Reads/Writes strings from/to a TCP connection using a Consistent Overhead Byte Stuffing (COBS) binary protocol. More...

#include <goby/middleware/io/cobs/tcp_client.h>

Inheritance diagram for goby::middleware::io::TCPClientThreadCOBS< packet_in_group, packet_out_group, publish_layer, subscribe_layer, Config, ThreadType, use_indexed_groups >:

Public Member Functions
	TCPClientThreadCOBS (const goby::middleware::protobuf::TCPClientConfig &config, int index=-1)
	Constructs the thread. More...

	~TCPClientThreadCOBS ()

Public Member Functions inherited from goby::middleware::io::detail::TCPClientThread< packet_in_group, packet_out_group, PubSubLayer::INTERPROCESS, PubSubLayer::INTERTHREAD, goby::middleware::protobuf::TCPClientConfig, goby::middleware::SimpleThread, false >
	TCPClientThread (const goby::middleware::protobuf::TCPClientConfig &config, int index=-1)
	Constructs the thread. More...

	~TCPClientThread () override

Public Member Functions inherited from goby::middleware::io::detail::IOThread< line_in_group, line_out_group, publish_layer, subscribe_layer, goby::middleware::protobuf::TCPClientConfig, boost::asio::ip::tcp::socket, goby::middleware::SimpleThread, use_indexed_groups >
	IOThread (const goby::middleware::protobuf::TCPClientConfig &config, int index, std::string glog_group="i/o")
	Constructs the thread. More...

void	initialize () override

void	finalize () override

virtual	~IOThread ()

Public Member Functions inherited from goby::middleware::SimpleThread< goby::middleware::protobuf::TCPClientConfig >
	SimpleThread (const goby::middleware::protobuf::TCPClientConfig &cfg, double loop_freq_hertz=0, int index=-1)
	Construct a thread with a given configuration, optionally a loop frequency and/or index. More...

	SimpleThread (const goby::middleware::protobuf::TCPClientConfig &cfg, boost::units::quantity< boost::units::si::frequency > loop_freq, int index=-1)
	Construct a thread with a given configuration, a loop frequency (using boost::units) and optionally an index. More...

InterVehicleForwarder< InterProcessForwarder< InterThreadTransporter > > &	intervehicle ()
	Access the transporter on the intervehicle layer (which wraps interprocess and interthread) More...

InterProcessForwarder< InterThreadTransporter > &	interprocess ()
	Access the transporter on the interprocess layer (which wraps interthread) More...

InterThreadTransporter &	interthread ()
	Access the transporter on the interthread layer (this is the innermost transporter) More...

Public Member Functions inherited from goby::middleware::Thread< goby::middleware::protobuf::TCPClientConfig, InterVehicleForwarder< InterProcessForwarder< InterThreadTransporter > > >
	Thread (const goby::middleware::protobuf::TCPClientConfig &cfg, InterVehicleForwarder< InterProcessForwarder< InterThreadTransporter > > *transporter, int index)
	Construct a thread with a given configuration, underlying transporter, and index (for multiple instantiations), but without any loop() frequency. More...

	Thread (const goby::middleware::protobuf::TCPClientConfig &cfg, InterVehicleForwarder< InterProcessForwarder< InterThreadTransporter > > *transporter, double loop_freq_hertz=0, int index=-1)
	Construct a thread with all possible metadata (using double to specify frequency in Hertz) More...

	Thread (const goby::middleware::protobuf::TCPClientConfig &cfg, InterVehicleForwarder< InterProcessForwarder< InterThreadTransporter > > *transporter, boost::units::quantity< boost::units::si::frequency > loop_freq, int index=-1)
	Construct a thread with all possible metadata (using boost::units to specify frequency) More...

virtual	~Thread ()

void	run (std::atomic< bool > &alive)
	Run the thread until the boolean reference passed is set false. This call blocks, and should be run in a std::thread by the caller. More...

int	index () const

std::type_index	type_index ()

void	set_type_index (std::type_index type_i)

std::string	name ()

void	set_name (const std::string &name)

int	uid ()

void	set_uid (int uid)

Friends
template<class Thread >
void	cobs_async_write (Thread *this_thread, std::shared_ptr< const goby::middleware::protobuf::IOData > io_msg)

template<class Thread , class ThreadBase >
void	cobs_async_read (Thread *this_thread, std::shared_ptr< ThreadBase > self)

Additional Inherited Members
Public Types inherited from goby::middleware::Thread< goby::middleware::protobuf::TCPClientConfig, InterVehicleForwarder< InterProcessForwarder< InterThreadTransporter > > >
using	Transporter = InterVehicleForwarder< InterProcessForwarder< InterThreadTransporter > >

Static Public Attributes inherited from goby::middleware::Thread< goby::middleware::protobuf::TCPClientConfig, InterVehicleForwarder< InterProcessForwarder< InterThreadTransporter > > >
static constexpr goby::middleware::Group	shutdown_group_

static constexpr goby::middleware::Group	joinable_group_

Protected Member Functions inherited from goby::middleware::io::detail::TCPClientThread< packet_in_group, packet_out_group, PubSubLayer::INTERPROCESS, PubSubLayer::INTERTHREAD, goby::middleware::protobuf::TCPClientConfig, goby::middleware::SimpleThread, false >
void	insert_endpoints (std::shared_ptr< goby::middleware::protobuf::IOData > &io_msg)

Protected Member Functions inherited from goby::middleware::io::detail::IOThread< line_in_group, line_out_group, publish_layer, subscribe_layer, goby::middleware::protobuf::TCPClientConfig, boost::asio::ip::tcp::socket, goby::middleware::SimpleThread, use_indexed_groups >
void	write (std::shared_ptr< const goby::middleware::protobuf::IOData > io_msg)

void	handle_read_success (std::size_t bytes_transferred, const std::string &bytes)

void	handle_read_success (std::size_t bytes_transferred, std::shared_ptr< goby::middleware::protobuf::IOData > io_msg)

void	handle_write_success (std::size_t bytes_transferred)

void	handle_read_error (const boost::system::error_code &ec)

void	handle_write_error (const boost::system::error_code &ec)

boost::asio::ip::tcp::socket &	mutable_socket ()
	Access the (mutable) socket (or serial_port) object. More...

boost::asio::io_context &	mutable_io ()

bool	socket_is_open ()
	Does the socket exist and is it open? More...

const std::string &	glog_group ()

Protected Member Functions inherited from goby::middleware::Thread< goby::middleware::protobuf::TCPClientConfig, InterVehicleForwarder< InterProcessForwarder< InterThreadTransporter > > >
	Thread (const goby::middleware::protobuf::TCPClientConfig &cfg, boost::units::quantity< boost::units::si::frequency > loop_freq, int index=-1)

void	set_transporter (InterVehicleForwarder< InterProcessForwarder< InterThreadTransporter > > *transporter)

double	loop_frequency_hertz () const

decltype(loop_frequency_)	loop_frequency () const

double	loop_max_frequency () const

void	run_once ()

InterVehicleForwarder< InterProcessForwarder< InterThreadTransporter > > &	transporter () const

const goby::middleware::protobuf::TCPClientConfig &	cfg () const

void	thread_health (goby::middleware::protobuf::ThreadHealth &health)

virtual void	health (goby::middleware::protobuf::ThreadHealth &health)
	Called when HealthRequest is made by goby_coroner. More...

void	thread_quit ()

bool	alive ()

Protected Member Functions inherited from goby::middleware::coroner::Thread< SimpleThread< goby::middleware::protobuf::TCPClientConfig > >
void	subscribe_coroner ()

Detailed Description

template<const goby::middleware::Group & packet_in_group, const goby::middleware::Group & packet_out_group, PubSubLayer publish_layer = PubSubLayer::INTERPROCESS, PubSubLayer subscribe_layer = PubSubLayer::INTERTHREAD, typename Config = goby::middleware::protobuf::TCPClientConfig, template< class > class ThreadType = goby::middleware::SimpleThread, bool use_indexed_groups = false>
class goby::middleware::io::TCPClientThreadCOBS< packet_in_group, packet_out_group, publish_layer, subscribe_layer, Config, ThreadType, use_indexed_groups >

Reads/Writes strings from/to a TCP connection using a Consistent Overhead Byte Stuffing (COBS) binary protocol.

Template Parameters

packet_in_group	goby::middleware::Group to publish to after receiving data from the TCP socket
packet_out_group	goby::middleware::Group to subcribe to for data to send to the TCP socket

Definition at line 74 of file tcp_client.h.

Constructor & Destructor Documentation

◆ TCPClientThreadCOBS()

template<const goby::middleware::Group & packet_in_group, const goby::middleware::Group & packet_out_group, PubSubLayer publish_layer = PubSubLayer::INTERPROCESS, PubSubLayer subscribe_layer = PubSubLayer::INTERTHREAD, typename Config = goby::middleware::protobuf::TCPClientConfig, template< class > class ThreadType = goby::middleware::SimpleThread, bool use_indexed_groups = false>

goby::middleware::io::TCPClientThreadCOBS< packet_in_group, packet_out_group, publish_layer, subscribe_layer, Config, ThreadType, use_indexed_groups >::TCPClientThreadCOBS	(	const goby::middleware::protobuf::TCPClientConfig &	config,
		int	index = `-1`
	)

inline

Constructs the thread.

Parameters

config	A reference to the Protocol Buffers config read by the main application at launch
index	Thread index for multiple instances in a given application (-1 indicates a single instance)

Definition at line 85 of file tcp_client.h.

◆ ~TCPClientThreadCOBS()

template<const goby::middleware::Group & packet_in_group, const goby::middleware::Group & packet_out_group, PubSubLayer publish_layer = PubSubLayer::INTERPROCESS, PubSubLayer subscribe_layer = PubSubLayer::INTERTHREAD, typename Config = goby::middleware::protobuf::TCPClientConfig, template< class > class ThreadType = goby::middleware::SimpleThread, bool use_indexed_groups = false>

goby::middleware::io::TCPClientThreadCOBS< packet_in_group, packet_out_group, publish_layer, subscribe_layer, Config, ThreadType, use_indexed_groups >::~TCPClientThreadCOBS ( )

inline

Definition at line 90 of file tcp_client.h.

Friends And Related Function Documentation

◆ cobs_async_read

template<const goby::middleware::Group & packet_in_group, const goby::middleware::Group & packet_out_group, PubSubLayer publish_layer = PubSubLayer::INTERPROCESS, PubSubLayer subscribe_layer = PubSubLayer::INTERTHREAD, typename Config = goby::middleware::protobuf::TCPClientConfig, template< class > class ThreadType = goby::middleware::SimpleThread, bool use_indexed_groups = false>

template<class Thread , class ThreadBase >

void cobs_async_read	(	Thread *	this_thread,
		std::shared_ptr< ThreadBase >	self = `std::shared_ptr<ThreadBase>()`
	)

friend

Definition at line 90 of file common.h.

◆ cobs_async_write

template<const goby::middleware::Group & packet_in_group, const goby::middleware::Group & packet_out_group, PubSubLayer publish_layer = PubSubLayer::INTERPROCESS, PubSubLayer subscribe_layer = PubSubLayer::INTERTHREAD, typename Config = goby::middleware::protobuf::TCPClientConfig, template< class > class ThreadType = goby::middleware::SimpleThread, bool use_indexed_groups = false>

template<class Thread >

void cobs_async_write	(	Thread *	this_thread,
		std::shared_ptr< const goby::middleware::protobuf::IOData >	io_msg
	)

friend

Definition at line 44 of file common.h.

The documentation for this class was generated from the following file:

goby/middleware/io/cobs/tcp_client.h

Public Member Functions

Friends

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ TCPClientThreadCOBS()

◆ ~TCPClientThreadCOBS()

Friends And Related Function Documentation

◆ cobs_async_read

◆ cobs_async_write