Tekkotsu: Socket Class Reference

The networking interface needs more documentation. It also needs a cleanup. In the mean time, take a look at the TekkotsuMon objects in Tekkotsu/Behaviors/Mon. They all listen for new connections. Unfortunately, at the momement there are no examples of outgoing connections, but it should give you a pretty good idea how to start moving.

Definition at line 76 of file Socket.h.


Public Member Functions
	Socket (int sockn)
	constructor
virtual	~Socket ()
	destructor
byte *	getWriteBuffer (int bytesreq)
void	write (int size)
	writes the specified number of bytes starting at the pointer returned.
int	read ()
	Blocking read. NOT IMPLEMENTED.
byte *	getReadBuffer ()
	getReadBuffer is used with blocking read's NOT IMPLEMENTED
unsigned int	getMaxSendSize () const
	returns the maximum buffer size for a send
unsigned int	getMaxReceiveSize () const
	returns the maximum buffer size for a receive
unsigned int	getAvailableSendSize () const
	returns the maximum currently available buffer size for a send
unsigned int	getAvailableReceiveSize () const
	returns the maximum currently available buffer size for a receive
void	init ()
	initialize socket member variables. This is different from the constructor since sockets are reused
int	setFlushType (FlushType_t fType)
	Chooses between blocking and non-blocking input, output.
FlushType_t	getFlushType () const
	returns flush mode
int	setTransport (TransportType_t tr)
	can choose between different transports; will reset the socket
TransportType_t	getTransport () const
	returns the transport in use
void	setTextForward ()
	causes this socket to forward output to stdout if it is not connected, call setForward(NULL) to unset
void	setForward (Socket *forsock)
	causes this socket to forward output to sock if it is not connected, pass NULL to unset
void	setVerbosity (int verbose)
	Picks a level of verbosity for filtering pprintf commands.
int	write (const byte *buf, int size)
int	read (byte *buf, int size)
	Blocking read (NOT IMPLEMENTED).
int	printf (const char *fmt,...) __attribute__((format(printf
int int	vprintf (const char *fmt, va_list al) __attribute__((format(printf
int int int	pprintf (int vlevel, const char *fmt,...) __attribute__((format(printf
	Similar to printf, except it takes an extra first argument.
int int int void	flush ()
bool	getDaemon () const
	returns daemon
int	getPeerAddress () const
	returns the address of the remote host in local host byte order
std::string	getPeerAddressAsString () const
	returns the address of the remote host as a human-readable string
int	getPeerPort () const
	returns the port number that the remote host's socket is on
Public Attributes
int	sock
	unique non-negative integer representing socket. Serves as index into socket Objects array
Protected Types
typedef antSharedBuffer	buf_t
	the Aibo Networking Toolkit buffer data structure
typedef antModuleRef	endp_t
	the Aibo Networking Toolkit endpoint data structure
Protected Member Functions
	Socket (const Socket &)
	copy constructor, don't call
Socket &	operator= (const Socket &)
	assignment operator, don't call
Protected Attributes
TransportType_t	trType
	stores choice between transports (UDP or TCP (aka Datagram or Stream))
FlushType_t	flType
	blocking or non-blocking flushes... note that blocking flushes only block on the handoff to the system, not actual transmission (at least under aperios)
int	verbosity
	can be used to filter calls to pprintf
endp_t	endpoint
	holds the endpoint data structure for the host OS
ConnectionState	state
	an enum representing the current state of the socket
int	sendBufSize
	the size of the buffer for sendData and writeData
int	recvBufSize
	the size of the buffer for readData and recvData
int	sendSize
	the size of sendData (total amount of data from last flush)
int	sentSize
	the sent portion of sendData (amount of data which has been sent to system so far)
int	recvSize
	the size of recvData (total amount of data returned by system)
int	writeSize
	the size of writeData (amount of data so far ready to be flushed)
int	readSize
	the size of readData (not used)
bool	tx
	a flag set when sendData is in the process of being sent to the system
bool	rx
	not used, see readData
buf_t	sendBuffer
	under aperios, a pointer to a shared region with the ip stack; under other OS, a pointer to a normal char * buffer
byte *	sendData
	a region within sendBuffer, holding data in the process of being sent
byte *	writeData
	a region within sendBuffer, holds data still being filled in by user code, not yet flushed
buf_t	recvBuffer
	under aperios, a pointer to a shared region with the ip stack; under other OS, a pointer to a normal char * buffer
byte *	recvData
	a region within recvBuffer, holding data either just filled in by ip stack (during call to rcvcbckfn), or in the process of being filled in (any other time)
byte *	readData
	not used (available for double buffering, but not implemented)
int	server_port
	if the socket is a server socket, this is the port it is listening on
int(*	rcvcbckfn )(char *, int)
	pointer to callback function, called after recvData has been filled in
int	peer_addr
	inet address of peer (if connected) or last message sender (if udp and bound); -1 otherwise (in host byte-order, not network byte-order!)
int	peer_port
	port of peer (if connected) or last message sender (if udp and bound); -1 otherwise
bool	textForward
	if true, when data is sent to the socket and the socket is not current connected, the data will be sent to stdout (overridden by forwardSock)
char *	textForwardBuf
	temporary buffer allocated in getWriteBuffer() and freed in write(), if the output is destined for stdout (textForward)
Socket *	forwardSock
	if non-NULL, output will be sent to this socket if the current socket is not otherwise connected (overrides textForward)
bool	daemon
	if true, the socket will automatically be reopened after any closure (manual or otherwise)
Friends
class	Wireless

Member Typedef Documentation

typedef antSharedBuffer Socket::buf_t [protected]

the Aibo Networking Toolkit buffer data structure

Definition at line 231 of file Socket.h.

typedef antModuleRef Socket::endp_t [protected]

the Aibo Networking Toolkit endpoint data structure

Definition at line 232 of file Socket.h.

Constructor & Destructor Documentation

Socket::Socket ( int sockn ) [inline, explicit]

constructor

Definition at line 84 of file Socket.h.

Socket::~Socket ( ) [virtual]

destructor

Definition at line 33 of file Socket.cc.

Socket::Socket ( const Socket & ) [protected]

copy constructor, don't call

Member Function Documentation

void Socket::flush ( )

All write commands on the socket will implicity call this. You don't need to call it, unless you're implementing your own write

Reimplemented in DummySocket.

Definition at line 156 of file Socket.cc.

Referenced by flush(), Wireless::SendCont(), vprintf(), and write().

unsigned int Socket::getAvailableReceiveSize ( ) const [inline]

returns the maximum *currently available* buffer size for a receive

Definition at line 137 of file Socket.h.

unsigned int Socket::getAvailableSendSize ( ) const [inline]

returns the maximum *currently available* buffer size for a send

Definition at line 136 of file Socket.h.

bool Socket::getDaemon ( ) const [inline]

returns daemon

Definition at line 218 of file Socket.h.

FlushType_t Socket::getFlushType ( ) const [inline]

returns flush mode

Definition at line 151 of file Socket.h.

unsigned int Socket::getMaxReceiveSize ( ) const [inline]

returns the maximum buffer size for a receive

Definition at line 135 of file Socket.h.

unsigned int Socket::getMaxSendSize ( ) const [inline]

returns the maximum buffer size for a send

Definition at line 134 of file Socket.h.

int Socket::getPeerAddress ( ) const [inline]

returns the address of the remote host in local host byte order

Definition at line 220 of file Socket.h.

std::string Socket::getPeerAddressAsString ( ) const

returns the address of the remote host as a human-readable string

Definition at line 264 of file Socket.cc.

Referenced by EchoBehavior::processCallback().

int Socket::getPeerPort ( ) const [inline]

returns the port number that the remote host's socket is on

Definition at line 222 of file Socket.h.

Referenced by EchoBehavior::processCallback().

byte * Socket::getReadBuffer ( )

getReadBuffer is used with blocking read's NOT IMPLEMENTED

The read(void) and getReadBuffer combo eliminates one buffer copy. You don't need to use getReadBuffer with read(byte*, int)

Blocking read is currently broken - it will be fixed in the next release

Returns:: pointer to the buffer the previous call to blocking read wrote into or NULL if no data was read

Reimplemented in DummySocket.

Definition at line 102 of file Socket.cc.

TransportType_t Socket::getTransport ( ) const [inline]

returns the transport in use

Definition at line 156 of file Socket.h.

Referenced by SegCamBehavior::processEvent(), RegionCamBehavior::processEvent(), and RawCamBehavior::processEvent().

byte * Socket::getWriteBuffer ( int bytesreq )

The getWriteBuffer-write(int) combo eliminates one buffer copy. You don't need to use getWriteBuffer with write(byte*, int)

Returns:: pointer to the current position in the current write buffer for this socket or NULL on error

Parameters:

bytesreq

maximum number of bytes the caller intends to set before the write method is called

Reimplemented in DummySocket.

Definition at line 45 of file Socket.cc.

Referenced by LGmixin::displayHtmlText(), getWriteBuffer(), EventLogger::logImage(), EventLogger::logMessage(), EventLogger::logWebcam(), SegCamBehavior::openPacket(), RegionCamBehavior::openPacket(), RawCamBehavior::openPacket(), WorldStateSerializerBehavior::processEvent(), MicrophoneServer::processEvent(), EventLogger::processEvent(), WMMonitorBehavior::report(), DumpFileControl::selectedFile(), SegCamBehavior::sendCloseConnectionPacket(), RawCamBehavior::sendCloseConnectionPacket(), CameraStreamBehavior::sendSensors(), LGmixin::uploadCameraImage(), LGmixin::uploadFile(), and write().

void Socket::init ( )

initialize socket member variables. This is different from the constructor since sockets are reused

Reimplemented in DummySocket.

Definition at line 109 of file Socket.cc.

Referenced by Wireless::connect(), Wireless::listen(), and setTransport().

Socket& Socket::operator= ( const Socket & ) [protected]

assignment operator, don't call

int Socket::pprintf	(	int	vlevel,
		const char *	fmt,
			...
	)

Similar to printf, except it takes an extra first argument.

If vlevel is than or equal to the current verbosity level, the string will be printed else it will be ignored.

Parameters:

	vlevel	if (vlevel<=verbosity) print, else ignore
	fmt	same as the standard printf's format string

Reimplemented in DummySocket.

Definition at line 185 of file Socket.cc.

int Socket::printf	(	const char *	fmt,
			...
	)

It's standard stuff. man 3 printf on most systems should give you more information

Reimplemented in DummySocket.

Definition at line 199 of file Socket.cc.

Referenced by ProfilerCheckControl::activate(), HelpControl::activate(), BehaviorReportControl::activate(), BatteryCheckControl::activate(), WalkCalibration::addSample(), PNGGenerator::calcImage(), JPEGGenerator::calcImage(), StewartPlatformBehavior::callback(), SensorObserverControl::checkLogFile(), EventLogger::checkLogFile(), ControlBase::clearMenu(), StewartPlatformBehavior::closeComm(), Controller::closeGUI(), ProjectInterface::displayException(), LGmixin::displayHtmlFile(), LGmixin::displayHtmlText(), LGmixin::displayImageFile(), ControlBase::doReadStdIn(), WalkCalibration::doSelect(), ValueEditControl< T >::doSelect(), ControlBase::doSelect(), StateNode::DoStart(), StateNode::DoStop(), Controller::DoStop(), HeadPointerMC::ensureValidJoint(), WalkCalibration::err(), FreeMemReportControl::freeMem(), PNGGenerator::getBinSize(), JPEGGenerator::getBinSize(), Kinematics::getInterestPoint(), SpiderMachineBehavior::indent(), EventLogger::indent(), Controller::init(), Kinematics::initStatics(), PostureMC::isAlive(), HeadPointerMC::isAlive(), StewartPlatformBehavior::isConnected(), WalkMC::loadBuffer(), SegmentedColorGenerator::loadBuffer(), RLEGenerator::loadBuffer(), RegionGenerator::loadBuffer(), RawCameraGenerator::loadBuffer(), PNGGenerator::loadBuffer(), JPEGGenerator::loadBuffer(), InterleavedYUVGenerator::loadBuffer(), CDTGenerator::loadBuffer(), SegmentedColorGenerator::loadColorInfo(), WalkCalibration::loadData(), SegmentedColorGenerator::loadThresholdMap(), Kinematics::lookup(), Kinematics::newChain(), MotionSequenceMC< MAXMOVE >::newKeyFrame(), ValueEditControl< T >::pause(), Controller::pop(), pprintf(), EchoBehavior::processCallback(), WalkCalibration::processEvent(), ValueEditControl< T >::processEvent(), SpiderMachineBehavior::processEvent(), SensorObserverControl::processEvent(), SegCamBehavior::processEvent(), RegionGenerator::processEvent(), RawCameraGenerator::processEvent(), RawCamBehavior::processEvent(), PostureEditor::processEvent(), FreeMemReportControl::processEvent(), FlashIPAddrBehavior::processEvent(), FilterBankGenerator::processEvent(), EventLogger::processEvent(), EStopControllerBehavior::processEvent(), EchoBehavior::processEvent(), CDTGenerator::processEvent(), BallDetectionGenerator::processEvent(), EventLogger::processStateMachineEvent(), Controller::push(), LoadCalibration::readData(), LoadCalibration::readMaxs(), CameraStreamBehavior::receiveData(), WaypointWalkControl::refresh(), WalkCalibration::refresh(), ValueEditControl< T >::refresh(), NetworkStatusControl::refresh(), FilterBankGenerator::refresh(), ControlBase::refresh(), RegionGenerator::RegionGenerator(), WMMonitorBehavior::registerData(), WMMonitorBehavior::report(), WalkCalibration::report(), HelpControl::report(), FreeMemReportControl::report(), BatteryCheckControl::report(), SpiderMachineBehavior::runCommand(), EventLogger::runCommand(), EStopControllerBehavior::runCommand(), SegmentedColorGenerator::saveBuffer(), RLEGenerator::saveBuffer(), RegionGenerator::saveBuffer(), RawCameraGenerator::saveBuffer(), PNGGenerator::saveBuffer(), JPEGGenerator::saveBuffer(), InterleavedYUVGenerator::saveBuffer(), CDTGenerator::saveBuffer(), WalkCalibration::saveData(), RawCameraGenerator::saveFileStream(), StewartPlatformBehavior::sax_error(), StewartPlatformBehavior::sax_fatal_error(), StewartPlatformBehavior::sax_start_element(), StewartPlatformBehavior::sax_warning(), LoadWalkControl::selectedFile(), DumpFileControl::selectedFile(), LGmixin::sendCommand(), CameraStreamBehavior::sendSensors(), StewartPlatformBehavior::setParam(), WalkCalibration::setupMoving(), SegCamBehavior::setupServer(), RegionCamBehavior::setupServer(), RawCamBehavior::setupServer(), SpiderMachineBehavior::spider(), EventLogger::spider(), BatteryMonitorBehavior::startWarning(), BatteryMonitorBehavior::stopWarning(), SaveWalkControl::takeInput(), ControlBase::takeInput(), Controller::takeLine(), EmergencyStopMC::trigger(), LGmixin::uploadCameraImage(), LGmixin::uploadFile(), write(), and StateNode::~StateNode().

int Socket::read	(	byte *	buf,
		int	size
	)

Blocking read (NOT IMPLEMENTED).

You might want to consider the read(void) and getReadBuffer combo if you call this often

Blocking read is currently broken - it will be fixed in the next release

Parameters:

	buf	buffer to write from
	size	number of bytes to write

Returns:: number of bytes actually read

Reimplemented in DummySocket.

Definition at line 257 of file Socket.cc.

int Socket::read ( )

Blocking read. NOT IMPLEMENTED.

Tries to read upto receive buffer size worth of data from this socket.

Blocking read is currently broken - it will be fixed in the next release

Returns:: number of bytes read or -1 on error

Reimplemented in DummySocket.

Definition at line 96 of file Socket.cc.

int Socket::setFlushType ( FlushType_t fType )

Chooses between blocking and non-blocking input, output.

This function can only be called when a socket is disconnected, since it is a bad idea to mix blocking and non-blocking input, output. The default for a socket is non-blocking

Returns:: 0 on success

Reimplemented in DummySocket.

Definition at line 148 of file Socket.cc.

void Socket::setForward ( Socket * forsock ) [inline]

causes this socket to forward output to sock if it is not connected, pass NULL to unset

Definition at line 162 of file Socket.h.

void Socket::setTextForward ( ) [inline]

causes this socket to forward output to stdout if it is not connected, call setForward(NULL) to unset

Reimplemented in DummySocket.

Definition at line 159 of file Socket.h.

int Socket::setTransport ( TransportType_t tr )

can choose between different transports; will reset the socket

Definition at line 20 of file Socket.cc.

Referenced by Wireless::socket().

void Socket::setVerbosity ( int verbose ) [inline]

Picks a level of verbosity for filtering pprintf commands.

The higher the verbosity, the more the number of messages printed. This is useful for filtering out non-important messages with very little processor cost. Default is 0.

Parameters:

verbose

the higher the value of verbose, the more the output

Reimplemented in DummySocket.

Definition at line 171 of file Socket.h.

int Socket::vprintf	(	const char *	fmt,
		va_list	al
	)

It's standard stuff. man 3 printf on most systems should give you more information

Reimplemented in DummySocket.

Definition at line 209 of file Socket.cc.

Referenced by printf(), StewartPlatformBehavior::sax_error(), StewartPlatformBehavior::sax_fatal_error(), StewartPlatformBehavior::sax_warning(), and vprintf().

int Socket::write	(	const byte *	buf,
		int	size
	)

You might want to consider the getWriteBuffer-write(int) combo if you call this often

Parameters:

	buf	buffer to write from
	size	number of bytes to write

Returns:: the number of bytes actually written or -1 on error

Reimplemented in DummySocket.

Definition at line 236 of file Socket.cc.

void Socket::write ( int size )

writes the specified number of bytes starting at the pointer returned.

in a (prior) call to getWriteBufer

Parameters:

size

number of bytes to be sent from the current write buffer

Reimplemented in DummySocket.

Definition at line 70 of file Socket.cc.

Referenced by SegCamBehavior::closePacket(), RegionCamBehavior::closePacket(), RawCamBehavior::closePacket(), LGmixin::displayHtmlText(), StringInputControl::doReadStdIn(), Controller::loadGUI(), EventLogger::logImage(), EventLogger::logMessage(), EventLogger::logWebcam(), WorldStateSerializerBehavior::processEvent(), MicrophoneServer::processEvent(), EventLogger::processEvent(), ControlBase::refresh(), BatteryCheckControl::refresh(), WMMonitorBehavior::report(), DumpFileControl::selectedFile(), SegCamBehavior::sendCloseConnectionPacket(), RawCamBehavior::sendCloseConnectionPacket(), CameraStreamBehavior::sendSensors(), LGmixin::uploadCameraImage(), LGmixin::uploadFile(), and write().

Friends And Related Function Documentation

friend class Wireless [friend]

Reimplemented in DummySocket.

Definition at line 77 of file Socket.h.

Member Data Documentation

bool Socket::daemon [protected]

if true, the socket will automatically be reopened after any closure (manual or otherwise)

Definition at line 269 of file Socket.h.

Referenced by Wireless::getDaemon(), getDaemon(), and Wireless::setDaemon().

endp_t Socket::endpoint [protected]

holds the endpoint data structure for the host OS

Definition at line 238 of file Socket.h.

Referenced by Wireless::connect(), init(), Wireless::listen(), setTransport(), Socket(), and ~Socket().

FlushType_t Socket::flType [protected]

blocking or non-blocking flushes... note that blocking flushes only block on the handoff to the system, not actual transmission (at least under aperios)

Definition at line 226 of file Socket.h.

Referenced by flush(), getFlushType(), and setFlushType().

Socket* Socket::forwardSock [protected]

if non-NULL, output will be sent to this socket if the current socket is not otherwise connected (overrides textForward)

Definition at line 267 of file Socket.h.

Referenced by flush(), getWriteBuffer(), setForward(), setTextForward(), vprintf(), and write().

int Socket::peer_addr [protected]

inet address of peer (if connected) or last message sender (if udp and bound); -1 otherwise (in host byte-order, not network byte-order!)

Definition at line 262 of file Socket.h.

Referenced by Wireless::close(), Wireless::CloseCont(), Wireless::connect(), getPeerAddress(), getPeerAddressAsString(), init(), Wireless::ListenCont(), and Wireless::ReceiveCont().

int Socket::peer_port [protected]

port of peer (if connected) or last message sender (if udp and bound); -1 otherwise

Definition at line 263 of file Socket.h.

Referenced by Wireless::close(), Wireless::CloseCont(), Wireless::connect(), getPeerPort(), init(), Wireless::ListenCont(), and Wireless::ReceiveCont().

int(* Socket::rcvcbckfn)(char *, int) [protected]

pointer to callback function, called after recvData has been filled in

Referenced by Wireless::receive(), Wireless::ReceiveCont(), and Wireless::setReceiver().

byte* Socket::readData [protected]

not used (available for double buffering, but not implemented)

Definition at line 257 of file Socket.h.

Referenced by Wireless::socket().

int Socket::readSize [protected]

the size of readData (not used)

Definition at line 247 of file Socket.h.

buf_t Socket::recvBuffer [protected]

under aperios, a pointer to a shared region with the ip stack; under other OS, a pointer to a normal char * buffer

Definition at line 255 of file Socket.h.

Referenced by Wireless::close(), Wireless::socket(), and ~Socket().

int Socket::recvBufSize [protected]

the size of the buffer for readData and recvData

Definition at line 242 of file Socket.h.

Referenced by getAvailableReceiveSize(), getMaxReceiveSize(), and Wireless::socket().

byte* Socket::recvData [protected]

a region within recvBuffer, holding data either just filled in by ip stack (during call to rcvcbckfn), or in the process of being filled in (any other time)

Definition at line 256 of file Socket.h.

Referenced by Wireless::ReceiveCont(), and Wireless::socket().

int Socket::recvSize [protected]

the size of recvData (total amount of data returned by system)

Definition at line 245 of file Socket.h.

Referenced by Wireless::ReceiveCont().

bool Socket::rx [protected]

not used, see readData

Definition at line 249 of file Socket.h.

Referenced by Wireless::hasData(), and Wireless::receive().

buf_t Socket::sendBuffer [protected]

under aperios, a pointer to a shared region with the ip stack; under other OS, a pointer to a normal char * buffer