 
std::string m_remotePartIP
 The IP address of the remote part of the connection. More...
 
unsigned short m_remotePartPort
 The TCP port of the remote part of the connection. More...
 

Friends

class CServerTCPSocket
 

Member Enumeration Documentation

◆ TSeekOrigin

Used in CStream::Seek.

Enumerator
sFromBeginning 
sFromCurrent 
sFromEnd 

Definition at line 41 of file CStream.h.

Constructor & Destructor Documentation

◆ CClientTCPSocket()

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

Default constructor.

See also
connect

◆ ~CClientTCPSocket()

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

Destructor.

Member Function Documentation

◆ close()

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

Closes the connection.

◆ connect()

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
remotePartAddressThis string can be a host name, like "server" or "www.mydomain.org", or an IP address "11.22.33.44".
remotePartTCPPortThe port on the remote machine to connect to.
timeout_msThe timeout to wait for the connection (0: NO TIMEOUT)
Exceptions
Thismethod raises an exception if an error is found with a textual description of the error.

◆ CopyFrom()

size_t mrpt::utils::CStream::CopyFrom ( CStream Source,
size_t  Count 
)
inherited

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

◆ getLastErrorStr()

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

Returns a description of the last error.

◆ getline()

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.

◆ getPosition()

uint64_t mrpt::utils::CClientTCPSocket::getPosition ( )
inlinevirtual

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_END, MRPT_START, and THROW_EXCEPTION.

◆ getReadPendingBytes()

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

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

◆ getSOSendBufffer()

int mrpt::utils::CClientTCPSocket::getSOSendBufffer ( )

Return the current size of the SO send buffer.

◆ getTCPNoDelay()

int mrpt::utils::CClientTCPSocket::getTCPNoDelay ( )

Return the value of the TCPNoDelay option.

◆ getTotalBytesCount()

uint64_t mrpt::utils::CClientTCPSocket::getTotalBytesCount ( )
inlinevirtual

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 129 of file CClientTCPSocket.h.

References MRPT_END, MRPT_START, and THROW_EXCEPTION.

◆ isConnected()

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

Returns true if this objects represents a successfully connected socket.

◆ operator<<() [1/2]

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

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

◆ operator<<() [2/2]

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

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

◆ operator>>() [1/2]

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

◆ operator>>() [2/2]

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

◆ printf()

virtual int mrpt::utils::CStream::printf ( const char *  fmt,
  ... 
)
virtualinherited

◆ printf_vector()

template<typename T >
virtual int void mrpt::utils::CStream::printf_vector ( const char *  fmt,
const std::vector< T > &  V 
)
inlineinherited

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

Definition at line 200 of file CStream.h.

◆ Read()

size_t mrpt::utils::CClientTCPSocket::Read ( void *  Buffer,
size_t  Count 
)
protectedvirtual

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.

◆ readAsync()

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
BufferThe destination of data.
CoundThe number of bytes to read.
timeoutStart_msThe maximum timeout (in milliseconds) to wait for the starting of data from the other side.
timeoutBetween_msThe 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.

◆ ReadBuffer()

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

Reads a block of bytes from the stream into Buffer.

Exceptions
std::exceptionOn 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,

◆ ReadBufferFixEndianness()

template<typename T >
size_t mrpt::utils::CStream::ReadBufferFixEndianness ( T *  ptr,
size_t  ElementCount 
)
inlineinherited

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
ElementCountThe number of elements (not bytes) to read.
ptrA 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::exceptionOn any error, or if ZERO bytes are read.
See also
ReadBufferFixEndianness, ReadBuffer

Definition at line 90 of file CStream.h.

References mrpt::mrpt::utils::reverseBytesInPlace().

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

◆ ReadBufferImmediate()

virtual size_t mrpt::utils::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::exceptionOn any error, or if ZERO bytes are read.

Reimplemented in mrpt::hwdrivers::CInterfaceFTDI.

Definition at line 108 of file CStream.h.

◆ ReadObject() [1/2]

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::exceptionOn I/O error or undefined class.
mrpt::utils::CExceptionEOFOn 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>>().

◆ ReadObject() [2/2]

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::exceptionOn I/O error or different class found.
mrpt::utils::CExceptionEOFOn 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.

◆ receiveMessage() [1/2]

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
inMsgThe received message is placed here.
timeoutStart_msThe maximum timeout (in milliseconds) to wait for the starting of data from the other side.
timeoutBetween_msThe 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.

◆ receiveMessage() [2/2]

bool mrpt::utils::CStream::receiveMessage ( utils::CMessage msg)
inherited

Tries to receive a message from the device.

Exceptions
std::exceptionOn 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()

◆ Seek()

uint64_t mrpt::utils::CClientTCPSocket::Seek ( uint64_t  Offset,
CStream::TSeekOrigin  Origin = sFromBeginning 
)
inlinevirtual

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 119 of file CClientTCPSocket.h.

References MRPT_END, MRPT_START, MRPT_UNUSED_PARAM, and THROW_EXCEPTION.

◆ sendMessage() [1/2]

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

Send a message through the TCP stream.

Parameters
outMsgThe message to be shown.
timeout_msThe 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.

◆ sendMessage() [2/2]

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::exceptionOn communication errors

◆ sendString()

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

Writes a string to the socket.

Exceptions
std::exceptionOn communication errors

◆ setSOSendBufffer()

int mrpt::utils::CClientTCPSocket::setSOSendBufffer ( const int &  newValue)

Set the size of the SO send buffer.

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

Parameters
newValueNew size of the SO send buffer.
Returns
Return a number lower than 0 if any error occurred.

◆ setTCPNoDelay()

int mrpt::utils::CClientTCPSocket::setTCPNoDelay ( const int &  newValue)

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

Parameters
newValueNew value (0 enable Nagle algorithm, 1 disable).
Returns
Return a number lower than 0 if any error occurred.

◆ Write()

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

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.

◆ writeAsync()

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
BufferThe data.
CoundThe number of bytes to write.
timeout_msThe 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.

◆ WriteBuffer()

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

Writes a block of bytes to the stream from Buffer.

Exceptions
std::exceptionOn any error
See also
Important, see: WriteBufferFixEndianness
Note
This method is endianness-dependent.

◆ WriteBufferFixEndianness()

template<typename T >
void mrpt::utils::CStream::WriteBufferFixEndianness ( const T *  ptr,
size_t  ElementCount 
)
inlineinherited

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

Parameters
ElementCountThe number of elements (not bytes) to write.
ptrA 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::exceptionOn any error
See also
WriteBuffer

Definition at line 134 of file CStream.h.

◆ WriteObject()

void mrpt::utils::CStream::WriteObject ( const CSerializable o)
inherited

Writes an object to the stream.

Friends And Related Function Documentation

◆ CServerTCPSocket

friend class CServerTCPSocket
friend

Definition at line 35 of file CClientTCPSocket.h.

Member Data Documentation

◆ DNS_LOOKUP_TIMEOUT_MS

unsigned int mrpt::utils::CClientTCPSocket::DNS_LOOKUP_TIMEOUT_MS
static

See description of CClientTCPSocket.

Definition at line 39 of file CClientTCPSocket.h.

◆ m_hSock

int mrpt::utils::CClientTCPSocket::m_hSock
protected

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

Definition at line 55 of file CClientTCPSocket.h.

◆ m_remotePartIP

std::string mrpt::utils::CClientTCPSocket::m_remotePartIP
protected

The IP address of the remote part of the connection.

Definition at line 60 of file CClientTCPSocket.h.

◆ m_remotePartPort

unsigned short mrpt::utils::CClientTCPSocket::m_remotePartPort
protected

The TCP port of the remote part of the connection.

Definition at line 64 of file CClientTCPSocket.h.




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