tcpport.h

/*
 * GearBox Project: Peer-Reviewed Open-Source Libraries for Robotics
 *               http://gearbox.sf.net/
 * Copyright (c) 2008 Geoffrey Biggs
 *
 * flexiport flexible hardware data communications library.
 *
 * This distribution is licensed to you under the terms described in the LICENSE file included in
 * this distribution.
 *
 * This work is a product of the National Institute of Advanced Industrial Science and Technology,
 * Japan. Registration number: H20PRO-881
 *
 * This file is part of flexiport.
 *
 * flexiport is free software: you can redistribute it and/or modify it under the terms of the GNU
 * Lesser General Public License as published by the Free Software Foundation, either version 3 of
 * the License, or (at your option) any later version.
 *
 * flexiport is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without
 * even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
 * Lesser General Public License for more details.
 *
 * You should have received a copy of the GNU Lesser General Public License along with flexiport.
 * If not, see <http://www.gnu.org/licenses/>.
 */

#ifndef __TCPPORT_H
#define __TCPPORT_H

#include "port.h"

#include <map>
#include <string>

namespace flexiport
{

class FLEXIPORT_EXPORT TCPPort : public Port
{
        public:
                TCPPort (std::map<std::string, std::string> options);
                ~TCPPort ();

                void Open ();
                void Close ();
                ssize_t Read (void * const buffer, size_t count);
                ssize_t ReadFull (void * const buffer, size_t count);
                ssize_t BytesAvailable ();
                ssize_t BytesAvailableWait ();
                ssize_t Write (const void * const buffer, size_t count);
                void Flush ();
                void Drain ();
                std::string GetStatus () const;
                void SetTimeout (Timeout timeout);
                void SetCanRead (bool canRead);
                void SetCanWrite (bool canWrite);
                bool IsOpen () const                        { return _open; }

        private:
                int _sock;          // Socket connected to wherever the data is coming from.
                int _listenSock;    // Socket to listen on when in listen mode.

                std::string _ip;
                unsigned int _port;
                bool _isListener;   // True if this port should listen instead of actively connecting.
                bool _open;

                void CheckPort (bool read);

                bool ProcessOption (const std::string &option, const std::string &value);

                void Connect ();
                void WaitForConnection ();
                typedef enum {TIMED_OUT, DATA_AVAILABLE, CAN_WRITE} WaitStatus;
                WaitStatus WaitForDataOrTimeout ();
                bool IsDataAvailable ();
                WaitStatus WaitForWritableOrTimeout ();
                void SetSocketBlockingFlag ();
};

} // namespace flexiport

#endif // __TCPPORT_H