HardwareTransport.h

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#include "RobotRaconteur/RobotRaconteurNode.h"
#include <boost/shared_array.hpp>
#include <boost/asio/windows/stream_handle.hpp>
 
#pragma once
 
namespace RobotRaconteur
{
class ROBOTRACONTEUR_CORE_API LocalTransportConnection;
 
class ROBOTRACONTEUR_CORE_API HardwareTransport : public Transport, public RR_ENABLE_SHARED_FROM_THIS<HardwareTransport>
{
    friend class HardwareTransportConnection;
 
  private:
    bool transportopen;
 
  public:
    RR_UNORDERED_MAP<uint32_t, RR_SHARED_PTR<ITransportConnection> > TransportConnections;
    boost::mutex TransportConnections_lock;
 
    HardwareTransport(const RR_SHARED_PTR<RobotRaconteurNode>& node = RobotRaconteurNode::sp());
 
    RR_OVIRTUAL ~HardwareTransport() RR_OVERRIDE;
 
    RR_OVIRTUAL bool IsServer() const RR_OVERRIDE;
 
    RR_OVIRTUAL bool IsClient() const RR_OVERRIDE;
 
    RR_OVIRTUAL std::string GetUrlSchemeString() const RR_OVERRIDE;
 
    RR_OVIRTUAL std::vector<std::string> GetServerListenUrls() RR_OVERRIDE;
 
    RR_OVIRTUAL void SendMessage(const RR_INTRUSIVE_PTR<Message>& m) RR_OVERRIDE;
 
    RR_OVIRTUAL void AsyncSendMessage(
        const RR_INTRUSIVE_PTR<Message>& m,
        const boost::function<void(const RR_SHARED_PTR<RobotRaconteurException>&)>& handler) RR_OVERRIDE;
 
    RR_OVIRTUAL void AsyncCreateTransportConnection(
        boost::string_ref url, const RR_SHARED_PTR<Endpoint>& e,
        boost::function<void(const RR_SHARED_PTR<ITransportConnection>&,
                             const RR_SHARED_PTR<RobotRaconteurException>&)>& callback) RR_OVERRIDE;
 
    RR_OVIRTUAL RR_SHARED_PTR<ITransportConnection> CreateTransportConnection(
        boost::string_ref url, const RR_SHARED_PTR<Endpoint>& e) RR_OVERRIDE;
 
    RR_OVIRTUAL void CloseTransportConnection(const RR_SHARED_PTR<Endpoint>& e) RR_OVERRIDE;
 
  protected:
    virtual void AsyncCreateTransportConnection2(
        const std::string& noden, const RR_SHARED_PTR<ITransportConnection>& transport,
        const RR_SHARED_PTR<RobotRaconteurException>& err,
        boost::function<void(const RR_SHARED_PTR<ITransportConnection>&,
                             const RR_SHARED_PTR<RobotRaconteurException>&)>& callback);
 
    virtual void CloseTransportConnection_timed(const boost::system::error_code& err, const RR_SHARED_PTR<Endpoint>& e,
                                                const RR_SHARED_PTR<void>& timer);
 
  public:
    RR_OVIRTUAL bool CanConnectService(boost::string_ref url) RR_OVERRIDE;
 
    RR_OVIRTUAL void Close() RR_OVERRIDE;
 
    RR_OVIRTUAL void CheckConnection(uint32_t endpoint) RR_OVERRIDE;
 
    RR_OVIRTUAL void PeriodicCleanupTask() RR_OVERRIDE;
 
    RR_OVIRTUAL uint32_t TransportCapability(boost::string_ref name) RR_OVERRIDE;
 
    RR_OVIRTUAL void MessageReceived(const RR_INTRUSIVE_PTR<Message>& m) RR_OVERRIDE;
 
    RR_OVIRTUAL void AsyncGetDetectedNodes(
        const std::vector<std::string>& schemes,
        const boost::function<void(const RR_SHARED_PTR<std::vector<NodeDiscoveryInfo> >&)>& handler,
        int32_t timeout = RR_TIMEOUT_INFINITE) RR_OVERRIDE;
 
    virtual int32_t GetMaxMessageSize();
    virtual void SetMaxMessageSize(int32_t size);
 
    virtual bool GetDisableMessage4();
    virtual void SetDisableMessage4(bool d);
 
    virtual bool GetDisableStringTable();
    virtual void SetDisableStringTable(bool d);
 
    virtual bool GetDisableAsyncMessageIO();
    virtual void SetDisableAsyncMessageIO(bool d);
 
    virtual void AddUsbDevice(uint16_t vid, uint16_t pid, uint8_t interface_);
 
    virtual void RemoveUsbDevice(uint16_t vid, uint16_t pid, uint8_t interface_);
 
    virtual bool IsValidUsbDevice(uint16_t vid, uint16_t pid, uint8_t interface_);
 
    virtual void register_transport(const RR_SHARED_PTR<ITransportConnection>& connection);
    virtual void erase_transport(const RR_SHARED_PTR<ITransportConnection>& connection);
 
    template <typename T, typename F>
    boost::signals2::connection AddCloseListener(const RR_SHARED_PTR<T>& t, const F& f)
    {
        boost::mutex::scoped_lock lock(closed_lock);
        if (closed)
        {
            lock.unlock();
            boost::bind(f, t)();
            return boost::signals2::connection();
        }
 
        return close_signal.connect(boost::signals2::signal<void()>::slot_type(boost::bind(f, t.get())).track(t));
    }
 
  protected:
    boost::mutex parameter_lock;
    int32_t max_message_size;
    bool disable_message4;
    bool disable_string_table;
    bool disable_async_message_io;
 
    boost::mutex discovery_lock;
 
    RR_SHARED_PTR<void> internal1;
    RR_SHARED_PTR<void> internal2;
    RR_SHARED_PTR<void> internal3;
    RR_SHARED_PTR<void> internal4;
 
    std::list<boost::tuple<uint16_t, uint16_t, uint8_t> > usb_devices;
 
    bool closed;
    boost::mutex closed_lock;
    boost::signals2::signal<void()> close_signal;
};
#ifndef ROBOTRACONTEUR_NO_CXX11_TEMPLATE_ALIASES
using HardwareTransportPtr = RR_SHARED_PTR<HardwareTransport>;
#endif
} // namespace RobotRaconteur