staubli_robot_driver::TCPSocket Class Reference

Class for handling bidirectional TCP communication. More...

#include <tcp_socket.hpp>

Inheritance diagram for staubli_robot_driver::TCPSocket:

Collaboration diagram for staubli_robot_driver::TCPSocket:

Public Member Functions
	TCPSocket ()
	~TCPSocket () override
bool	connect (const std::string &remote_address, uint16_t remote_port, uint16_t local_port) override
	Connect to the remote endpoint.
bool	connect (const std::string &remote_address, uint16_t remote_port, const std::string &local_address, uint16_t local_port) override
	Connect to the remote endpoint with specific local address.
bool	connect (const std::string &remote_address, uint16_t remote_port, uint16_t local_port, int timeout_ms)
bool	disconnect () override
	Disconnect from the remote endpoint.
bool	is_connected () const override
	Check if the connection is established.
bool	send (std::vector< uint8_t > &data) override
	Send data to the remote endpoint.
bool	receive_once (int timeout_ms, std::vector< uint8_t > &data) override
	Receive data from socket (blocking with timeout)
bool	start_receive_thread (std::function< void(std::vector< uint8_t > &, size_t)> reception_callback) override
	Start a receive thread that calls the provided reception_callback when data is received.
bool	stop_receive_thread () override
	Stop the receive thread.
bool	is_receiving () const override
	Check if the receive thread is running.
Public Member Functions inherited from staubli_robot_driver::Socket
	Socket ()=default
	Default constructor.
virtual	~Socket ()=default
	Virtual destructor.

Detailed Description

Class for handling bidirectional TCP communication.

Constructor & Destructor Documentation

TCPSocket()

staubli_robot_driver::TCPSocket::TCPSocket

(

)

~TCPSocket()

staubli_robot_driver::TCPSocket::~TCPSocket ( )

override

Member Function Documentation

connect() [1/3]

bool staubli_robot_driver::TCPSocket::connect ( const std::string &  remote_address, uint16_t  remote_port, uint16_t  local_port  )

overridevirtual

Connect to the remote endpoint.

Parameters

remote_address	Address of the remote endpoint (format depends on protocol)
remote_port	Port or identifier for the remote endpoint
local_port	Port or identifier for the local endpoint

Returns

True if connected successfully, false otherwise

Implements staubli_robot_driver::Socket.

connect() [2/3]

bool staubli_robot_driver::TCPSocket::connect ( const std::string &  remote_address, uint16_t  remote_port, const std::string &  local_address, uint16_t  local_port  )

overridevirtual

Connect to the remote endpoint with specific local address.

Parameters

remote_address	Address of the remote endpoint (format depends on protocol)
remote_port	Port or identifier for the remote endpoint
local_address	Local IP address to bind to (e.g., "192.168.1.100", "0.0.0.0" for any)
local_port	Port or identifier for the local endpoint

Returns

True if connected successfully, false otherwise

Implements staubli_robot_driver::Socket.

connect() [3/3]

bool staubli_robot_driver::TCPSocket::connect	(	const std::string &	remote_address,
		uint16_t	remote_port,
		uint16_t	local_port,
		int	timeout_ms
	)

disconnect()

bool staubli_robot_driver::TCPSocket::disconnect ( )

overridevirtual

Disconnect from the remote endpoint.

Returns

True if disconnected successfully, false otherwise

Implements staubli_robot_driver::Socket.

is_connected()

bool staubli_robot_driver::TCPSocket::is_connected ( ) const

overridevirtual

Check if the connection is established.

Returns

True if connected, false otherwise

Implements staubli_robot_driver::Socket.

send()

bool staubli_robot_driver::TCPSocket::send ( std::vector< uint8_t > &  data )

overridevirtual

Send data to the remote endpoint.

Parameters

data	Data to send

Returns

True if data was sent successfully, false otherwise

Implements staubli_robot_driver::Socket.

receive_once()

bool staubli_robot_driver::TCPSocket::receive_once ( int  timeout_ms, std::vector< uint8_t > &  data  )

overridevirtual

Receive data from socket (blocking with timeout)

Parameters

timeout_ms	Timeout in milliseconds
data	Will be filled with received data

Returns

Number of bytes received, 0 on timeout, -1 on error

Warning

The data vector must be preallocated with the max buffer size. The function will resize it to the max buffer size otherwise...

Implements staubli_robot_driver::Socket.

start_receive_thread()

bool staubli_robot_driver::TCPSocket::start_receive_thread ( std::function< void(std::vector< uint8_t > &, size_t)>  reception_callback )

overridevirtual

Start a receive thread that calls the provided reception_callback when data is received.

Parameters

reception_callback

Function to call when data is received

Returns

True if the receive thread was started successfully, false otherwise

Implements staubli_robot_driver::Socket.

stop_receive_thread()

bool staubli_robot_driver::TCPSocket::stop_receive_thread ( )

overridevirtual

Stop the receive thread.

Returns

True if the receive thread was stopped successfully, false otherwise

Implements staubli_robot_driver::Socket.

is_receiving()

bool staubli_robot_driver::TCPSocket::is_receiving ( ) const

overridevirtual

Check if the receive thread is running.

Returns

True if the receive thread is running, false otherwise

Implements staubli_robot_driver::Socket.

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The documentation for this class was generated from the following file:

• /home/runner/work/staubli_driver_ros2/staubli_driver_ros2/staubli_robot_driver/include/staubli_robot_driver/communication/tcp_socket.hpp