MRPT  1.9.9
List of all members | Public Member Functions | Static Public Member Functions | Protected Attributes | Private Member Functions | Private Attributes
mrpt::comms::CServerTCPSocket Class Reference

Detailed Description

A TCP socket that can be wait for client connections to enter.

Unless otherwise noticed, operations are blocking.

Definition at line 24 of file CServerTCPSocket.h.

#include <mrpt/comms/CServerTCPSocket.h>

Inheritance diagram for mrpt::comms::CServerTCPSocket:

Public Member Functions

 CServerTCPSocket (unsigned short listenPort, const std::string &IPaddress=std::string("127.0.0.1"), int maxConnectionsWaiting=50, mrpt::system::VerbosityLevel verbosityLevel=mrpt::system::LVL_INFO)
 Constructor that creates the socket, performs binding, and start listening mode. More...
 
 ~CServerTCPSocket () override
 Dtor. More...
 
bool isListening ()
 Returns true if the socket was successfully open and it's bound to the desired port. More...
 
std::unique_ptr< CClientTCPSocketaccept (int timeout_ms=-1)
 Waits for an incoming connection (indefinitely, or with a given timeout) The returned object represents the new connection, and MUST BE deleted by the user when no longer needed. More...
 

Static Public Member Functions

static std::array< mrpt::system::TConsoleColor, NUMBER_OF_VERBOSITY_LEVELS > & logging_levels_to_colors ()
 Map from VerbosityLevels to their corresponding mrpt::system::TConsoleColor. More...
 
static std::array< std::string, NUMBER_OF_VERBOSITY_LEVELS > & logging_levels_to_names ()
 Map from VerbosityLevels to their corresponding names. More...
 

Protected Attributes

VerbosityLevel m_min_verbosity_level {LVL_INFO}
 Provided messages with VerbosityLevel smaller than this value shall be ignored. More...
 

Private Member Functions

std::string getLastErrorStr ()
 Returns a description of the last Sockets error. More...
 
void setupSocket (unsigned short listenPort, const std::string &IPaddress, int maxConnectionsWaiting)
 Common code called from the platform-dependant constructor. More...
 

Private Attributes

unsigned int m_serverSock
 The handle for the listening server TCP socket. More...
 

Logging methods

void logStr (const VerbosityLevel level, std::string_view msg_str) const
 Main method to add the specified message string to the logger. More...
 
void logFmt (const VerbosityLevel level, const char *fmt,...) const MRPT_printf_format_check(3
 Alternative logging method, which mimics the printf behavior. More...
 
void void logCond (const VerbosityLevel level, bool cond, const std::string &msg_str) const
 Log the given message only if the condition is satisfied. More...
 
void setLoggerName (const std::string &name)
 Set the name of the COutputLogger instance. More...
 
std::string getLoggerName () const
 Return the name of the COutputLogger instance. More...
 
void setMinLoggingLevel (const VerbosityLevel level)
 Set the minimum logging level for which the incoming logs are going to be taken into account. More...
 
void setVerbosityLevel (const VerbosityLevel level)
 alias of setMinLoggingLevel() More...
 
VerbosityLevel getMinLoggingLevel () const
 
bool isLoggingLevelVisible (VerbosityLevel level) const
 
void getLogAsString (std::string &log_contents) const
 Fill the provided string with the contents of the logger's history in std::string representation. More...
 
std::string getLogAsString () const
 Get the history of COutputLogger instance in a string representation. More...
 
void writeLogToFile (const std::string *fname_in=nullptr) const
 Write the contents of the COutputLogger instance to an external file. More...
 
void dumpLogToConsole () const
 Dump the current contents of the COutputLogger instance in the terminal window. More...
 
std::string getLoggerLastMsg () const
 Return the last Tmsg instance registered in the logger history. More...
 
void getLoggerLastMsg (std::string &msg_str) const
 Fill inputtted string with the contents of the last message in history. More...
 
void loggerReset ()
 Reset the contents of the logger instance. More...
 
void logRegisterCallback (output_logger_callback_t userFunc)
 
bool logDeregisterCallback (output_logger_callback_t userFunc)
 
bool logging_enable_console_output {true}
 [Default=true] Set it to false in case you don't want the logged messages to be dumped to the output automatically. More...
 
bool logging_enable_keep_record {false}
 [Default=false] Enables storing all messages into an internal list. More...
 

Constructor & Destructor Documentation

◆ CServerTCPSocket()

CServerTCPSocket::CServerTCPSocket ( unsigned short  listenPort,
const std::string IPaddress = std::string("127.0.0.1"),
int  maxConnectionsWaiting = 50,
mrpt::system::VerbosityLevel  verbosityLevel = mrpt::system::LVL_INFO 
)

Constructor that creates the socket, performs binding, and start listening mode.

Parameters
listenPortThe port to bound to.
IPaddressThe interface to bound the socket to. By default is 127.0.0.1 for localhost, for all network interfaces use 0.0.0.0.
maxConnectionsWaitingMaximum number of incoming connections waiting for "accept" before new ones are rejected. You can check if the socket has been created OK with "isListening".
See also
isListening
Exceptions
std::exceptionIf there is any error creating the socket, with a textual description of the error.

Definition at line 41 of file CServerTCPSocket.cpp.

References getLastErrorStr(), MRPT_TRY_END, MRPT_TRY_START, setupSocket(), mrpt::system::COutputLogger::setVerbosityLevel(), and THROW_EXCEPTION.

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◆ ~CServerTCPSocket()

CServerTCPSocket::~CServerTCPSocket ( )
override

Dtor.

Definition at line 65 of file CServerTCPSocket.cpp.

References m_serverSock.

Member Function Documentation

◆ accept()

std::unique_ptr< CClientTCPSocket > CServerTCPSocket::accept ( int  timeout_ms = -1)

Waits for an incoming connection (indefinitely, or with a given timeout) The returned object represents the new connection, and MUST BE deleted by the user when no longer needed.

Parameters
timeout_msThe timeout for the waiting, in milliseconds. Set this to "-1" to disable timeout (i.e. timeout=infinite)
Returns
The incoming connection, or nullptr on timeout or error.

Definition at line 86 of file CServerTCPSocket_common.cpp.

References mrpt::system::os::fprintf(), getLastErrorStr(), m_serverSock, MRPT_END, MRPT_LOG_DEBUG, MRPT_LOG_DEBUG_FMT, MRPT_LOG_ERROR_FMT, MRPT_LOG_WARN, and MRPT_START.

Referenced by thread_server().

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◆ dumpLogToConsole()

void COutputLogger::dumpLogToConsole ( ) const
inherited

Dump the current contents of the COutputLogger instance in the terminal window.

See also
writeToFile

Definition at line 190 of file COutputLogger.cpp.

◆ getLastErrorStr()

std::string CServerTCPSocket::getLastErrorStr ( )
private

Returns a description of the last Sockets error.

Definition at line 39 of file CServerTCPSocket_common.cpp.

References mrpt::comms::net::getLastSocketErrorStr().

Referenced by accept(), CServerTCPSocket(), and setupSocket().

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◆ getLogAsString() [1/2]

void COutputLogger::getLogAsString ( std::string log_contents) const
inherited

Fill the provided string with the contents of the logger's history in std::string representation.

Definition at line 154 of file COutputLogger.cpp.

◆ getLogAsString() [2/2]

std::string COutputLogger::getLogAsString ( ) const
inherited

Get the history of COutputLogger instance in a string representation.

Definition at line 159 of file COutputLogger.cpp.

Referenced by mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::getDescriptiveReport().

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◆ getLoggerLastMsg() [1/2]

std::string COutputLogger::getLoggerLastMsg ( ) const
inherited

Return the last Tmsg instance registered in the logger history.

Definition at line 195 of file COutputLogger.cpp.

References mrpt::system::COutputLogger::TMsg::getAsString().

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◆ getLoggerLastMsg() [2/2]

void COutputLogger::getLoggerLastMsg ( std::string msg_str) const
inherited

Fill inputtted string with the contents of the last message in history.

Definition at line 201 of file COutputLogger.cpp.

◆ getLoggerName()

std::string COutputLogger::getLoggerName ( ) const
inherited

Return the name of the COutputLogger instance.

See also
setLoggerName

Definition at line 143 of file COutputLogger.cpp.

◆ getMinLoggingLevel()

VerbosityLevel mrpt::system::COutputLogger::getMinLoggingLevel ( ) const
inlineinherited

◆ isListening()

bool CServerTCPSocket::isListening ( )

Returns true if the socket was successfully open and it's bound to the desired port.

Definition at line 82 of file CServerTCPSocket_common.cpp.

References m_serverSock.

◆ isLoggingLevelVisible()

bool mrpt::system::COutputLogger::isLoggingLevelVisible ( VerbosityLevel  level) const
inlineinherited

Definition at line 202 of file system/COutputLogger.h.

References mrpt::system::COutputLogger::m_min_verbosity_level.

Referenced by mrpt::slam::CMetricMapBuilderRBPF::processActionObservation(), and mrpt::system::COutputLoggerStreamWrapper::~COutputLoggerStreamWrapper().

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◆ logCond()

void COutputLogger::logCond ( const VerbosityLevel  level,
bool  cond,
const std::string msg_str 
) const
inherited

Log the given message only if the condition is satisfied.

See also
log, logFmt

Definition at line 131 of file COutputLogger.cpp.

◆ logDeregisterCallback()

bool COutputLogger::logDeregisterCallback ( output_logger_callback_t  userFunc)
inherited
Returns
true if an entry was found and deleted.

Definition at line 291 of file COutputLogger.cpp.

References getAddress(), and mrpt::system::COutputLogger::m_listCallbacks.

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◆ logFmt()

void COutputLogger::logFmt ( const VerbosityLevel  level,
const char *  fmt,
  ... 
) const
inherited

◆ loggerReset()

void COutputLogger::loggerReset ( )
inherited

Reset the contents of the logger instance.

Called upon construction.

Definition at line 206 of file COutputLogger.cpp.

References mrpt::system::LVL_INFO.

◆ logging_levels_to_colors()

std::array< mrpt::system::TConsoleColor, NUMBER_OF_VERBOSITY_LEVELS > & COutputLogger::logging_levels_to_colors ( )
staticinherited

Map from VerbosityLevels to their corresponding mrpt::system::TConsoleColor.

Handy for coloring the input based on the verbosity of the message

Definition at line 47 of file COutputLogger.cpp.

References logging_levels_to_colors.

Referenced by mrpt::system::COutputLogger::TMsg::dumpToConsole().

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◆ logging_levels_to_names()

std::array< std::string, NUMBER_OF_VERBOSITY_LEVELS > & COutputLogger::logging_levels_to_names ( )
staticinherited

Map from VerbosityLevels to their corresponding names.

Handy for printing the current message VerbosityLevel along with the actual content

Definition at line 60 of file COutputLogger.cpp.

References logging_levels_to_names.

Referenced by mrpt::system::COutputLogger::TMsg::getAsString().

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◆ logRegisterCallback()

void COutputLogger::logRegisterCallback ( output_logger_callback_t  userFunc)
inherited

Definition at line 278 of file COutputLogger.cpp.

References mrpt::system::COutputLogger::m_listCallbacks.

◆ logStr()

void COutputLogger::logStr ( const VerbosityLevel  level,
std::string_view  msg_str 
) const
inherited

Main method to add the specified message string to the logger.

See also
logCond, logFmt

Definition at line 72 of file COutputLogger.cpp.

References mrpt::system::COutputLogger::TMsg::body, mrpt::system::COutputLogger::TMsg::dumpToConsole(), mrpt::system::COutputLogger::TMsg::level, mrpt::system::COutputLogger::TMsg::name, and mrpt::system::COutputLogger::TMsg::timestamp.

Referenced by mrpt::slam::PF_implementation< mrpt::math::TPose3D, CMonteCarloLocalization3D, mrpt::bayes::particle_storage_mode::VALUE >::PF_SLAM_implementation_pfAuxiliaryPFStandardAndOptimal(), mrpt::nav::CReactiveNavigationSystem::STEP1_InitPTGs(), mrpt::system::COutputLoggerStreamWrapper::~COutputLoggerStreamWrapper(), and mrpt::system::CTimeLoggerSaveAtDtor::~CTimeLoggerSaveAtDtor().

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◆ setLoggerName()

void COutputLogger::setLoggerName ( const std::string name)
inherited

◆ setMinLoggingLevel()

void COutputLogger::setMinLoggingLevel ( const VerbosityLevel  level)
inherited

Set the minimum logging level for which the incoming logs are going to be taken into account.

String messages with specified VerbosityLevel smaller than the min, will not be outputted to the screen and neither will a record of them be stored in by the COutputLogger instance

Definition at line 144 of file COutputLogger.cpp.

Referenced by mrpt::maps::CRandomFieldGridMap2D::enableVerbose(), mrpt::math::CLevenbergMarquardtTempl< VECTORTYPE, USERPARAM >::execute(), generic_kf_slam_test(), generic_pf_test(), generic_rbpf_slam_test(), mrpt::apps::RawlogGrabberApp::initialize(), mrpt::hwdrivers::CHokuyoURG::initialize(), mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::loadParams(), and mrpt::apps::CGridMapAlignerApp::run().

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◆ setupSocket()

void CServerTCPSocket::setupSocket ( unsigned short  listenPort,
const std::string IPaddress,
int  maxConnectionsWaiting 
)
private

Common code called from the platform-dependant constructor.

Definition at line 44 of file CServerTCPSocket_common.cpp.

References mrpt::format(), getLastErrorStr(), m_serverSock, MRPT_END, MRPT_LOG_DEBUG, MRPT_START, and THROW_EXCEPTION.

Referenced by CServerTCPSocket().

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◆ setVerbosityLevel()

void COutputLogger::setVerbosityLevel ( const VerbosityLevel  level)
inherited

alias of setMinLoggingLevel()

Definition at line 149 of file COutputLogger.cpp.

Referenced by mrpt::nav::CAbstractNavigator::CAbstractNavigator(), mrpt::slam::CMetricMapBuilderRBPF::CMetricMapBuilderRBPF(), CServerTCPSocket(), mrpt::slam::CMetricMapBuilderRBPF::processActionObservation(), mrpt::math::ransac_detect_2D_lines(), and mrpt::apps::ICP_SLAM_App_Base::run().

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◆ writeLogToFile()

void COutputLogger::writeLogToFile ( const std::string fname_in = nullptr) const
inherited

Write the contents of the COutputLogger instance to an external file.

Upon call to this method, COutputLogger dumps the contents of all the logged commands so far to the specified external file. By default the filename is set to ${LOGGERNAME}.log except if the fname parameter is provided

See also
dumpToConsole, getAsString

Definition at line 165 of file COutputLogger.cpp.

References ASSERTMSG_, and mrpt::format().

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Member Data Documentation

◆ logging_enable_console_output

bool mrpt::system::COutputLogger::logging_enable_console_output {true}
inherited

[Default=true] Set it to false in case you don't want the logged messages to be dumped to the output automatically.

Definition at line 240 of file system/COutputLogger.h.

◆ logging_enable_keep_record

bool mrpt::system::COutputLogger::logging_enable_keep_record {false}
inherited

[Default=false] Enables storing all messages into an internal list.

See also
writeLogToFile, getLogAsString

Definition at line 243 of file system/COutputLogger.h.

◆ m_min_verbosity_level

VerbosityLevel mrpt::system::COutputLogger::m_min_verbosity_level {LVL_INFO}
protectedinherited

Provided messages with VerbosityLevel smaller than this value shall be ignored.

Definition at line 253 of file system/COutputLogger.h.

Referenced by mrpt::system::COutputLogger::getMinLoggingLevel(), and mrpt::system::COutputLogger::isLoggingLevelVisible().

◆ m_serverSock

unsigned int mrpt::comms::CServerTCPSocket::m_serverSock
private

The handle for the listening server TCP socket.

Definition at line 67 of file CServerTCPSocket.h.

Referenced by accept(), isListening(), setupSocket(), and ~CServerTCPSocket().




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