Visual Servoing Platform  version 3.2.0 under development (2018-10-21)
vpNetwork Class Reference

#include <visp3/core/vpNetwork.h>

+ Inheritance diagram for vpNetwork:

Public Member Functions

 vpNetwork ()
 
virtual ~vpNetwork ()
 
void addDecodingRequest (vpRequest *)
 
int getReceptorIndex (const char *name)
 
std::string getRequestIdFromIndex (const int &ind)
 
unsigned int getMaxSizeReceivedMessage ()
 
void print (const char *id="")
 
template<typename T >
int receive (T *object, const unsigned int &sizeOfObject=sizeof(T))
 
template<typename T >
int receiveFrom (T *object, const unsigned int &receptorEmitting, const unsigned int &sizeOfObject=sizeof(T))
 
std::vector< int > receiveRequest ()
 
std::vector< int > receiveRequestFrom (const unsigned int &receptorEmitting)
 
int receiveRequestOnce ()
 
int receiveRequestOnceFrom (const unsigned int &receptorEmitting)
 
std::vector< int > receiveAndDecodeRequest ()
 
std::vector< int > receiveAndDecodeRequestFrom (const unsigned int &receptorEmitting)
 
int receiveAndDecodeRequestOnce ()
 
int receiveAndDecodeRequestOnceFrom (const unsigned int &receptorEmitting)
 
void removeDecodingRequest (const char *)
 
template<typename T >
int send (T *object, const int unsigned &sizeOfObject=sizeof(T))
 
template<typename T >
int sendTo (T *object, const unsigned int &dest, const unsigned int &sizeOfObject=sizeof(T))
 
int sendRequest (vpRequest &req)
 
int sendRequestTo (vpRequest &req, const unsigned int &dest)
 
int sendAndEncodeRequest (vpRequest &req)
 
int sendAndEncodeRequestTo (vpRequest &req, const unsigned int &dest)
 
void setMaxSizeReceivedMessage (const unsigned int &s)
 
void setTimeoutSec (const long &sec)
 
void setTimeoutUSec (const long &usec)
 
void setVerbose (const bool &mode)
 
template<typename T >
int send (T *object, const unsigned int &sizeOfObject)
 

Protected Attributes

vpEmitter emitter
 
std::vector< vpReceptor > receptor_list
 
fd_set readFileDescriptor
 
int socketMax
 
std::vector< vpRequest * > request_list
 
unsigned int max_size_message
 
std::string separator
 
std::string beginning
 
std::string end
 
std::string param_sep
 
std::string currentMessageReceived
 
struct timeval tv
 
long tv_sec
 
long tv_usec
 
bool verboseMode
 

Detailed Description

This class represents a Transmission Control Protocol (TCP) network.

TCP provides reliable, ordered delivery of a stream of bytes from a program on one computer to another program on another computer.

Warning
This class shouldn't be used directly. You better use vpClient and vpServer to simulate your network. Some exemples are provided in these classes.
See also
vpServer
vpNetwork

Definition at line 87 of file vpNetwork.h.

Constructor & Destructor Documentation

vpNetwork::vpNetwork ( )

Definition at line 44 of file vpNetwork.cpp.

References tv, tv_sec, and tv_usec.

vpNetwork::~vpNetwork ( )
virtual

Definition at line 65 of file vpNetwork.cpp.

Member Function Documentation

void vpNetwork::addDecodingRequest ( vpRequest req)

Add a decoding request to the emitter. This request will be used to decode the received messages. Each request must have a different id.

Warning
vpRequest is a virtual pure class. It has to be implemented according to the way how you want to decode the message received.
See also
vpNetwork::removeDecodingRequest()
Parameters
req: Request to add.

Definition at line 83 of file vpNetwork.cpp.

References vpRequest::getId(), and request_list.

unsigned int vpNetwork::getMaxSizeReceivedMessage ( )
inline

Get the maximum size that the emitter can receive (in request mode).

See also
vpNetwork::setMaxSizeReceivedMessage()
Returns
Acutal max size value.

Definition at line 190 of file vpNetwork.h.

int vpNetwork::getReceptorIndex ( const char *  name)

Get the receptor index from its name. The name can be either the IP, or its name on the network.

Parameters
name: Name of the receptor.
Returns
Index of the receptor, or -1 if an error occurs.

Definition at line 138 of file vpNetwork.cpp.

References receptor_list, and vpERROR_TRACE.

std::string vpNetwork::getRequestIdFromIndex ( const int &  ind)
inline

Get the Id of the request at the index ind.

Parameters
ind: Index of the request.
Returns
Id of the request.

Definition at line 176 of file vpNetwork.h.

void vpNetwork::print ( const char *  id = "")

Print the receptors.

Parameters
id: Message to display before the receptor's index.

Definition at line 123 of file vpNetwork.cpp.

References receptor_list.

Referenced by vpServer::getNumberOfClients(), vpClient::getNumberOfServers(), vpClient::print(), and vpServer::print().

template<typename T >
int vpNetwork::receive ( T *  object,
const unsigned int &  sizeOfObject = sizeof(T) 
)

Receives a object. The size of the received object is suppose to be the size of the type of the object. Note that a received message can correspond to a deconnection signal.

Warning
Using this function means that you know what kind of object you are suppose to receive, and when you are suppose to receive. If the emitter has several receptors. It might be a problem, and in that case you better use the "request" option.
See also
vpNetwork::receiveRequest()
vpNetwork::receiveRequestOnce()
vpNetwork::receiveAndDecodeRequest()
vpNetwork::receiveAndDecodeRequestOnce()
Parameters
object: Received object.
sizeOfObject: Size of the received object.
Returns
the number of bytes received, or -1 if an error occured.
Examples:
testClient.cpp, and testServer.cpp.

Definition at line 280 of file vpNetwork.h.

References vpERROR_TRACE, and vpTRACE.

std::vector< int > vpNetwork::receiveAndDecodeRequest ( )
std::vector< int > vpNetwork::receiveAndDecodeRequestFrom ( const unsigned int &  receptorEmitting)

Receives and decode requests, from a specific emitter, untils there is request to receive.

Warning
Requests will be received but not decoded.
See also
vpNetwork::receive()
vpNetwork::receiveRequest()
vpNetwork::receiveRequestOnce()
vpNetwork::receiveRequestOnceFrom()
vpNetwork::receiveAndDecodeRequest()
vpNetwork::receiveAndDecodeRequestFrom()
vpNetwork::receiveAndDecodeRequestOnce()
vpNetwork::receiveAndDecodeRequestOnceFrom()
Parameters
receptorEmitting: Index of the receptor emitting the message

Definition at line 402 of file vpNetwork.cpp.

References receiveRequestFrom(), and request_list.

int vpNetwork::receiveAndDecodeRequestOnce ( )

Receives a message once (in the limit of the Maximum message size value). This message can represent an entire request or not. Several calls to this function might be necessary to get the entire request. If it represents an entire request, it decodes the request.

Warning
Requests will be received but not decoded.
See also
vpNetwork::receive()
vpNetwork::receiveRequestFrom()
vpNetwork::receiveRequest()
vpNetwork::receiveRequestOnceFrom()
vpNetwork::receiveAndDecodeRequest()
vpNetwork::receiveAndDecodeRequestFrom()
vpNetwork::receiveAndDecodeRequestOnce()
vpNetwork::receiveAndDecodeRequestOnceFrom()
Returns
The number of bytes received, -1 if an error occured.

Definition at line 432 of file vpNetwork.cpp.

References receiveRequestOnce(), and request_list.

int vpNetwork::receiveAndDecodeRequestOnceFrom ( const unsigned int &  receptorEmitting)

Receives a message once (in the limit of the Maximum message size value), from a specific emitter. This message can represent an entire request or not. Several calls to this function might be necessary to get the entire request. If it represents an entire request, it decodes the request.

Warning
Requests will be received but not decoded.
See also
vpNetwork::receive()
vpNetwork::receiveRequestFrom()
vpNetwork::receiveRequest()
vpNetwork::receiveRequestOnce()
vpNetwork::receiveAndDecodeRequest()
vpNetwork::receiveAndDecodeRequestFrom()
vpNetwork::receiveAndDecodeRequestOnce()
vpNetwork::receiveAndDecodeRequestOnceFrom()
Parameters
receptorEmitting: Index of the receptor emitting the message.
Returns
The number of bytes received, -1 if an error occured.

Definition at line 462 of file vpNetwork.cpp.

References beginning, currentMessageReceived, end, max_size_message, param_sep, readFileDescriptor, receiveRequestOnceFrom(), receptor_list, request_list, separator, socketMax, tv, tv_sec, tv_usec, verboseMode, vpERROR_TRACE, and vpTRACE.

template<typename T >
int vpNetwork::receiveFrom ( T *  object,
const unsigned int &  receptorEmitting,
const unsigned int &  sizeOfObject = sizeof(T) 
)

Receives a object from a receptor, by specifying its size or not. Note that a received message can correspond to a deconnection signal.

Warning
Using this function means that you know what kind of object you are suppose to receive, and when you are suppose to receive. If the emitter has several receptors. It might be a problem, and in that case you better use the "request" mode.
See also
vpNetwork::getReceptorIndex()
vpNetwork::receiveRequestFrom()
vpNetwork::receiveRequestOnceFrom()
vpNetwork::receiveAndDecodeRequestFrom()
vpNetwork::receiveAndDecodeRequestOnceFrom()
Parameters
object: Received object.
receptorEmitting: Index of the receptor emitting the message.
sizeOfObject: Size of the received object.
Returns
the number of bytes received, or -1 if an error occured.

Definition at line 362 of file vpNetwork.h.

References vpERROR_TRACE, and vpTRACE.

std::vector< int > vpNetwork::receiveRequest ( )
std::vector< int > vpNetwork::receiveRequestFrom ( const unsigned int &  receptorEmitting)

Receives requests, from a specific emitter, untils there is request to receive.

Warning
Requests will be received but not decoded.
See also
vpNetwork::receive()
vpNetwork::receiveRequest()
vpNetwork::receiveRequestOnce()
vpNetwork::receiveRequestOnceFrom()
vpNetwork::receiveAndDecodeRequest()
vpNetwork::receiveAndDecodeRequestFrom()
vpNetwork::receiveAndDecodeRequestOnce()
vpNetwork::receiveAndDecodeRequestOnceFrom()
Parameters
receptorEmitting: Index of the receptor emitting the message

Definition at line 304 of file vpNetwork.cpp.

Referenced by receiveAndDecodeRequestFrom().

int vpNetwork::receiveRequestOnce ( )

Receives a message once (in the limit of the Maximum message size value). This message can represent an entire request or not. Several calls to this function might be necessary to get the entire request.

Warning
Requests will be received but not decoded.
See also
vpNetwork::receive()
vpNetwork::receiveRequestFrom()
vpNetwork::receiveRequest()
vpNetwork::receiveRequestOnceFrom()
vpNetwork::receiveAndDecodeRequest()
vpNetwork::receiveAndDecodeRequestFrom()
vpNetwork::receiveAndDecodeRequestOnce()
vpNetwork::receiveAndDecodeRequestOnceFrom()
Returns
The number of bytes received, -1 if an error occured.

Definition at line 328 of file vpNetwork.cpp.

Referenced by receiveAndDecodeRequestOnce().

int vpNetwork::receiveRequestOnceFrom ( const unsigned int &  receptorEmitting)

Receives a message once (in the limit of the Maximum message size value), from a specific emitter. This message can represent an entire request or not. Several calls to this function might be necessary to get the entire request.

Warning
Requests will be received but not decoded.
See also
vpNetwork::receive()
vpNetwork::receiveRequestFrom()
vpNetwork::receiveRequest()
vpNetwork::receiveRequestOnce()
vpNetwork::receiveAndDecodeRequest()
vpNetwork::receiveAndDecodeRequestFrom()
vpNetwork::receiveAndDecodeRequestOnce()
vpNetwork::receiveAndDecodeRequestOnceFrom()
Parameters
receptorEmitting: Index of the receptor emitting the message.
Returns
The number of bytes received, -1 if an error occured.

Definition at line 355 of file vpNetwork.cpp.

Referenced by receiveAndDecodeRequestOnceFrom().

void vpNetwork::removeDecodingRequest ( const char *  id)

Delete a decoding request from the emitter.

See also
vpNetwork::addDecodingRequest()
Parameters
id: Id of the request to delete.

Definition at line 108 of file vpNetwork.cpp.

References request_list.

template<typename T >
int vpNetwork::send ( T *  object,
const int unsigned &  sizeOfObject = sizeof(T) 
)
Examples:
testClient.cpp, and testServer.cpp.
template<typename T >
int vpNetwork::send ( T *  object,
const unsigned int &  sizeOfObject 
)

Send an object. The size of the received object is suppose to be the size of its type. Note that sending object containing pointers, virtual methods, etc, won't probably work.

Warning
Using this function means that, in the other side of the network, it knows what kind of object it is suppose to receive, and when it is suppose to receive. If the emitter has several receptors. It might be a problem, and in that case you better use the "request" option.
See also
vpNetwork::sendTo()
vpNetwork::sendRequest()
vpNetwork::sendRequestTo()
vpNetwork::sendAndEncodeRequest()
vpNetwork::sendAndEncodeRequestTo()
Parameters
object: Received object.
sizeOfObject: Size of the object
Returns
The number of bytes sent, or -1 if an error happened.

Definition at line 434 of file vpNetwork.h.

References vpTRACE.

int vpNetwork::sendAndEncodeRequest ( vpRequest req)

Send and encode a request to the first receptor in the list.

See also
vpNetwork::sendRequestTo()
vpNetwork::sendAndEncodeRequest()
vpNetwork::sendAndEncodeRequestTo()
vpNetwork::send()
vpNetwork::sendTo()
Parameters
req: Request to send.
Returns
The number of bytes that have been sent, -1 if an error occured.

Definition at line 241 of file vpNetwork.cpp.

References vpRequest::encode(), and sendRequest().

int vpNetwork::sendAndEncodeRequestTo ( vpRequest req,
const unsigned int &  dest 
)

Send and encode a request to a specific receptor.

See also
vpNetwork::sendRequest()
vpNetwork::sendAndEncodeRequest()
vpNetwork::sendAndEncodeRequestTo()
vpNetwork::send()
vpNetwork::sendTo()
Parameters
req: Request to send.
dest: Index of the receptor receiving the request.
Returns
The number of bytes that have been sent, -1 if an error occured.

Definition at line 261 of file vpNetwork.cpp.

References vpRequest::encode(), and sendRequestTo().

int vpNetwork::sendRequest ( vpRequest req)

Send a request to the first receptor in the list.

See also
vpNetwork::sendRequestTo()
vpNetwork::sendAndEncodeRequest()
vpNetwork::sendAndEncodeRequestTo()
vpNetwork::send()
vpNetwork::sendTo()
Parameters
req: Request to send.
Returns
The number of bytes that have been sent, -1 if an error occured.

Definition at line 173 of file vpNetwork.cpp.

References sendRequestTo().

Referenced by sendAndEncodeRequest().

int vpNetwork::sendRequestTo ( vpRequest req,
const unsigned int &  dest 
)

Send a request to a specific receptor.

See also
vpNetwork::sendRequest()
vpNetwork::sendAndEncodeRequest()
vpNetwork::sendAndEncodeRequestTo()
vpNetwork::send()
vpNetwork::sendTo()
Parameters
req: Request to send.
dest: Index of the receptor receiving the request.
Returns
The number of bytes that have been sent, -1 if an error occured.

Definition at line 189 of file vpNetwork.cpp.

References beginning, end, vpRequest::getId(), param_sep, receptor_list, separator, vpRequest::size(), verboseMode, and vpTRACE.

Referenced by sendAndEncodeRequestTo(), and sendRequest().

template<typename T >
int vpNetwork::sendTo ( T *  object,
const unsigned int &  dest,
const unsigned int &  sizeOfObject = sizeof(T) 
)

Send an object. The size has to be specified.

Warning
Using this function means that, in the other side of the network, it knows what kind of object it is suppose to receive, and when it is suppose to receive. If the emitter has several receptors. It might be a problem, and in that case you better use the "request" option.
See also
vpNetwork::getReceptorIndex()
vpNetwork::send()
vpNetwork::sendRequest()
vpNetwork::sendRequestTo()
vpNetwork::sendAndEncodeRequest()
vpNetwork::sendAndEncodeRequestTo()
Parameters
object: Object to send.
dest: Index of the receptor that you are sending the object.
sizeOfObject: Size of the object.
Returns
The number of bytes sent, or -1 if an error happened.

Definition at line 478 of file vpNetwork.h.

References vpTRACE.

void vpNetwork::setMaxSizeReceivedMessage ( const unsigned int &  s)
inline

Change the maximum size that the emitter can receive (in request mode).

See also
vpNetwork::getMaxSizeReceivedMessage()
Parameters
s: new maximum size value.

Definition at line 226 of file vpNetwork.h.

void vpNetwork::setTimeoutSec ( const long &  sec)
inline

Change the time the emitter spend to check if he receives a message from a receptor. Initially this value is set to 10usec.

See also
vpNetwork::setTimeoutUSec()
Parameters
sec: new value in second.

Definition at line 236 of file vpNetwork.h.

void vpNetwork::setTimeoutUSec ( const long &  usec)
inline

Change the time the emitter spend to check if he receives a message from a receptor. Initially this value is set to 10usec.

See also
vpNetwork::setTimeoutSec()
Parameters
usec: new value in micro second.

Definition at line 246 of file vpNetwork.h.

void vpNetwork::setVerbose ( const bool &  mode)
inline

Set the verbose mode.

Parameters
mode: Change the verbose mode. True to turn on, False to turn off.

Definition at line 253 of file vpNetwork.h.

Member Data Documentation

std::string vpNetwork::beginning
protected

Definition at line 140 of file vpNetwork.h.

Referenced by receiveAndDecodeRequestOnceFrom(), and sendRequestTo().

std::string vpNetwork::currentMessageReceived
protected

Definition at line 144 of file vpNetwork.h.

Referenced by receiveAndDecodeRequestOnceFrom().

vpEmitter vpNetwork::emitter
protected
std::string vpNetwork::end
protected

Definition at line 141 of file vpNetwork.h.

Referenced by receiveAndDecodeRequestOnceFrom(), and sendRequestTo().

unsigned int vpNetwork::max_size_message
protected

Definition at line 138 of file vpNetwork.h.

Referenced by receiveAndDecodeRequestOnceFrom().

std::string vpNetwork::param_sep
protected

Definition at line 142 of file vpNetwork.h.

Referenced by receiveAndDecodeRequestOnceFrom(), and sendRequestTo().

fd_set vpNetwork::readFileDescriptor
protected

Definition at line 128 of file vpNetwork.h.

Referenced by vpServer::checkForConnections(), and receiveAndDecodeRequestOnceFrom().

std::string vpNetwork::separator
protected

Definition at line 139 of file vpNetwork.h.

Referenced by receiveAndDecodeRequestOnceFrom(), and sendRequestTo().

int vpNetwork::socketMax
protected

Definition at line 130 of file vpNetwork.h.

Referenced by vpServer::checkForConnections(), and receiveAndDecodeRequestOnceFrom().

struct timeval vpNetwork::tv
protected
long vpNetwork::tv_sec
protected
long vpNetwork::tv_usec
protected
bool vpNetwork::verboseMode
protected

Definition at line 150 of file vpNetwork.h.

Referenced by receiveAndDecodeRequestOnceFrom(), and sendRequestTo().