Linux implementation of UAbstractClient. More...

#include <uclient.hh>

Inheritance diagram for urbi::UClient:

Collaboration diagram for urbi::UClient:

Classes
struct	options
	Construction options. More...
Public Member Functions
	UClient (const std::string &host=default_host(), unsigned port=URBI_PORT, size_t buflen=URBI_BUFLEN, const UClient::options &opt=options(false))
virtual	~UClient ()
virtual void	waitForKernelVersion () const
	Block until kernel version is available or an error occurrs.
error_type	start ()
	Bounce to listen or connect, depending whether server mode.
int	closeUClient ()
virtual void	printf (const char *format,...)
	Notify of an error.
virtual unsigned int	getCurrentTime () const
	Get time in milliseconds since an unspecified but constant reference time.
virtual void	setKeepAliveCheck (unsigned pingInterval, unsigned pongTimeout)
	Activate KeepAlive functionality.
void	setSynchronousSend (bool enable)
	Use synchronous or asynchronous send.
Protected Types
typedef boost::shared_ptr < UClient * >	link_type
Protected Member Functions
virtual error_type	onClose ()
	Executed when closing connection.
virtual int	effectiveSend (const void *buffer, size_t size)
	Queue data for sending, returns zero on success, nonzero on failure.
libport::Socket *	mySocketFactory ()
virtual void	onConnect ()
virtual void	onError (boost::system::error_code erc)
virtual size_t	onRead (const void *, size_t length)
void	pongTimeout (link_type l)
	Send timeout error.
void	sendPing (link_type l)
Protected Attributes
libport::utime_t	ping_interval_
	Delay (in microseconds) without activity to check if the connection is yet available.
libport::utime_t	pong_timeout_
	Delay (in microseconds) of timeout to wait 'PONG'.
link_type	link_
libport::utime_t	ping_sent_
libport::AsyncCallHandler	pong_timeout_handler_
libport::AsyncCallHandler	send_ping_handler_
libport::Semaphore	ping_sem_
Private Member Functions
error_type	connect_ ()
	Wrapper around Socket::connect.
error_type	listen_ ()
	Wrapper around Socket::listen.
void	resetAsyncCalls_ ()
	Reset all asynchronous calls.
Private Attributes
bool	asynchronous_
	Make an asynchronous connect.
bool	synchronous_send_
	Use synchronous/asynchronous send.

Detailed Description

Linux implementation of UAbstractClient.

This implementation uses a shared thread between all the instances to handle Socket operations, and call the registered callbacks in that thread.

Definition at line 29 of file uclient.hh.

Member Typedef Documentation

typedef boost::shared_ptr<UClient*> urbi::UClient::link_type [protected]

Definition at line 138 of file uclient.hh.

Constructor & Destructor Documentation

urbi::UClient::UClient	(	const std::string &	host = `default_host()`,
		unsigned	port = `URBI_PORT`,
		size_t	buflen = `URBI_BUFLEN`,
		const UClient::options &	opt = `options(false)`
	)

Create a new client and tries to connect to the server. Will block until the connection is established or timeouts.

Parameters:

host	IP address or name of the robot to connect to.
port	TCP port to connect to.
buflen	size of send and receive buffers.
opt	options: whether server, whether autostart.

Definition at line 53 of file uclient.cc.

References start().

Referenced by urbi::connect().

urbi::UClient::~UClient ( ) [virtual]

Definition at line 105 of file uclient.cc.

References closeUClient(), and link_.