TransportTCPPtr TransportTCP::accept()
{
ROS_ASSERT(is_server_);
sockaddr client_address;
socklen_t len = sizeof(client_address);
int new_sock = ::accept(sock_, (sockaddr *)&client_address, &len);
if (new_sock >= 0)
{
ROSCPP_LOG_DEBUG("Accepted connection on socket [%d], new socket [%d]", sock_, new_sock);
TransportTCPPtr transport(boost::make_shared<TransportTCP>(poll_set_, flags_));
if (!transport->setSocket(new_sock))
{
ROS_ERROR("Failed to set socket on transport for socket %d", new_sock);
}
return transport;
}
else
{
ROS_ERROR("accept() on socket [%d] failed with error [%s]", sock_, last_socket_error_string());
}
return TransportTCPPtr();
}
void ConnectionManager::start()
{
poll_manager_ = PollManager::instance();
poll_conn_ = poll_manager_->addPollThreadListener(boost::bind(&ConnectionManager::removeDroppedConnections,
this));
// Bring up the TCP listener socket
tcpserver_transport_ = TransportTCPPtr(new TransportTCP(&poll_manager_->getPollSet()));
if (!tcpserver_transport_->listen(network::getTCPROSPort(),
MAX_TCPROS_CONN_QUEUE,
boost::bind(&ConnectionManager::tcprosAcceptConnection, this, _1)))
{
ROS_FATAL("Listen on port [%d] failed", network::getTCPROSPort());
ROS_BREAK();
}
// Bring up the UDP listener socket
udpserver_transport_ = TransportUDPPtr(new TransportUDP(&poll_manager_->getPollSet()));
if (!udpserver_transport_->createIncoming(0, true))
{
ROS_FATAL("Listen failed");
ROS_BREAK();
}
}
