void TransportUDP::socketUpdate(int events)
{
{
boost::mutex::scoped_lock lock(close_mutex_);
if (closed_)
{
return;
}
}
if((events & POLLERR) ||
(events & POLLHUP) ||
(events & POLLNVAL))
{
ROSCPP_LOG_DEBUG("Socket %d closed with (ERR|HUP|NVAL) events %d", sock_, events);
close();
}
else
{
if ((events & POLLIN) && expecting_read_)
{
if (read_cb_)
{
read_cb_(shared_from_this());
}
}
if ((events & POLLOUT) && expecting_write_)
{
if (write_cb_)
{
write_cb_(shared_from_this());
}
}
}
}
void TransportTCP::socketUpdate(int events)
{
{
boost::recursive_mutex::scoped_lock lock(close_mutex_);
if (closed_)
{
return;
}
// Handle read events before err/hup/nval, since there may be data left on the wire
if ((events & POLLIN) && expecting_read_)
{
if (is_server_)
{
// Should not block here, because poll() said that it's ready
// for reading
TransportTCPPtr transport = accept();
if (transport)
{
ROS_ASSERT(accept_cb_);
accept_cb_(transport);
}
}
else
{
if (read_cb_)
{
read_cb_(shared_from_this());
}
}
}
if ((events & POLLOUT) && expecting_write_)
{
if (write_cb_)
{
write_cb_(shared_from_this());
}
}
}
if((events & POLLERR) ||
(events & POLLHUP) ||
(events & POLLNVAL))
{
uint32_t error = -1;
socklen_t len = sizeof(error);
if (getsockopt(sock_, SOL_SOCKET, SO_ERROR, reinterpret_cast<char*>(&error), &len) < 0)
{
ROSCPP_LOG_DEBUG("getsockopt failed on socket [%d]", sock_);
}
#ifdef _MSC_VER
char err[60];
strerror_s(err,60,error);
ROSCPP_LOG_DEBUG("Socket %d closed with (ERR|HUP|NVAL) events %d: %s", sock_, events, err);
#else
ROSCPP_LOG_DEBUG("Socket %d closed with (ERR|HUP|NVAL) events %d: %s", sock_, events, strerror(error));
#endif
close();
}
}
