goby::middleware::io::TCPClientThreadCOBS< packet_in_group, packet_out_group, publish_layer, subscribe_layer, Config, ThreadType, use_indexed_groups > Class Template Reference

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.
	~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::zeromq::SimpleThread, false >
	TCPClientThread (const goby::middleware::protobuf::TCPClientConfig &config, int index=-1)
	Constructs the thread.
	~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::zeromq::SimpleThread, use_indexed_groups >
	IOThread (const goby::middleware::protobuf::TCPClientConfig &config, int index, std::string glog_group="i/o")
	Constructs the thread.
void	initialize () override
void	finalize () override
virtual	~IOThread ()
Public Member Functions inherited from goby::middleware::SimpleThread< Config, detail::InterProcessTag >
	SimpleThread (const Config &cfg, double loop_freq_hertz=0, int index=-1)
	Construct a thread with a given configuration, optionally a loop frequency and/or index.
	SimpleThread (const Config &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.
InterVehicleForwarder< InterProcessForwarder< InterThreadTransporter, detail::InterProcessTag > > &	intervehicle ()
	Access the transporter on the intervehicle layer (which wraps interprocess and interthread).
InterProcessForwarder< InterThreadTransporter, detail::InterProcessTag > &	interprocess ()
	Access the transporter on the interprocess layer (which wraps interthread).
InterThreadTransporter &	interthread ()
	Access the transporter on the interthread layer (this is the innermost transporter).
Public Member Functions inherited from goby::middleware::Thread< Config, TransporterType >
	Thread (const Config &cfg, TransporterType *transporter, int index)
	Construct a thread with a given configuration, underlying transporter, and index (for multiple instantiations), but without any loop() frequency.
	Thread (const Config &cfg, TransporterType *transporter, double loop_freq_hertz=0, int index=-1)
	Construct a thread with all possible metadata (using double to specify frequency in Hertz).
	Thread (const Config &cfg, TransporterType *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).
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.
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)
double	loop_frequency_hertz () const
decltype(loop_frequency_)	loop_frequency () const
void	set_loop_frequency_hertz (double loop_freq_hertz)
void	set_loop_frequency (boost::units::quantity< boost::units::si::frequency > loop_freq)

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=std::shared_ptr< ThreadBase >())

Additional Inherited Members
Public Types inherited from goby::middleware::Thread< Config, TransporterType >
using	Transporter = TransporterType
Static Public Attributes inherited from goby::middleware::Thread< Config, TransporterType >
static constexpr goby::middleware::Group	shutdown_group_ {"goby::middleware::Thread::shutdown"}
static constexpr goby::middleware::Group	joinable_group_ {"goby::middleware::Thread::joinable"}
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::zeromq::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::zeromq::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_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.
boost::asio::io_context &	mutable_io ()
bool	socket_is_open ()
	Does the socket exist and is it open?
const std::string &	glog_group ()
Protected Member Functions inherited from goby::middleware::Thread< Config, TransporterType >
	Thread (const Config &cfg, boost::units::quantity< boost::units::si::frequency > loop_freq, int index=-1)
void	set_transporter (TransporterType *transporter)
double	loop_max_frequency () const
void	run_once ()
TransporterType &	transporter () const
const Config &	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.
void	thread_quit ()
bool	alive ()
Protected Member Functions inherited from goby::middleware::coroner::Thread< Derived >
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::zeromq::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 75 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::zeromq::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 86 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::zeromq::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 91 of file tcp_client.h.

Friends And Related Symbol 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::zeromq::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::zeromq::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