/usr/share/roslisp/src/sockets.lisp is in roslisp 1.9.19-1.
This file is owned by root:root, with mode 0o644.
The actual contents of the file can be viewed below.
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 | ;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;
;; Software License Agreement (BSD License)
;;
;; Copyright (c) 2008, Willow Garage, Inc.
;; All rights reserved.
;;
;; Redistribution and use in source and binary forms, with
;; or without modification, are permitted provided that the
;; following conditions are met:
;;
;; * Redistributions of source code must retain the above
;; copyright notice, this list of conditions and the
;; following disclaimer.
;; * Redistributions in binary form must reproduce the
;; above copyright notice, this list of conditions and
;; the following disclaimer in the documentation and/or
;; other materials provided with the distribution.
;; * Neither the name of Willow Garage, Inc. nor the names
;; of its contributors may be used to endorse or promote
;; products derived from this software without specific
;; prior written permission.
;;
;; THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND
;; CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED
;; WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
;; WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A
;; PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
;; COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT,
;; INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
;; CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
;; PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
;; DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
;; CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
;; CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE
;; OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
;; SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH
;; DAMAGE.
;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;
(in-package roslisp)
(defun close-socket (socket)
"Remove all handlers from this socket and close it"
(ros-debug (roslisp tcp) "~&Closing ~a" socket)
(invalidate-descriptor (socket-file-descriptor socket))
(socket-close socket))
(defun tcp-connect (hostname port)
"Helper that connects over TCP to this host and port, and returns 1) The stream 2) The socket"
(let ((connection (make-instance 'inet-socket :type :stream :protocol :tcp))
(ip-address (get-ip-address hostname)))
(ros-debug (roslisp tcp) "~&Connecting to ~a ~a" ip-address port)
(socket-connect connection ip-address port)
(values (socket-make-stream connection :output t :input t :element-type '(unsigned-byte 8)) connection)))
|