/usr/include/ros/connection_manager.h is in libroscpp-dev 1.11.16-3.
This file is owned by root:root, with mode 0o644.
The actual contents of the file can be viewed below.
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* Copyright (C) 2009, Willow Garage, Inc.
*
* 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 names 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.
*/
#include "forwards.h"
#include "connection.h"
#include "common.h"
#include <boost/thread/mutex.hpp>
#include <boost/signals2/connection.hpp>
namespace ros
{
class PollManager;
typedef boost::shared_ptr<PollManager> PollManagerPtr;
class ConnectionManager;
typedef boost::shared_ptr<ConnectionManager> ConnectionManagerPtr;
class ROSCPP_DECL ConnectionManager
{
public:
static const ConnectionManagerPtr& instance();
ConnectionManager();
~ConnectionManager();
/** @brief Get a new connection ID
*/
uint32_t getNewConnectionID();
/** @brief Add a connection to be tracked by the node. Will automatically remove them if they've been dropped, but from inside the ros thread
*
* @param The connection to add
*/
void addConnection(const ConnectionPtr& connection);
void clear(Connection::DropReason reason);
uint32_t getTCPPort();
uint32_t getUDPPort();
const TransportTCPPtr& getTCPServerTransport() { return tcpserver_transport_; }
const TransportUDPPtr& getUDPServerTransport() { return udpserver_transport_; }
void udprosIncomingConnection(const TransportUDPPtr& transport, Header& header);
void start();
void shutdown();
private:
void onConnectionDropped(const ConnectionPtr& conn);
// Remove any dropped connections from our list, causing them to be destroyed
// They can't just be removed immediately when they're dropped because the ros
// thread may still be using them (or more likely their transport)
void removeDroppedConnections();
bool onConnectionHeaderReceived(const ConnectionPtr& conn, const Header& header);
void tcprosAcceptConnection(const TransportTCPPtr& transport);
PollManagerPtr poll_manager_;
S_Connection connections_;
V_Connection dropped_connections_;
boost::mutex connections_mutex_;
boost::mutex dropped_connections_mutex_;
// The connection ID counter, used to assign unique ID to each inbound or
// outbound connection. Access via getNewConnectionID()
uint32_t connection_id_counter_;
boost::mutex connection_id_counter_mutex_;
boost::signals2::connection poll_conn_;
TransportTCPPtr tcpserver_transport_;
TransportUDPPtr udpserver_transport_;
const static int MAX_TCPROS_CONN_QUEUE = 100; // magic
};
}
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