UnixSockTwoWayStream.h

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/*
 * Copyright (C) 2006-2020 Istituto Italiano di Tecnologia (IIT)
 * All rights reserved.
 *
 * This software may be modified and distributed under the terms of the
 * BSD-3-Clause license. See the accompanying LICENSE file for details.
 */
 
#ifndef YARP_UNIX_UNIXSOCKTWOWAYSTREAM_H
#define YARP_UNIX_UNIXSOCKTWOWAYSTREAM_H
 
#include <yarp/os/ManagedBytes.h>
#include <yarp/os/Semaphore.h>
#include <yarp/os/TwoWayStream.h>
 
#include <mutex>
 
class UnixSockTwoWayStream :
        public yarp::os::TwoWayStream,
        public yarp::os::InputStream,
        public yarp::os::OutputStream
{
 
public:
    UnixSockTwoWayStream(const std::string& _socketPath = "");
 
    ~UnixSockTwoWayStream() override;
 
    InputStream& getInputStream() override;
 
    OutputStream& getOutputStream() override;
 
    const yarp::os::Contact& getLocalAddress() const override;
 
    const yarp::os::Contact& getRemoteAddress() const override;
 
    void interrupt() override;
 
    void close() override;
 
    using yarp::os::InputStream::read;
    yarp::conf::ssize_t read(yarp::os::Bytes& b) override;
 
    using yarp::os::OutputStream::write;
    void write(const yarp::os::Bytes& b) override;
 
    bool isOk() const override;
 
    void reset() override;
 
    void beginPacket() override;
    void endPacket() override;
 
    bool open(bool sender = false);
    void setLocalAddress(yarp::os::Contact& _localAddress);
    void setRemoteAddress(yarp::os::Contact& _remoteAddress);
 
private:
    bool closed{false};
    bool openedAsReader{false};
    yarp::os::Contact localAddress;
    yarp::os::Contact remoteAddress;
    bool happy{true};
 
    std::string socketPath;
    int reader_fd{-1};
    int sender_fd{-1};
 
    static constexpr size_t maxAttempts = 5;
    static constexpr double delayBetweenAttempts = 0.1;
};
 
#endif // YARP_UNIX_UNIXSOCKTWOWAYSTREAM_H