static void onNotify(struct Event* event, void* arg)
{
assert(event != NULL && arg != NULL);
#ifdef DEBUG
printf("on notify.\n");
#endif
struct WorkerThread* thread = (struct WorkerThread*)arg;
int tid = thread->tid;
Server* server = thread->server;
struct ConnQueue* queue = thread->queue;
int efd = event->fd;
uint64_t count;
int nread = read(efd, &count, sizeof(count));
assert(nread == sizeof(count));
int sockfd = poll(queue);
struct BufferEvent* bevent = newBufferEvent(event->loop, sockfd,
server->onRead, server->onWrite, bevent);
assert(bevent != NULL);
enableRead(bevent);
setTimer(bevent, 6000);
if(server->afterAccept)
server->afterAccept(bevent, NULL);
}
bool TransportUDP::createIncoming(int port, bool is_server)
{
is_server_ = is_server;
sock_ = socket(AF_INET, SOCK_DGRAM, 0);
if (sock_ <= 0)
{
ROS_ERROR("socket() failed with error [%s]", last_socket_error_string());
return false;
}
server_address_.sin_family = AF_INET;
server_address_.sin_port = htons(port);
server_address_.sin_addr.s_addr = INADDR_ANY;
if (bind(sock_, (sockaddr *)&server_address_, sizeof(server_address_)) < 0)
{
ROS_ERROR("bind() failed with error [%s]", last_socket_error_string());
return false;
}
socklen_t len = sizeof(server_address_);
getsockname(sock_, (sockaddr *)&server_address_, &len);
server_port_ = ntohs(server_address_.sin_port);
ROSCPP_LOG_DEBUG("UDPROS server listening on port [%d]", server_port_);
if (!initializeSocket())
{
return false;
}
enableRead();
return true;
}
bool TransportTCP::listen(int port, int backlog, const AcceptCallback& accept_cb)
{
is_server_ = true;
accept_cb_ = accept_cb;
sock_ = socket(AF_INET, SOCK_STREAM, 0);
if (sock_ <= 0)
{
ROS_ERROR("socket() failed with error [%s]", last_socket_error_string());
return false;
}
server_address_.sin_family = AF_INET;
server_address_.sin_port = htons(port);
server_address_.sin_addr.s_addr = INADDR_ANY;
if (bind(sock_, (sockaddr *)&server_address_, sizeof(server_address_)) < 0)
{
ROS_ERROR("bind() failed with error [%s]", last_socket_error_string());
return false;
}
::listen(sock_, backlog);
socklen_t len = sizeof(server_address_);
getsockname(sock_, (sockaddr *)&server_address_, &len);
server_port_ = ntohs(server_address_.sin_port);
if (!initializeSocket())
{
return false;
}
if (!(flags_ & SYNCHRONOUS))
{
enableRead();
}
return true;
}
bool TransportTCP::listen(int port, int backlog, const AcceptCallback& accept_cb)
{
is_server_ = true;
accept_cb_ = accept_cb;
if (s_use_ipv6_)
{
sock_ = socket(AF_INET6, SOCK_STREAM, 0);
sockaddr_in6 *address = (sockaddr_in6 *)&server_address_;
address->sin6_family = AF_INET6;
address->sin6_addr = isOnlyLocalhostAllowed() ?
in6addr_loopback :
in6addr_any;
address->sin6_port = htons(port);
sa_len_ = sizeof(sockaddr_in6);
}
else
{
sock_ = socket(AF_INET, SOCK_STREAM, 0);
sockaddr_in *address = (sockaddr_in *)&server_address_;
address->sin_family = AF_INET;
address->sin_addr.s_addr = isOnlyLocalhostAllowed() ?
htonl(INADDR_LOOPBACK) :
INADDR_ANY;
address->sin_port = htons(port);
sa_len_ = sizeof(sockaddr_in);
}
if (sock_ <= 0)
{
ROS_ERROR("socket() failed with error [%s]", last_socket_error_string());
return false;
}
if (bind(sock_, (sockaddr *)&server_address_, sa_len_) < 0)
{
ROS_ERROR("bind() failed with error [%s]", last_socket_error_string());
return false;
}
::listen(sock_, backlog);
getsockname(sock_, (sockaddr *)&server_address_, &sa_len_);
switch (server_address_.ss_family)
{
case AF_INET:
server_port_ = ntohs(((sockaddr_in *)&server_address_)->sin_port);
break;
case AF_INET6:
server_port_ = ntohs(((sockaddr_in6 *)&server_address_)->sin6_port);
break;
}
if (!initializeSocket())
{
return false;
}
if (!(flags_ & SYNCHRONOUS))
{
enableRead();
}
return true;
}
