Goby3  3.1.5a
2024.05.23
tcp_server.h
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1 // Copyright 2020-2022:
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 //
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12 // them under the terms of the GNU Lesser General Public License as published by
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15 //
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19 // GNU Lesser General Public License for more details.
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23 
24 #ifndef GOBY_MIDDLEWARE_IO_COBS_TCP_SERVER_H
25 #define GOBY_MIDDLEWARE_IO_COBS_TCP_SERVER_H
26 
27 #include <istream> // for istream
28 #include <memory> // for make_shared
29 #include <string> // for basic_st...
30 #include <utility> // for move
31 
32 #include <boost/asio/ip/tcp.hpp> // for tcp, tcp...
33 #include <boost/asio/read_until.hpp> // for async_re...
34 #include <boost/asio/streambuf.hpp> // for streambuf
35 #include <boost/system/error_code.hpp> // for error_code
36 
38 #include "goby/middleware/io/detail/io_interface.h" // for PubSubLayer
39 #include "goby/middleware/io/detail/tcp_server_interface.h" // for TCPServe...
40 #include "goby/middleware/protobuf/io.pb.h" // for IOData
41 #include "goby/middleware/protobuf/tcp_config.pb.h" // for TCPServe...
42 
43 namespace goby
44 {
45 namespace middleware
46 {
47 class Group;
48 }
49 } // namespace goby
50 
51 namespace goby
52 {
53 namespace middleware
54 {
55 namespace io
56 {
57 template <typename TCPServerThreadType>
58 class TCPSessionCOBS : public detail::TCPSession<TCPServerThreadType>
59 {
60  public:
61  TCPSessionCOBS(boost::asio::ip::tcp::socket socket, TCPServerThreadType& server)
62  : detail::TCPSession<TCPServerThreadType>(std::move(socket), server)
63  {
64  }
65 
66  template <class Thread>
67  friend void cobs_async_write(Thread* this_thread,
68  std::shared_ptr<const goby::middleware::protobuf::IOData> io_msg);
69 
70  template <class Thread, class ThreadBase>
71  friend void cobs_async_read(Thread* this_thread, std::shared_ptr<ThreadBase> self);
72 
73  private:
74  void async_read() override
75  {
76  auto self(this->shared_from_this());
77  cobs_async_read(this, self);
78  }
79 
80  void async_write(std::shared_ptr<const goby::middleware::protobuf::IOData> io_msg) override
81  {
82  cobs_async_write(this, io_msg);
83  }
84 
85  private:
86  boost::asio::streambuf buffer_;
87 };
88 
89 template <const goby::middleware::Group& packet_in_group,
90  const goby::middleware::Group& packet_out_group,
91  // by default publish all incoming traffic to interprocess for logging
92  PubSubLayer publish_layer = PubSubLayer::INTERPROCESS,
93  // but only subscribe on interthread for outgoing traffic
94  PubSubLayer subscribe_layer = PubSubLayer::INTERTHREAD,
96  template <class> class ThreadType = goby::middleware::SimpleThread,
97  bool use_indexed_groups = false>
99  : public detail::TCPServerThread<packet_in_group, packet_out_group, publish_layer,
100  subscribe_layer, Config, ThreadType, use_indexed_groups>
101 {
102  using Base = detail::TCPServerThread<packet_in_group, packet_out_group, publish_layer,
103  subscribe_layer, Config, ThreadType, use_indexed_groups>;
104 
105  public:
106  TCPServerThreadCOBS(const Config& config, int index = -1) : Base(config, index) {}
107 
108  private:
109  void start_session(boost::asio::ip::tcp::socket tcp_socket)
110  {
111  std::make_shared<TCPSessionCOBS<Base>>(std::move(tcp_socket), *this)->start();
112  }
113 };
114 
115 } // namespace io
116 } // namespace middleware
117 } // namespace goby
118 
119 #endif
io.pb.h
goby::middleware::io::TCPSessionCOBS::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
The global namespace for the Goby project.
Definition: acomms_constants.h:33
goby::middleware::io::detail::TCPSession::TCPSession
TCPSession(boost::asio::ip::tcp::socket socket, TCPServerThreadType &server)
Definition: tcp_server_interface.h:78
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::Thread< goby::middleware::protobuf::TCPServerConfig, InterVehicleForwarder< InterProcessForwarder< InterThreadTransporter > > >::index
int index() const
Definition: thread.h:145
detail
detail namespace with internal helper functions
Definition: json.hpp:246
goby::middleware::io::TCPSessionCOBS
Definition: tcp_server.h:58
tcp_server_interface.h
common.h
goby::middleware::protobuf::TCPServerConfig
Definition: tcp_config.pb.h:80
goby::middleware::io::TCPSessionCOBS::TCPSessionCOBS
TCPSessionCOBS(boost::asio::ip::tcp::socket socket, TCPServerThreadType &server)
Definition: tcp_server.h:61
tcp_config.pb.h
goby::middleware::io::detail::TCPSession
Definition: tcp_server_interface.h:75
goby::middleware::SimpleThread
Implements Thread for a three layer middleware setup ([ intervehicle [ interprocess [ interthread ] ]...
Definition: simple_thread.h:43
goby::middleware::io::TCPServerThreadCOBS
Definition: tcp_server.h:98
goby::middleware::io::PubSubLayer
PubSubLayer
Definition: io_transporters.h:38
goby::middleware::io::TCPSessionCOBS::cobs_async_read
friend void cobs_async_read(Thread *this_thread, std::shared_ptr< ThreadBase > self)
Definition: common.h:90
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
goby::middleware::io::detail::TCPServerThread
Definition: tcp_server_interface.h:188
io_interface.h
goby::middleware::io::TCPServerThreadCOBS::TCPServerThreadCOBS
TCPServerThreadCOBS(const Config &config, int index=-1)
Definition: tcp_server.h:106
goby::middleware::io::PubSubLayer::INTERPROCESS
@ INTERPROCESS
goby::middleware::io::PubSubLayer::INTERTHREAD
@ INTERTHREAD