ArClientBase Class Reference

#include <ArClientBase.h>

Inheritance diagram for ArClientBase:

Detailed Description

The base client class.

You need to connect a client to a server using blockingConnect() with the address for the server. Then you should add handlers to the client to receive information from the server (with addHandler(), request(), and requestOnce()). Then call run() or runAsync() (or loopOnce() if you really know what you're doing). You can also add a callback that will get called every cycle of the client.

User and password information may be required by the server. For details on that see ArServerBase. The most important thing is the modification to blockingConnect(), it can now take a user and password argument and upon failure you'll want to check wasRejected() to determine whether the client couldn't find the server or if the user and password were rejected. Another relevant function is setServerKey() to set the key (string of text) we need to connect to the server.

This class should be thread safe... The only thing you cannot do is call 'addHandler' or 'remHandler' from within a handler for that specific piece of data.

Examples:: getVideoExample.cpp, and ptzCameraClientExample.cpp.

Public Types

enum { CLIENT_KEY_LENGTH = 16 }

CLIENT_KEY_LENGTH = 16

enum ClientState {
STATE_NO_CONNECTION, STATE_FAILED_CONNECTION, STATE_OPENED_SOCKET, STATE_EXCHANGED_INTROS,
STATE_REJECTED, STATE_WAITING_LIST, STATE_CONNECTED, STATE_LOST_CONNECTION
}

The state of the connection. More...

NON_BLOCKING_CONNECTED

Client connected.

NON_BLOCKING_CONTINUE

Client didn't connect or fail to connect yet.

NON_BLOCKING_FAILED

Client couldn't connect.

enum NonBlockingConnectReturn { NON_BLOCKING_CONTINUE, NON_BLOCKING_CONNECTED, NON_BLOCKING_FAILED }

STATE_CONNECTED

Client is connected to server.

STATE_EXCHANGED_INTROS

Client and server have exchanged introductions.

STATE_FAILED_CONNECTION

The client tried to connect and failed.

STATE_LOST_CONNECTION

Client lost connection to server.

STATE_NO_CONNECTION

The client has not connected.

STATE_OPENED_SOCKET

Client opened socket, waiting for intro from srvr.

STATE_REJECTED

Client was rejected by server.

STATE_WAITING_LIST

Client was connected to server, waiting for list.

Public Member Functions

void addCycleCallback (ArFunctor *functor)

Adds a functor to call every cycle.

void addDisconnectOnErrorCB (ArFunctor *functor, ArListPos::Pos position=ArListPos::LAST)

Adds a call for when a disconnection has occured because of error.

bool addHandler (const char *name, ArFunctor1< ArNetPacket * > *functor)

Adds a functor for some particular data.

void addServerShutdownCB (ArFunctor *functor, ArListPos::Pos position=ArListPos::LAST)

Adds a call for when the server shuts down.

ArClientBase ()

Constructor.

bool blockingConnect (const char *host, int port, bool print=true, const char *user=NULL, const char *password=NULL, const char *openOnIP=NULL)

Connect to a server.

bool dataExists (const char *name)

Sees if this data exists.

bool disconnect (void)

This method blocks while the connection is being shutdown.

void disconnectSoon (void)

This method does not block while the connection is being shutdown, and the disconnect only happens the next time the client base is in its loop.

unsigned int findCommandFromName (const char *name)

Returns the command number from the name.

void finishNonBlockingDisconnect ()

This method should be used in conjunction with startNonBlockingDisconnect in threads that should not block (such as the main GUI thread).

void getClientKey (unsigned char key[CLIENT_KEY_LENGTH])

Gets a (probably) unique key that can be used to identify the client (after connection).

int getConnectTimeoutTime (void)

Gets the time allowed for connection.

const std::map< unsigned int,
ArClientData * > * getDataMap (void)

Internal function get get the data map.

bool getDebugLogging (void)

Returns if we're doing debug logging or not.

const char * getHost (void)

Gets the name of the host we tried to connect to.

ArTime getLastPacketReceived (void)

Gets the last time a packet was received.

virtual const char * getLogPrefix () const

Returns the entire string used to prefix log entries for this client base.

const char * getName (unsigned int command, bool internalCall=false)

Gets the name of the data a command is.

const char * getName (ArNetPacket *packet, bool internalCall=false)

Gets the name of the data a packet is for.

bool getReceivedArgRetList (void)

Gets if we received the list of arguments and.

bool getReceivedDataList (void)

Gets if we received the list of commands.

bool getReceivedGroupAndFlagsList (void)

Gets if we received the list of commands.

int getRejected (void)

Tells us the reason the connection was rejected (see ArServerCommands for details).

const char * getRejectedString (void)

Tells us the reason the connection was rejected (see ArServerCommands for details).

virtual const char * getRobotName () const

Returns the optional name of the connected robot for debugging purposes.

ClientState getState (void)

Gets the state of the client.

in_addr * getTcpAddr (void)

Internal function to get the socket (no one should need this).

ArSocket * getTcpSocket (void)

Internal function to get the tcp socket.

ArSocket * getUdpSocket (void)

Internal function to get the udp socket.

bool internalBlockingConnect (const char *host, int port, bool print, const char *user, const char *password, ArSocket *tcpSocket, const char *openOnIP=NULL)

Internal function that'll do the connection (mainly for switch connections).

NonBlockingConnectReturn internalNonBlockingConnectContinue (void)

Internal function that'll start the non blocking connection (mainly for switch connections).

NonBlockingConnectReturn internalNonBlockingConnectStart (const char *host, int port, bool print, const char *user, const char *password, ArSocket *tcpSocket, const char *openOnIP=NULL)

Internal function that'll start the non blocking connection (mainly for switch connections).

bool isConnected (void)

virtual bool isStopped ()

Returns whether the client has been stopped (regardless of whether its in its own thread).

bool isTcpOnlyFromServer (void)

Returns whether we only get TCP data from the server not UDP.

bool isTcpOnlyToServer (void)

Returns whether we only send TCP data to the server.

void logDataList (void)

Print out or data with descriptions.

void logTracking (bool terse)

Logs the tracking information (packet and byte counts).

void loopOnce (void)

Run the loop once.

void processPacket (ArNetPacket *packet, bool tcp)

Process the packet wherever it came from.

void processPacketUdp (ArNetPacket *packet, struct sockaddr_in *sin)

Process a packet from udp (just hands off to processPacket).

void remCycleCallback (ArFunctor *functor)

Removes a functor called every cycle.

void remDisconnectOnErrorCB (ArFunctor *functor)

Removes a call for when a disconnection has occured because of error.

bool remHandler (const char *name, ArFunctor1< ArNetPacket * > *functor)

Removes a functor for some particular data by name.

void remServerShutdownCB (ArFunctor *functor)

Removes a call for when the server shuts down.

bool request (const char *name, long mSec, ArNetPacket *packet=NULL)

Request some data every mSec milliseconds.

bool requestByCommand (unsigned int command, long mSec, ArNetPacket *packet=NULL)

Request some data every mSec milliseconds by command not name.

bool requestOnce (const char *name, ArNetPacket *packet=NULL, bool quiet=false)

Request some data (or send a command) just once.

bool requestOnceByCommand (unsigned int command, ArNetPacket *packet=NULL)

Request some data (or send a command) just once by command not name.

bool requestOnceByCommandUdp (unsigned int command, ArNetPacket *packet=NULL)

Request some data (or send a command) just once by command not name.

bool requestOnceUdp (const char *name, ArNetPacket *packet=NULL, bool quiet=false)

Request some data (or send a command) just once by UDP.

bool requestOnceWithString (const char *name, const char *str)

Request some data (or send a command) just once with a string as argument.

bool requestStop (const char *name)

Don't want this data anymore.

bool requestStopByCommand (unsigned int command)

Don't want this data anymore, by command not name.

void resetTracking (void)

Clears the tracking information (resets counters).

virtual void run (void)

Runs the client in this thread.

virtual void runAsync (void)

Runs the client in its own thread.

virtual void * runThread (void *arg)

bool sendPacketTcp (ArNetPacket *packet)

Send a packet over TCP.

bool sendPacketUdp (ArNetPacket *packet)

Send a packet over UDP (unless client only wants tcp then sends over tcp).

void setBackupTimeout (double timeoutInMins)

Sets the backup timeout.

void setConnectTimeoutTime (int sec)

Sets the time to allow for connection (default 3).

virtual void setRobotName (const char *name, bool debugLogging=false, int robotId=0)

Sets the optional name of the connected robot for debugging purposes.

void setServerKey (const char *serverKey, bool print=true)

Sets the 'key' needed to connect to the server.

void setTcpOnlyFromServer (void)

Sets it so we only get TCP data from the server not UDP.

void setTcpOnlyToServer (void)

Sets it so we only send TCP data to the server.

bool startNonBlockingDisconnect ()

This method should be called in threads that should not block (such as the main GUI thread).

virtual void stopRunning (void)

Stops the thread and sets the stopped flag.

bool wasRejected (void)

virtual ~ArClientBase ()

Destructor.

Protected Types

NON_BLOCKING_STATE_NONE

NON_BLOCKING_STATE_TCP

NON_BLOCKING_STATE_UDP

enum NonBlockingConnectState { NON_BLOCKING_STATE_NONE, NON_BLOCKING_STATE_TCP, NON_BLOCKING_STATE_UDP }

Protected Member Functions

void buildList (ArNetPacket *packet)

void clear (void)

bool internalConnect (const char *host, int port, bool obsolete, const char *openOnIP)

void internalStartUdp (void)

void internalSwitchState (ClientState state)

bool setupPacket (ArNetPacket *packet)

void trackPacketReceived (ArNetPacket *packet, bool tcp)

void trackPacketSent (ArNetPacket *packet, bool tcp)

Protected Attributes

long myAuthKey

double myBackupTimeout

ArMutex myCallbackMutex

unsigned char myClientKey [16]

ArMutex myClientMutex

ArMutex myCycleCallbackMutex

std::list< ArFunctor * > myCycleCallbacks

ArMutex myDataMutex

bool myDebugLogging

std::list< ArFunctor * > myDisconnectOnErrorCBList

bool myDisconnectSoon

std::string myHost

std::map< unsigned int, ArClientData * > myIntDataMap

long myIntroKey

bool myIsRunningAsync

bool myIsStartedDisconnect

bool myIsStopped

ArTime myLastPacketReceived

std::string myLogPrefix

Optional prefix to be inserted at the start of log messages.

ArMutex myMapsMutex

std::map< std::string, unsigned
int > myNameIntMap

NonBlockingConnectState myNonBlockingConnectState

ArMutex myPacketTrackingMutex

std::string myPassword

ArFunctor2C< ArClientBase,
ArNetPacket *, bool > myProcessPacketCB

ArFunctor2C< ArClientBase,
ArNetPacket *, struct sockaddr_in * > myProcessPacketUdpCB

bool myQuiet

bool myReceivedArgRetList

bool myReceivedDataList

bool myReceivedGroupAndFlagsList

int myRejected

char myRejectedString [32000]

std::string myRobotName

Optional robot name for logging.

std::string myServerKey

unsigned int myServerReportedUdpPort

unsigned int myServerSentUdpPort

std::list< ArFunctor * > myServerShutdownCBList

ArTime myStartedConnection

ArTime myStartedShutdown

ArTime myStartedUdpConnection

ClientState myState

ArMutex myStateMutex

ArTime myStateStarted

bool myTcpOnlyFrom

bool myTcpOnlyTo

ArNetPacketReceiverTcp myTcpReceiver

ArNetPacketSenderTcp myTcpSender

ArSocket myTcpSocket

int myTimeoutTime

std::map< unsigned int, Tracker * > myTrackingReceivedMap

std::map< unsigned int, Tracker * > myTrackingSentMap

ArTime myTrackingStarted

bool myUdpConfirmedFrom

bool myUdpConfirmedTo

unsigned int myUdpPort

ArNetPacketReceiverUdp myUdpReceiver

sockaddr_in myUdpSin

bool myUdpSinValid

ArSocket myUdpSocket

std::string myUser

ArLog::LogLevel myVerboseLogLevel

Classes

class Tracker

Member Enumeration Documentation

anonymous enum

Enumerator:

CLIENT_KEY_LENGTH

enum ArClientBase::ClientState

The state of the connection.

Enumerator:

STATE_NO_CONNECTION	The client has not connected.
STATE_FAILED_CONNECTION	The client tried to connect and failed.
STATE_OPENED_SOCKET	Client opened socket, waiting for intro from srvr.
STATE_EXCHANGED_INTROS	Client and server have exchanged introductions.
STATE_REJECTED	Client was rejected by server.
STATE_WAITING_LIST	Client was connected to server, waiting for list.
STATE_CONNECTED	Client is connected to server.
STATE_LOST_CONNECTION	Client lost connection to server.

enum ArClientBase::NonBlockingConnectReturn

Enumerator:

NON_BLOCKING_CONTINUE	Client didn't connect or fail to connect yet.
NON_BLOCKING_CONNECTED	Client connected.
NON_BLOCKING_FAILED	Client couldn't connect.

enum ArClientBase::NonBlockingConnectState [protected]

Enumerator:

NON_BLOCKING_STATE_NONE
NON_BLOCKING_STATE_TCP
NON_BLOCKING_STATE_UDP

Constructor & Destructor Documentation

ArClientBase::ArClientBase ( )

Constructor.

ArClientBase::~ArClientBase ( ) [virtual]

Destructor.

Member Function Documentation

void ArClientBase::addCycleCallback ( ArFunctor * functor )

Adds a functor to call every cycle.

You cannot add a cycle callback from within a cycle or it will deadlock

Parameters:

functor

callback to add

void ArClientBase::addDisconnectOnErrorCB	(	ArFunctor *	functor,
		ArListPos::Pos	position = `ArListPos::LAST`
	)

Adds a call for when a disconnection has occured because of error.

Parameters:

	functor	functor created from ArFunctorC which refers to the function to call.
	position	whether to place the functor first or last

See also:: remDisconnectOnErrorCB

bool ArClientBase::addHandler	(	const char *	name,
		ArFunctor1< ArNetPacket * > *	functor
	)

Adds a functor for some particular data.

Note that if you try and add a handler for a specific piece of data from within a handler for that specific piece of data you'll deadlock.

Parameters:

	name	the name of the data to use with this functor
	functor	the functor to call with the packet when data with this name arrives

Returns:: false is returned if this name doesn't exist in the data

Python Wrapper Library: Pass a function taking one argument for

functor

Java Wrapper Library: Use a subclass of ArFunctor_NetPacket for the

functor object.

Examples:: getVideoExample.cpp, and ptzCameraClientExample.cpp.

void ArClientBase::addServerShutdownCB	(	ArFunctor *	functor,
		ArListPos::Pos	position = `ArListPos::LAST`
	)

Adds a call for when the server shuts down.

Parameters:

	functor	functor created from ArFunctorC which refers to the function to call.
	position	whether to place the functor first or last

See also:: remServerShutdownCB

bool ArClientBase::blockingConnect	(	const char *	host,
		int	port,
		bool	print = `true`,
		const char *	user = `NULL`,
		const char *	password = `NULL`,
		const char *	openOnIP = `NULL`
	)

Connect to a server.

Parameters:

	host	the host to connect to
	port	the port to connect on
	print	whether to print out our connection information or not (you'll usually want to use the default argument of true, only here for some more advanced internal things), this carries over to things like disconnect printing too
	user	user name, or NULL for none.
	password	password (cleartext), or NULL for none.
	openOnIP	address of the local network interface to use for the outgoing connection, or NULL for any/all.

void ArClientBase::buildList ( ArNetPacket * packet ) [protected]

void ArClientBase::clear ( void ) [protected]

bool ArClientBase::dataExists ( const char * name )

Sees if this data exists.

Parameters:

name

the name to stop sending

Examples:: getVideoExample.cpp, and ptzCameraClientExample.cpp.

bool ArClientBase::disconnect ( void )

This method blocks while the connection is being shutdown.

void ArClientBase::disconnectSoon ( void )

This method does not block while the connection is being shutdown, and the disconnect only happens the next time the client base is in its loop.

unsigned int ArClientBase::findCommandFromName ( const char * name )

Returns the command number from the name.

Parameters:

name

the name of the data to find the command of

Returns:: 0 if there is no command of that name, the command number otherwise

void ArClientBase::finishNonBlockingDisconnect ( )

This method should be used in conjunction with startNonBlockingDisconnect in threads that should not block (such as the main GUI thread).

void ArClientBase::getClientKey ( unsigned char key[CLIENT_KEY_LENGTH] )

Gets a (probably) unique key that can be used to identify the client (after connection).

int ArClientBase::getConnectTimeoutTime ( void )

Gets the time allowed for connection.

Returns:: This value controls how long the client will give to connect, it is the argument in number of seconds... if <= 0 then no timeout will take place.

const std::map<unsigned int, ArClientData *>* ArClientBase::getDataMap ( void ) [inline]

Internal function get get the data map.

bool ArClientBase::getDebugLogging ( void )

Returns if we're doing debug logging or not.

const char * ArClientBase::getHost ( void )

Gets the name of the host we tried to connect to.

Examples:: ptzCameraClientExample.cpp.

ArTime ArClientBase::getLastPacketReceived ( void )

Gets the last time a packet was received.

const char * ArClientBase::getLogPrefix ( ) const [virtual]

Returns the entire string used to prefix log entries for this client base.

const char * ArClientBase::getName	(	unsigned int	command,
		bool	internalCall = `false`
	)

Gets the name of the data a command is.

const char * ArClientBase::getName	(	ArNetPacket *	packet,
		bool	internalCall = `false`
	)

Gets the name of the data a packet is for.

bool ArClientBase::getReceivedArgRetList ( void ) [inline]

Gets if we received the list of arguments and.

bool ArClientBase::getReceivedDataList ( void ) [inline]

Gets if we received the list of commands.

bool ArClientBase::getReceivedGroupAndFlagsList ( void ) [inline]

Gets if we received the list of commands.

int ArClientBase::getRejected ( void ) [inline]

Tells us the reason the connection was rejected (see ArServerCommands for details).

const char* ArClientBase::getRejectedString ( void ) [inline]

Tells us the reason the connection was rejected (see ArServerCommands for details).

const char * ArClientBase::getRobotName ( ) const [virtual]

Returns the optional name of the connected robot for debugging purposes.

ClientState ArClientBase::getState ( void ) [inline]

Gets the state of the client.

struct in_addr* ArClientBase::getTcpAddr ( void ) [inline]

Internal function to get the socket (no one should need this).

ArSocket* ArClientBase::getTcpSocket ( void ) [inline]

Internal function to get the tcp socket.

ArSocket* ArClientBase::getUdpSocket ( void ) [inline]

Internal function to get the udp socket.

bool ArClientBase::internalBlockingConnect	(	const char *	host,
		int	port,
		bool	print,
		const char *	user,
		const char *	password,
		ArSocket *	tcpSocket,
		const char *	openOnIP = `NULL`
	)

Internal function that'll do the connection (mainly for switch connections).

bool ArClientBase::internalConnect	(	const char *	host,
		int	port,
		bool	obsolete,
		const char *	openOnIP
	)			`[protected]`

ArClientBase::NonBlockingConnectReturn ArClientBase::internalNonBlockingConnectContinue ( void )

Internal function that'll start the non blocking connection (mainly for switch connections).

ArClientBase::NonBlockingConnectReturn ArClientBase::internalNonBlockingConnectStart	(	const char *	host,
		int	port,
		bool	print,
		const char *	user,
		const char *	password,
		ArSocket *	tcpSocket,
		const char *	openOnIP = `NULL`
	)

Internal function that'll start the non blocking connection (mainly for switch connections).

void ArClientBase::internalStartUdp ( void ) [protected]

void ArClientBase::internalSwitchState ( ClientState state ) [protected]

bool ArClientBase::isConnected ( void ) [inline]

Returns:: true if we're connected to a server

Examples:: ptzCameraClientExample.cpp.

bool ArClientBase::isStopped ( ) [virtual]

Returns whether the client has been stopped (regardless of whether its in its own thread).

bool ArClientBase::isTcpOnlyFromServer ( void )

Returns whether we only get TCP data from the server not UDP.

bool ArClientBase::isTcpOnlyToServer ( void )

Returns whether we only send TCP data to the server.

void ArClientBase::logDataList ( void )

Print out or data with descriptions.

void ArClientBase::logTracking ( bool terse )

Logs the tracking information (packet and byte counts).

void ArClientBase::loopOnce ( void )

Run the loop once.

void ArClientBase::processPacket	(	ArNetPacket *	packet,
		bool	tcp
	)

Process the packet wherever it came from.

see if we've opened the socket and this is an intro

void ArClientBase::processPacketUdp	(	ArNetPacket *	packet,
		struct sockaddr_in *	sin
	)

Process a packet from udp (just hands off to processPacket).

void ArClientBase::remCycleCallback ( ArFunctor * functor )

Removes a functor called every cycle.

Parameters:

functor

callback to remove

void ArClientBase::remDisconnectOnErrorCB ( ArFunctor * functor )

Removes a call for when a disconnection has occured because of error.

Parameters:

functor

the functor to remove from the list of connect callbacks

See also:: addDisconnectOnErrorCB

bool ArClientBase::remHandler	(	const char *	name,
		ArFunctor1< ArNetPacket * > *	functor
	)

Removes a functor for some particular data by name.

Note that if you try and remove a handler for a specific piece of data from within a handler for that specific piece of data you'll deadlock.

Parameters:

	name	the name of the data to use with this functor
	functor	the functor to call with the packet when data with this name arrives

Returns:: false is returned if this name doesn't exist in the data

void ArClientBase::remServerShutdownCB ( ArFunctor * functor )

Removes a call for when the server shuts down.

Parameters:

functor

the functor to remove from the list of connect callbacks

See also:: addServerShutdownCB

bool ArClientBase::request	(	const char *	name,
		long	mSec,
		ArNetPacket *	packet = `NULL`
	)

Request some data every mSec milliseconds.

Parameters:

	name	the name of the data to request from the server
	mSec	request interval: the number of milliseconds we want a refresh on this data, if this number is 0 then the server will send the information as often as it is available; if -1, then the server will send the information only when it changes (for broadcast type packets)
	packet	a packet to use for the request, may contain data to use as parameters or arguments along with the request.

Examples:: getVideoExample.cpp.

bool ArClientBase::requestByCommand	(	unsigned int	command,
		long	mSec,
		ArNetPacket *	packet = `NULL`
	)

Request some data every mSec milliseconds by command not name.

Parameters:

	command	the command number of the data to request
	mSec	the number of milliseconds we want a refresh on this data, if this number is 0 then the server will send the information as often as it is available; if -1, then the server will send the information only when it changes (for broadcast type packets)
	packet	the packet that contains the data to use as argument

bool ArClientBase::requestOnce	(	const char *	name,
		ArNetPacket *	packet = `NULL`,
		bool	quiet = `false`
	)

Request some data (or send a command) just once.

.. this is useful for things like video data that you don't want to clog up the bandwidth with... its also useful for things like sending commands

Parameters:

	name	the name of the data to request
	packet	the packet that contains the data to use as argument
	quiet	a bool set to true to override the verbose logging of this method (generally for repeating requests); default is false to log.

Examples:: getVideoExample.cpp, and ptzCameraClientExample.cpp.

bool ArClientBase::requestOnceByCommand	(	unsigned int	command,
		ArNetPacket *	packet = `NULL`
	)

Request some data (or send a command) just once by command not name.

.. this is useful for things like video data that you don't want to clog up the bandwidth with... its also useful for things like sending commands

Parameters:

	command	the command number to request
	packet	the packet that contains the data to use as argument

bool ArClientBase::requestOnceByCommandUdp	(	unsigned int	command,
		ArNetPacket *	packet = `NULL`
	)

Request some data (or send a command) just once by command not name.

.. this is useful for things like video data that you don't want to clog up the bandwidth with... its also useful for things like sending commands

Parameters:

	command	the command number to request
	packet	the packet that contains the data to use as argument

bool ArClientBase::requestOnceUdp	(	const char *	name,
		ArNetPacket *	packet = `NULL`,
		bool	quiet = `false`
	)

Request some data (or send a command) just once by UDP.

For example, use this method for certain kinds of data where constant streaming would be undesirable (e.g. video images that might saturate the network), or for sending a simple command. Note that since the request is sent using UDP, you cannot assume it will get there or that you will get a response.

Parameters:

	name	the name of the data to request
	packet	the packet that contains the data to use as argument
	quiet	If true, suppress verbose-level log message

bool ArClientBase::requestOnceWithString	(	const char *	name,
		const char *	str
	)

Request some data (or send a command) just once with a string as argument.

.. this is useful for things like video data that you don't want to clog up the bandwidth with... its also useful for things like sending commands

Parameters:

	name	the name of the data to request
	str	a string to send as the packet argument

bool ArClientBase::requestStop ( const char * name )

Don't want this data anymore.

Parameters:

name

the name to stop sending

bool ArClientBase::requestStopByCommand ( unsigned int command )

Don't want this data anymore, by command not name.

Parameters:

command

the command number to stop

void ArClientBase::resetTracking ( void )

Clears the tracking information (resets counters).

void ArClientBase::run ( void ) [virtual]

Runs the client in this thread.

Reimplemented from ArASyncTask.

Examples:: getVideoExample.cpp.

void ArClientBase::runAsync ( void ) [virtual]

Runs the client in its own thread.

Reimplemented from ArASyncTask.

Examples:: ptzCameraClientExample.cpp.

void * ArClientBase::runThread ( void * arg ) [virtual]

Implements ArASyncTask.

bool ArClientBase::sendPacketTcp ( ArNetPacket * packet )

Send a packet over TCP.

bool ArClientBase::sendPacketUdp ( ArNetPacket * packet )

Send a packet over UDP (unless client only wants tcp then sends over tcp).

Examples:: drawingsExample.cpp, and drawingsExampleWithRobot.cpp.

void ArClientBase::setBackupTimeout ( double timeoutInMins )

Sets the backup timeout.

Less than 0 means this won't happen. If this is positive but less than 5 seconds then 5 seconds is used.

void ArClientBase::setConnectTimeoutTime ( int sec )

Sets the time to allow for connection (default 3).

Parameters:

sec

This value controls how long the client will give to connect, it is the argument in number of seconds... if <= 0 then no timeout will take place.

void ArClientBase::setRobotName	(	const char *	name,
		bool	debugLogging = `false`,
		int	robotId = `0`
	)			`[virtual]`

Sets the optional name of the connected robot for debugging purposes.

Parameters:

	name	an optional char * name of the connected robot to be used in the log messages
	debugLogging	a bool set to true if log messages should be written at the Normal level, if false, then they are written as Verbose
	robotId	an optional int which can be appended to the robot name in the log messages; if 0, then only the robot name is logged

Examples:: ptzCameraClientExample.cpp.

void ArClientBase::setServerKey	(	const char *	serverKey,
		bool	print = `true`
	)

Sets the 'key' needed to connect to the server.

void ArClientBase::setTcpOnlyFromServer ( void )

Sets it so we only get TCP data from the server not UDP.

void ArClientBase::setTcpOnlyToServer ( void )

Sets it so we only send TCP data to the server.

bool ArClientBase::setupPacket ( ArNetPacket * packet ) [protected]

bool ArClientBase::startNonBlockingDisconnect ( )

This method should be called in threads that should not block (such as the main GUI thread).

The call should be followed by a delay of one second, followed by a call to finishNonBlockingDisconnect().

void ArClientBase::stopRunning ( void ) [virtual]

Stops the thread and sets the stopped flag.

Reimplemented from ArASyncTask.

void ArClientBase::trackPacketReceived	(	ArNetPacket *	packet,
		bool	tcp
	)			`[protected]`

void ArClientBase::trackPacketSent	(	ArNetPacket *	packet,
		bool	tcp
	)			`[protected]`

bool ArClientBase::wasRejected ( void ) [inline]

Returns:: true if a server connection attempt failed because the server rejected the username or password, false if the connection failed for another reason, or the username/password were accepted.

Examples:: ptzCameraClientExample.cpp.

Member Data Documentation

long ArClientBase::myAuthKey [protected]

double ArClientBase::myBackupTimeout [protected]

ArMutex ArClientBase::myCallbackMutex [protected]

unsigned char ArClientBase::myClientKey[16] [protected]

ArMutex ArClientBase::myClientMutex [protected]

ArMutex ArClientBase::myCycleCallbackMutex [protected]

std::list<ArFunctor *> ArClientBase::myCycleCallbacks [protected]

ArMutex ArClientBase::myDataMutex [protected]

bool ArClientBase::myDebugLogging [protected]

std::list<ArFunctor *> ArClientBase::myDisconnectOnErrorCBList [protected]

bool ArClientBase::myDisconnectSoon [protected]

std::string ArClientBase::myHost [protected]

std::map<unsigned int, ArClientData *> ArClientBase::myIntDataMap [protected]

long ArClientBase::myIntroKey [protected]

bool ArClientBase::myIsRunningAsync [protected]

bool ArClientBase::myIsStartedDisconnect [protected]

bool ArClientBase::myIsStopped [protected]

ArTime ArClientBase::myLastPacketReceived [protected]

std::string ArClientBase::myLogPrefix [protected]

Optional prefix to be inserted at the start of log messages.

ArMutex ArClientBase::myMapsMutex [protected]

std::map<std::string, unsigned int> ArClientBase::myNameIntMap [protected]

NonBlockingConnectState ArClientBase::myNonBlockingConnectState [protected]

ArMutex ArClientBase::myPacketTrackingMutex [protected]

std::string ArClientBase::myPassword [protected]

ArFunctor2C<ArClientBase, ArNetPacket *, bool> ArClientBase::myProcessPacketCB [protected]

ArFunctor2C<ArClientBase, ArNetPacket *, struct sockaddr_in *> ArClientBase::myProcessPacketUdpCB [protected]

bool ArClientBase::myQuiet [protected]

bool ArClientBase::myReceivedArgRetList [protected]

bool ArClientBase::myReceivedDataList [protected]

bool ArClientBase::myReceivedGroupAndFlagsList [protected]

int ArClientBase::myRejected [protected]

char ArClientBase::myRejectedString[32000] [protected]

std::string ArClientBase::myRobotName [protected]

Optional robot name for logging.

std::string ArClientBase::myServerKey [protected]

unsigned int ArClientBase::myServerReportedUdpPort [protected]

unsigned int ArClientBase::myServerSentUdpPort [protected]

std::list<ArFunctor *> ArClientBase::myServerShutdownCBList [protected]

ArTime ArClientBase::myStartedConnection [protected]

ArTime ArClientBase::myStartedShutdown [protected]

ArTime ArClientBase::myStartedUdpConnection [protected]

ClientState ArClientBase::myState [protected]

ArMutex ArClientBase::myStateMutex [protected]

ArTime ArClientBase::myStateStarted [protected]

bool ArClientBase::myTcpOnlyFrom [protected]

bool ArClientBase::myTcpOnlyTo [protected]

ArNetPacketReceiverTcp ArClientBase::myTcpReceiver [protected]

ArNetPacketSenderTcp ArClientBase::myTcpSender [protected]

ArSocket ArClientBase::myTcpSocket [protected]

int ArClientBase::myTimeoutTime [protected]

std::map<unsigned int, Tracker *> ArClientBase::myTrackingReceivedMap [protected]

std::map<unsigned int, Tracker *> ArClientBase::myTrackingSentMap [protected]

ArTime ArClientBase::myTrackingStarted [protected]

bool ArClientBase::myUdpConfirmedFrom [protected]

bool ArClientBase::myUdpConfirmedTo [protected]

unsigned int ArClientBase::myUdpPort [protected]

ArNetPacketReceiverUdp ArClientBase::myUdpReceiver [protected]

struct sockaddr_in ArClientBase::myUdpSin [protected]

bool ArClientBase::myUdpSinValid [protected]

ArSocket ArClientBase::myUdpSocket [protected]

std::string ArClientBase::myUser [protected]

ArLog::LogLevel ArClientBase::myVerboseLogLevel [protected]

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

Generated on Fri Jul 31 12:37:28 2009 for ArNetworking by

1.4.7


Public Types
enum	{ CLIENT_KEY_LENGTH = 16 }
	CLIENT_KEY_LENGTH = 16
enum	ClientState { STATE_NO_CONNECTION, STATE_FAILED_CONNECTION, STATE_OPENED_SOCKET, STATE_EXCHANGED_INTROS, STATE_REJECTED, STATE_WAITING_LIST, STATE_CONNECTED, STATE_LOST_CONNECTION }
	The state of the connection. More...
	NON_BLOCKING_CONNECTED
	Client connected.
	NON_BLOCKING_CONTINUE
	Client didn't connect or fail to connect yet.
	NON_BLOCKING_FAILED
	Client couldn't connect.
enum	NonBlockingConnectReturn { NON_BLOCKING_CONTINUE, NON_BLOCKING_CONNECTED, NON_BLOCKING_FAILED }
	STATE_CONNECTED
	Client is connected to server.
	STATE_EXCHANGED_INTROS
	Client and server have exchanged introductions.
	STATE_FAILED_CONNECTION
	The client tried to connect and failed.
	STATE_LOST_CONNECTION
	Client lost connection to server.
	STATE_NO_CONNECTION
	The client has not connected.
	STATE_OPENED_SOCKET
	Client opened socket, waiting for intro from srvr.
	STATE_REJECTED
	Client was rejected by server.
	STATE_WAITING_LIST
	Client was connected to server, waiting for list.
Public Member Functions
void	addCycleCallback (ArFunctor *functor)
	Adds a functor to call every cycle.
void	addDisconnectOnErrorCB (ArFunctor *functor, ArListPos::Pos position=ArListPos::LAST)
	Adds a call for when a disconnection has occured because of error.
bool	addHandler (const char name, ArFunctor1< ArNetPacket > *functor)
	Adds a functor for some particular data.
void	addServerShutdownCB (ArFunctor *functor, ArListPos::Pos position=ArListPos::LAST)
	Adds a call for when the server shuts down.
	ArClientBase ()
	Constructor.
bool	blockingConnect (const char host, int port, bool print=true, const char user=NULL, const char password=NULL, const char openOnIP=NULL)
	Connect to a server.
bool	dataExists (const char *name)
	Sees if this data exists.
bool	disconnect (void)
	This method blocks while the connection is being shutdown.
void	disconnectSoon (void)
	This method does not block while the connection is being shutdown, and the disconnect only happens the next time the client base is in its loop.
unsigned int	findCommandFromName (const char *name)
	Returns the command number from the name.
void	finishNonBlockingDisconnect ()
	This method should be used in conjunction with startNonBlockingDisconnect in threads that should not block (such as the main GUI thread).
void	getClientKey (unsigned char key[CLIENT_KEY_LENGTH])
	Gets a (probably) unique key that can be used to identify the client (after connection).
int	getConnectTimeoutTime (void)
	Gets the time allowed for connection.
const std::map< unsigned int, ArClientData * > *	getDataMap (void)
	Internal function get get the data map.
bool	getDebugLogging (void)
	Returns if we're doing debug logging or not.
const char *	getHost (void)
	Gets the name of the host we tried to connect to.
ArTime	getLastPacketReceived (void)
	Gets the last time a packet was received.
virtual const char *	getLogPrefix () const
	Returns the entire string used to prefix log entries for this client base.
const char *	getName (unsigned int command, bool internalCall=false)
	Gets the name of the data a command is.
const char *	getName (ArNetPacket *packet, bool internalCall=false)
	Gets the name of the data a packet is for.
bool	getReceivedArgRetList (void)
	Gets if we received the list of arguments and.
bool	getReceivedDataList (void)
	Gets if we received the list of commands.
bool	getReceivedGroupAndFlagsList (void)
	Gets if we received the list of commands.
int	getRejected (void)
	Tells us the reason the connection was rejected (see ArServerCommands for details).
const char *	getRejectedString (void)
	Tells us the reason the connection was rejected (see ArServerCommands for details).
virtual const char *	getRobotName () const
	Returns the optional name of the connected robot for debugging purposes.
ClientState	getState (void)
	Gets the state of the client.
in_addr *	getTcpAddr (void)
	Internal function to get the socket (no one should need this).
ArSocket *	getTcpSocket (void)
	Internal function to get the tcp socket.
ArSocket *	getUdpSocket (void)
	Internal function to get the udp socket.
bool	internalBlockingConnect (const char host, int port, bool print, const char user, const char password, ArSocket tcpSocket, const char *openOnIP=NULL)
	Internal function that'll do the connection (mainly for switch connections).
NonBlockingConnectReturn	internalNonBlockingConnectContinue (void)
	Internal function that'll start the non blocking connection (mainly for switch connections).
NonBlockingConnectReturn	internalNonBlockingConnectStart (const char host, int port, bool print, const char user, const char password, ArSocket tcpSocket, const char *openOnIP=NULL)
	Internal function that'll start the non blocking connection (mainly for switch connections).
bool	isConnected (void)
virtual bool	isStopped ()
	Returns whether the client has been stopped (regardless of whether its in its own thread).
bool	isTcpOnlyFromServer (void)
	Returns whether we only get TCP data from the server not UDP.
bool	isTcpOnlyToServer (void)
	Returns whether we only send TCP data to the server.
void	logDataList (void)
	Print out or data with descriptions.
void	logTracking (bool terse)
	Logs the tracking information (packet and byte counts).
void	loopOnce (void)
	Run the loop once.
void	processPacket (ArNetPacket *packet, bool tcp)
	Process the packet wherever it came from.
void	processPacketUdp (ArNetPacket packet, struct sockaddr_in sin)
	Process a packet from udp (just hands off to processPacket).
void	remCycleCallback (ArFunctor *functor)
	Removes a functor called every cycle.
void	remDisconnectOnErrorCB (ArFunctor *functor)
	Removes a call for when a disconnection has occured because of error.
bool	remHandler (const char name, ArFunctor1< ArNetPacket > *functor)
	Removes a functor for some particular data by name.
void	remServerShutdownCB (ArFunctor *functor)
	Removes a call for when the server shuts down.
bool	request (const char name, long mSec, ArNetPacket packet=NULL)
	Request some data every mSec milliseconds.
bool	requestByCommand (unsigned int command, long mSec, ArNetPacket *packet=NULL)
	Request some data every mSec milliseconds by command not name.
bool	requestOnce (const char name, ArNetPacket packet=NULL, bool quiet=false)
	Request some data (or send a command) just once.
bool	requestOnceByCommand (unsigned int command, ArNetPacket *packet=NULL)
	Request some data (or send a command) just once by command not name.
bool	requestOnceByCommandUdp (unsigned int command, ArNetPacket *packet=NULL)
	Request some data (or send a command) just once by command not name.
bool	requestOnceUdp (const char name, ArNetPacket packet=NULL, bool quiet=false)
	Request some data (or send a command) just once by UDP.
bool	requestOnceWithString (const char name, const char str)
	Request some data (or send a command) just once with a string as argument.
bool	requestStop (const char *name)
	Don't want this data anymore.
bool	requestStopByCommand (unsigned int command)
	Don't want this data anymore, by command not name.
void	resetTracking (void)
	Clears the tracking information (resets counters).
virtual void	run (void)
	Runs the client in this thread.
virtual void	runAsync (void)
	Runs the client in its own thread.
virtual void *	runThread (void *arg)
bool	sendPacketTcp (ArNetPacket *packet)
	Send a packet over TCP.
bool	sendPacketUdp (ArNetPacket *packet)
	Send a packet over UDP (unless client only wants tcp then sends over tcp).
void	setBackupTimeout (double timeoutInMins)
	Sets the backup timeout.
void	setConnectTimeoutTime (int sec)
	Sets the time to allow for connection (default 3).
virtual void	setRobotName (const char *name, bool debugLogging=false, int robotId=0)
	Sets the optional name of the connected robot for debugging purposes.
void	setServerKey (const char *serverKey, bool print=true)
	Sets the 'key' needed to connect to the server.
void	setTcpOnlyFromServer (void)
	Sets it so we only get TCP data from the server not UDP.
void	setTcpOnlyToServer (void)
	Sets it so we only send TCP data to the server.
bool	startNonBlockingDisconnect ()
	This method should be called in threads that should not block (such as the main GUI thread).
virtual void	stopRunning (void)
	Stops the thread and sets the stopped flag.
bool	wasRejected (void)
virtual	~ArClientBase ()
	Destructor.
Protected Types
	NON_BLOCKING_STATE_NONE
	NON_BLOCKING_STATE_TCP
	NON_BLOCKING_STATE_UDP
enum	NonBlockingConnectState { NON_BLOCKING_STATE_NONE, NON_BLOCKING_STATE_TCP, NON_BLOCKING_STATE_UDP }
Protected Member Functions
void	buildList (ArNetPacket *packet)
void	clear (void)
bool	internalConnect (const char host, int port, bool obsolete, const char openOnIP)
void	internalStartUdp (void)
void	internalSwitchState (ClientState state)
bool	setupPacket (ArNetPacket *packet)
void	trackPacketReceived (ArNetPacket *packet, bool tcp)
void	trackPacketSent (ArNetPacket *packet, bool tcp)
Protected Attributes
long	myAuthKey
double	myBackupTimeout
ArMutex	myCallbackMutex
unsigned char	myClientKey [16]
ArMutex	myClientMutex
ArMutex	myCycleCallbackMutex
std::list< ArFunctor * >	myCycleCallbacks
ArMutex	myDataMutex
bool	myDebugLogging
std::list< ArFunctor * >	myDisconnectOnErrorCBList
bool	myDisconnectSoon
std::string	myHost
std::map< unsigned int, ArClientData * >	myIntDataMap
long	myIntroKey
bool	myIsRunningAsync
bool	myIsStartedDisconnect
bool	myIsStopped
ArTime	myLastPacketReceived
std::string	myLogPrefix
	Optional prefix to be inserted at the start of log messages.
ArMutex	myMapsMutex
std::map< std::string, unsigned int >	myNameIntMap
NonBlockingConnectState	myNonBlockingConnectState
ArMutex	myPacketTrackingMutex
std::string	myPassword
ArFunctor2C< ArClientBase, ArNetPacket *, bool >	myProcessPacketCB
ArFunctor2C< ArClientBase, ArNetPacket , struct sockaddr_in >	myProcessPacketUdpCB
bool	myQuiet
bool	myReceivedArgRetList
bool	myReceivedDataList
bool	myReceivedGroupAndFlagsList
int	myRejected
char	myRejectedString [32000]
std::string	myRobotName
	Optional robot name for logging.
std::string	myServerKey
unsigned int	myServerReportedUdpPort
unsigned int	myServerSentUdpPort
std::list< ArFunctor * >	myServerShutdownCBList
ArTime	myStartedConnection
ArTime	myStartedShutdown
ArTime	myStartedUdpConnection
ClientState	myState
ArMutex	myStateMutex
ArTime	myStateStarted
bool	myTcpOnlyFrom
bool	myTcpOnlyTo
ArNetPacketReceiverTcp	myTcpReceiver
ArNetPacketSenderTcp	myTcpSender
ArSocket	myTcpSocket
int	myTimeoutTime
std::map< unsigned int, Tracker * >	myTrackingReceivedMap
std::map< unsigned int, Tracker * >	myTrackingSentMap
ArTime	myTrackingStarted
bool	myUdpConfirmedFrom
bool	myUdpConfirmedTo
unsigned int	myUdpPort
ArNetPacketReceiverUdp	myUdpReceiver
sockaddr_in	myUdpSin
bool	myUdpSinValid
ArSocket	myUdpSocket
std::string	myUser
ArLog::LogLevel	myVerboseLogLevel
Classes
class	Tracker