bool TransportTCP::initializeSocket()
{
ROS_ASSERT(sock_ != ROS_INVALID_SOCKET);
if (!setNonBlocking())
{
return false;
}
setKeepAlive(s_use_keepalive_, 60, 10, 9);
// connect() will set cached_remote_host_ because it already has the host/port available
if (cached_remote_host_.empty())
{
if (is_server_)
{
cached_remote_host_ = "TCPServer Socket";
}
else
{
std::stringstream ss;
ss << getClientURI() << " on socket " << sock_;
cached_remote_host_ = ss.str();
}
}
if (local_port_ < 0)
{
la_len_ = s_use_ipv6_ ? sizeof(sockaddr_in6) : sizeof(sockaddr_in);
getsockname(sock_, (sockaddr *)&local_address_, &la_len_);
switch (local_address_.ss_family)
{
case AF_INET:
local_port_ = ntohs(((sockaddr_in *)&local_address_)->sin_port);
break;
case AF_INET6:
local_port_ = ntohs(((sockaddr_in6 *)&local_address_)->sin6_port);
break;
}
}
#ifdef ROSCPP_USE_TCP_NODELAY
setNoDelay(true);
#endif
ROS_ASSERT(poll_set_ || (flags_ & SYNCHRONOUS));
if (poll_set_)
{
ROS_DEBUG("Adding tcp socket [%d] to pollset", sock_);
poll_set_->addSocket(sock_, boost::bind(&TransportTCP::socketUpdate, this, _1), shared_from_this());
}
if (!(flags_ & SYNCHRONOUS))
{
//enableRead();
}
return true;
}
bool TransportTCP::initializeSocket()
{
ROS_ASSERT(sock_ != ROS_INVALID_SOCKET);
if (!setNonBlocking())
{
return false;
}
setKeepAlive(s_use_keepalive_, 60, 10, 9);
// connect() will set cached_remote_host_ because it already has the host/port available
if (cached_remote_host_.empty())
{
if (is_server_)
{
cached_remote_host_ = "TCPServer Socket";
}
else
{
std::stringstream ss;
ss << getClientURI() << " on socket " << sock_;
cached_remote_host_ = ss.str();
}
}
#ifdef ROSCPP_USE_TCP_NODELAY
setNoDelay(true);
#endif
ROS_ASSERT(poll_set_ || (flags_ & SYNCHRONOUS));
if (poll_set_)
{
ROS_DEBUG("Adding tcp socket [%d] to pollset", sock_);
poll_set_->addSocket(sock_, boost::bind(&TransportTCP::socketUpdate, this, _1), shared_from_this());
}
if (!(flags_ & SYNCHRONOUS))
{
//enableRead();
}
return true;
}
