/clients/roscpp/include/ros/io.h
C Header | 208 lines | 115 code | 21 blank | 72 comment | 0 complexity | ee5ee497817332fd496bb8f7652418fa MD5 | raw file
Possible License(s): LGPL-2.1
- /*
- * 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.
- */
- /*****************************************************************************
- ** Ifdefs
- *****************************************************************************/
- #ifndef ROSCPP_IO_H_
- #define ROSCPP_IO_H_
- /*****************************************************************************
- ** Includes
- *****************************************************************************/
- #include <string>
- #include "common.h"
- #ifdef WIN32
- #include <winsock2.h> // For struct timeval
- #include <ws2tcpip.h> // Must be after winsock2.h because MS didn't put proper inclusion guards in their headers.
- #include <sys/types.h>
- #include <io.h>
- #include <fcntl.h>
- #include <process.h> // for _getpid
- #else
- #include <poll.h> // should get cmake to explicitly check for poll.h?
- #include <sys/poll.h>
- #include <arpa/inet.h>
- #include <netdb.h>
- #include <unistd.h>
- #include <netdb.h> // getnameinfo in network.cpp
- #include <netinet/in.h> // sockaddr_in in network.cpp
- #include <netinet/tcp.h> // TCP_NODELAY in transport/transport_tcp.cpp
- #endif
- /*****************************************************************************
- ** Cross Platform Macros
- *****************************************************************************/
- #ifdef WIN32
- #define getpid _getpid
- #define ROS_INVALID_SOCKET INVALID_SOCKET
- #define ROS_SOCKETS_SHUT_RDWR SD_BOTH /* Used by ::shutdown() */
- #define ROS_SOCKETS_ASYNCHRONOUS_CONNECT_RETURN WSAEWOULDBLOCK
- #ifndef POLLRDNORM
- #define POLLRDNORM 0x0100 /* mapped to read fds_set */
- #endif
- #ifndef POLLRDBAND
- #define POLLRDBAND 0x0200 /* mapped to exception fds_set */
- #endif
- #ifndef POLLIN
- #define POLLIN (POLLRDNORM | POLLRDBAND) /* There is data to read. */
- #endif
- #ifndef POLLPRI
- #define POLLPRI 0x0400 /* There is urgent data to read. */
- #endif
- #ifndef POLLWRNORM
- #define POLLWRNORM 0x0010 /* mapped to write fds_set */
- #endif
- #ifndef POLLOUT
- #define POLLOUT (POLLWRNORM) /* Writing now will not block. */
- #endif
- #ifndef POLLWRBAND
- #define POLLWRBAND 0x0020 /* mapped to write fds_set */
- #endif
- #ifndef POLLERR
- #define POLLERR 0x0001 /* Error condition. */
- #endif
- #ifndef POLLHUP
- #define POLLHUP 0x0002 /* Hung up. */
- #endif
- #ifndef POLLNVAL
- #define POLLNVAL 0x0004 /* Invalid polling request. */
- #endif
- #else
- #define ROS_SOCKETS_SHUT_RDWR SHUT_RDWR /* Used by ::shutdown() */
- #define ROS_INVALID_SOCKET ((int) -1)
- #define ROS_SOCKETS_ASYNCHRONOUS_CONNECT_RETURN EINPROGRESS
- #endif
- /*****************************************************************************
- ** Namespaces
- *****************************************************************************/
- namespace ros {
- /*****************************************************************************
- ** Cross Platform Types
- *****************************************************************************/
- #ifdef WIN32
- typedef SOCKET socket_fd_t;
- typedef SOCKET signal_fd_t;
- /* poll emulation support */
- typedef struct socket_pollfd {
- socket_fd_t fd; /* file descriptor */
- short events; /* requested events */
- short revents; /* returned events */
- } socket_pollfd;
- typedef unsigned long int nfds_t;
- #ifdef _MSC_VER
- typedef int pid_t; /* return type for windows' _getpid */
- #endif
- #else
- typedef int socket_fd_t;
- typedef int signal_fd_t;
- typedef struct pollfd socket_pollfd;
- #endif
- /*****************************************************************************
- ** Functions
- *****************************************************************************/
- ROSCPP_DECL int last_socket_error();
- ROSCPP_DECL const char* last_socket_error_string();
- ROSCPP_DECL bool last_socket_error_is_would_block();
- ROSCPP_DECL int poll_sockets(socket_pollfd *fds, nfds_t nfds, int timeout);
- ROSCPP_DECL int set_non_blocking(socket_fd_t &socket);
- ROSCPP_DECL int close_socket(socket_fd_t &socket);
- ROSCPP_DECL int create_signal_pair(signal_fd_t signal_pair[2]);
- /*****************************************************************************
- ** Inlines - almost direct api replacements, should stay fast.
- *****************************************************************************/
- /**
- * Closes the signal pair - on windows we're using sockets (because windows
- * select() function cant handle pipes). On linux, we're just using the pipes.
- * @param signal_pair : the signal pair type.
- */
- inline void close_signal_pair(signal_fd_t signal_pair[2]) {
- #ifdef WIN32 // use a socket pair
- ::closesocket(signal_pair[0]);
- ::closesocket(signal_pair[1]);
- #else // use a socket pair on mingw or pipe pair on linux, either way, close works
- ::close(signal_pair[0]);
- ::close(signal_pair[1]);
- #endif
- }
- /**
- * Write to a signal_fd_t device. On windows we're using sockets (because windows
- * select() function cant handle pipes) so we have to use socket functions.
- * On linux, we're just using the pipes.
- */
- #ifdef _MSC_VER
- inline int write_signal(const signal_fd_t &signal, const char *buffer, const unsigned int &nbyte) {
- return ::send(signal, buffer, nbyte, 0);
- // return write(signal, buffer, nbyte);
- }
- #else
- inline ssize_t write_signal(const signal_fd_t &signal, const void *buffer, const size_t &nbyte) {
- return write(signal, buffer, nbyte);
- }
- #endif
- /**
- * Read from a signal_fd_t device. On windows we're using sockets (because windows
- * select() function cant handle pipes) so we have to use socket functions.
- * On linux, we're just using the pipes.
- */
- #ifdef _MSC_VER
- inline int read_signal(const signal_fd_t &signal, char *buffer, const unsigned int &nbyte) {
- return ::recv(signal, buffer, nbyte, 0);
- // return _read(signal, buffer, nbyte);
- }
- #else
- inline ssize_t read_signal(const signal_fd_t &signal, void *buffer, const size_t &nbyte) {
- return read(signal, buffer, nbyte);
- }
- #endif
- } // namespace ros
- #endif /* ROSCPP_IO_H_ */