void TransportTCP::close()
{
Callback disconnect_cb;
if (!closed_)
{
{
boost::recursive_mutex::scoped_lock lock(close_mutex_);
if (!closed_)
{
closed_ = true;
ROS_ASSERT(sock_ != ROS_INVALID_SOCKET);
if (poll_set_)
{
poll_set_->delSocket(sock_);
}
::shutdown(sock_, ROS_SOCKETS_SHUT_RDWR);
if ( close_socket(sock_) != 0 )
{
ROS_ERROR("Error closing socket [%d]: [%s]", sock_, last_socket_error_string());
} else
{
ROSCPP_LOG_DEBUG("TCP socket [%d] closed", sock_);
}
sock_ = ROS_INVALID_SOCKET;
disconnect_cb = disconnect_cb_;
disconnect_cb_ = Callback();
read_cb_ = Callback();
write_cb_ = Callback();
accept_cb_ = AcceptCallback();
}
}
}
if (disconnect_cb)
{
disconnect_cb(shared_from_this());
}
}
void DeviceProxy_Callback::disconnect() {
if(disconnect_cb)
disconnect_cb();
}
void obc_session_shutdown(struct obc_session *session)
{
struct pending_request *p;
GError *err;
DBG("%p", session);
if (session->disconnecting == TRUE) {
DBG("%p already disconnecting", session);
return;
}
session->disconnecting = TRUE;
obc_session_ref(session);
/* Unregister any pending transfer */
err = g_error_new(OBEX_IO_ERROR, OBEX_IO_DISCONNECTED,
"Session closed by user");
if (session->p != NULL && session->p->id != 0) {
p = session->p;
session->p = NULL;
if (p->func)
p->func(session, p->transfer, err, p->data);
pending_request_free(p);
}
while ((p = g_queue_pop_head(session->queue))) {
if (p->func)
p->func(session, p->transfer, err, p->data);
pending_request_free(p);
}
g_error_free(err);
/* Unregister interfaces */
if (session->path)
session_unregistered(session);
DBG("Checking the need for disconnect request");
/* Send a disconnect request and wait for reply */
if (session->id > 0 && session->transport != NULL
&& session->obex != NULL) {
DBG("Generating disconnect request. ");
err = NULL;
p = pending_request_new(session, NULL, NULL, NULL);
p->req_id = g_obex_disconnect(session->obex, disconnect_cb,
p, &err);
if (err != NULL) {
DBG("Generating disconnect request failed. ");
disconnect_cb(session->obex, NULL, NULL, p);
} else {
/* Finalize when reply arrives */
DBG("Generating disconnect request succeeded. ");
}
} else {
DBG("Unreferring without disconnect request.");
obc_session_unref(session);
}
}
