.. _program_listing_file_src_tap_communication_tcp-server_tcp_server.hpp:

Program Listing for File tcp_server.hpp
=======================================

|exhale_lsh| :ref:`Return to documentation for file <file_src_tap_communication_tcp-server_tcp_server.hpp>` (``src/tap/communication/tcp-server/tcp_server.hpp``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   /*
    * Copyright (c) 2020-2021 Advanced Robotics at the University of Washington <robomstr@uw.edu>
    *
    * This file is part of Taproot.
    *
    * Taproot is free software: you can redistribute it and/or modify
    * it under the terms of the GNU General Public License as published by
    * the Free Software Foundation, either version 3 of the License, or
    * (at your option) any later version.
    *
    * Taproot is distributed in the hope that it will be useful,
    * but WITHOUT ANY WARRANTY; without even the implied warranty of
    * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
    * GNU General Public License for more details.
    *
    * You should have received a copy of the GNU General Public License
    * along with Taproot.  If not, see <https://www.gnu.org/licenses/>.
    */
   
   #ifndef TAPROOT_TCP_SERVER_HPP_
   #define TAPROOT_TCP_SERVER_HPP_
   
   #ifdef PLATFORM_HOSTED
   
   #ifdef __linux__
   #include <netinet/in.h>
   #endif
   
   #include <atomic>
   #include <cstdint>
   
   namespace tap
   {
   namespace communication
   {
   class TCPServer
   {
   // Make constructor and destructor public if in unit tests environment.
   #ifdef ENV_UNIT_TESTS
   public:
   #endif
       TCPServer(int portnumber);
   
       ~TCPServer();
   
   public:
       /* PortNumber which the server will try to open on. This seems finicky
        * as it's possible that port is in use, but I don't know how to do
        * better (Tenzin)*/
       static const int16_t PORT_NUMBER = 8888;
       static const uint8_t LISTEN_QUEUE_SIZE = 5;  // 5 is max on most systems
   
       static TCPServer* MainServer();
   
       void getConnection();
   
       void closeConnection();
   
       uint16_t getPortNumber();
   
       void writeToClient(const char* message, int32_t messageLength);
   
   private:
   #ifdef __linux__
       bool socketOpened;
       bool clientConnected;
       int16_t listenFileDescriptor;  // File descriptor which server gets connection requests
       int16_t mainClientDescriptor;  // File Descriptor which we communciate with
       sockaddr_in serverAddress;
       int16_t portNumber;  // portNumber the server is bound to
   #endif                   // __linux__
   
       // Singleton server.
       static TCPServer mainServer;
   };  // TCPServer
   
   #ifdef __linux__
   void readMessage(int16_t fileDescriptor, char* readBuffer, uint16_t messageLength);
   
   void writeMessage(int16_t fileDescriptor, const char* message, uint16_t bytes);
   
   int32_t readInt32(int16_t fileDescriptor);
   #endif  // __linux__
   
   }  // namespace communication
   
   }  // namespace tap
   
   #endif  // PLATFORM_HOSTED
   
   #endif  // TAPROOT_TCP_SERVER_HPP_