Goby3  3.1.5a
2024.05.23
tcp_client.h
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1 // Copyright 2022:
2 // GobySoft, LLC (2013-)
3 // Community contributors (see AUTHORS file)
4 // File authors:
5 // Toby Schneider <toby@gobysoft.org>
6 //
7 //
8 // This file is part of the Goby Underwater Autonomy Project Libraries
9 // ("The Goby Libraries").
10 //
11 // The Goby Libraries are free software: you can redistribute them and/or modify
12 // them under the terms of the GNU Lesser General Public License as published by
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14 // (at your option) any later version.
15 //
16 // The Goby Libraries are distributed in the hope that they will be useful,
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18 // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
19 // GNU Lesser General Public License for more details.
20 //
21 // You should have received a copy of the GNU Lesser General Public License
22 // along with Goby. If not, see <http://www.gnu.org/licenses/>.
23 
24 #ifndef GOBY_MIDDLEWARE_IO_COBS_TCP_CLIENT_H
25 #define GOBY_MIDDLEWARE_IO_COBS_TCP_CLIENT_H
26 
27 #include <istream> // for istream
28 #include <memory> // for make_shared
29 #include <string> // for basic_st...
30 
31 #include <boost/asio/read_until.hpp> // for async_re...
32 #include <boost/asio/streambuf.hpp> // for streambuf
33 #include <boost/system/error_code.hpp> // for error_code
34 
36 #include "goby/middleware/io/detail/io_interface.h" // for PubSubLayer
37 #include "goby/middleware/io/detail/tcp_client_interface.h" // for TCPClien...
38 #include "goby/middleware/protobuf/io.pb.h" // for IOData
39 
40 namespace goby
41 {
42 namespace middleware
43 {
44 class Group;
45 }
46 } // namespace goby
47 namespace goby
48 {
49 namespace middleware
50 {
51 namespace protobuf
52 {
53 class TCPClientConfig;
54 }
55 } // namespace middleware
56 } // namespace goby
57 
58 namespace goby
59 {
60 namespace middleware
61 {
62 namespace io
63 {
67 template <const goby::middleware::Group& packet_in_group,
68  const goby::middleware::Group& packet_out_group,
69  PubSubLayer publish_layer = PubSubLayer::INTERPROCESS,
70  PubSubLayer subscribe_layer = PubSubLayer::INTERTHREAD,
72  template <class> class ThreadType = goby::middleware::SimpleThread,
73  bool use_indexed_groups = false>
75  : public detail::TCPClientThread<packet_in_group, packet_out_group, publish_layer,
76  subscribe_layer, Config, ThreadType, use_indexed_groups>
77 {
78  using Base = detail::TCPClientThread<packet_in_group, packet_out_group, publish_layer,
79  subscribe_layer, Config, ThreadType, use_indexed_groups>;
80 
81  public:
86  : Base(config, index)
87  {
88  }
89 
91 
92  template <class Thread>
93  friend void cobs_async_write(Thread* this_thread,
94  std::shared_ptr<const goby::middleware::protobuf::IOData> io_msg);
95 
96  template <class Thread, class ThreadBase>
97  friend void cobs_async_read(Thread* this_thread, std::shared_ptr<ThreadBase> self);
98 
99  private:
100  void async_read() override { cobs_async_read(this); }
101 
102  void async_write(std::shared_ptr<const goby::middleware::protobuf::IOData> io_msg) override
103  {
104  cobs_async_write(this, io_msg);
105  }
106 
107  private:
108  boost::asio::streambuf buffer_;
109 };
110 } // namespace io
111 } // namespace middleware
112 } // namespace goby
113 
114 #endif
io.pb.h
goby::middleware::io::TCPClientThreadCOBS::TCPClientThreadCOBS
TCPClientThreadCOBS(const goby::middleware::protobuf::TCPClientConfig &config, int index=-1)
Constructs the thread.
Definition: tcp_client.h:85
goby
The global namespace for the Goby project.
Definition: acomms_constants.h:33
goby::acomms::abc::protobuf::config
extern ::google::protobuf::internal::ExtensionIdentifier< ::goby::acomms::protobuf::DriverConfig, ::google::protobuf::internal::MessageTypeTraits< ::goby::acomms::abc::protobuf::Config >, 11, false > config
Definition: abc_driver.pb.h:203
goby::middleware::protobuf::TCPClientConfig
Definition: tcp_config.pb.h:235
goby::middleware::Thread< goby::middleware::protobuf::TCPClientConfig, InterVehicleForwarder< InterProcessForwarder< InterThreadTransporter > > >::index
int index() const
Definition: thread.h:145
tcp_client_interface.h
common.h
goby::middleware::io::TCPClientThreadCOBS
Reads/Writes strings from/to a TCP connection using a Consistent Overhead Byte Stuffing (COBS) binary...
Definition: tcp_client.h:74
goby::middleware::io::TCPClientThreadCOBS::cobs_async_read
friend void cobs_async_read(Thread *this_thread, std::shared_ptr< ThreadBase > self)
Definition: common.h:90
goby::middleware::io::TCPClientThreadCOBS::cobs_async_write
friend void cobs_async_write(Thread *this_thread, std::shared_ptr< const goby::middleware::protobuf::IOData > io_msg)
Definition: common.h:44
goby::middleware::io::detail::TCPClientThread
Definition: tcp_client_interface.h:55
goby::middleware::SimpleThread
Implements Thread for a three layer middleware setup ([ intervehicle [ interprocess [ interthread ] ]...
Definition: simple_thread.h:43
goby::middleware::io::PubSubLayer
PubSubLayer
Definition: io_transporters.h:38
goby::middleware::Thread
Represents a thread of execution within the Goby middleware, interleaving periodic events (loop()) wi...
Definition: thread.h:60
goby::middleware::Group
Class for grouping publications in the Goby middleware. Analogous to "topics" in ROS,...
Definition: group.h:59
io_interface.h
goby::middleware::io::PubSubLayer::INTERPROCESS
@ INTERPROCESS
goby::middleware::io::TCPClientThreadCOBS::~TCPClientThreadCOBS
~TCPClientThreadCOBS()
Definition: tcp_client.h:90
goby::middleware::io::PubSubLayer::INTERTHREAD
@ INTERTHREAD