BowlerTCPServer.java

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/*******************************************************************************
 * Copyright 2010 Neuron Robotics, LLC
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 * 
 *   http://www.apache.org/licenses/LICENSE-2.0
 * 
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 ******************************************************************************/
package com.neuronrobotics.sdk.network;
 
 
import java.io.DataInputStream;
import java.io.DataOutputStream;
import java.io.IOException;
import java.io.PrintWriter;
import java.net.Socket;
import java.net.SocketException;
 
import com.neuronrobotics.sdk.common.BowlerAbstractConnection;
import com.neuronrobotics.sdk.common.Log;
 
 
 
// TODO: Auto-generated Javadoc
public class BowlerTCPServer extends BowlerAbstractConnection{
    
    private int sleepTime = 5000;
 
    private PrintWriter out;
 
    private Socket socket;
 
    
    public BowlerTCPServer(Socket socket) throws IOException{
        this.socket = socket;
        try {
            socket.setSoTimeout(1000);
            
        } catch (SocketException e) {
            // TODO Auto-generated catch block
            e.printStackTrace();
        }
        setSynchronusPacketTimeoutTime(sleepTime);
        setChunkSize(5210);
        setDataIns(new DataInputStream(socket.getInputStream()));
        setDataOuts(new DataOutputStream(socket.getOutputStream()));
        out = new PrintWriter(socket.getOutputStream(), true);
        setConnected(true);
        connect();
    }
    
    
    /* (non-Javadoc)
     * @see com.neuronrobotics.sdk.common.BowlerAbstractConnection#connect()
     */
    @Override
    public boolean connect() {
        
        if(isConnected())
            return true;
        Log.warning("Connecting..");
 
        return isConnected();   
    }
    
    @Override
    public boolean isConnected() {
        
        return super.isConnected();
    }
    /* (non-Javadoc)
     * @see com.neuronrobotics.sdk.common.BowlerAbstractConnection#disconnect()
     */
    @Override
    public void disconnect() {
        if(!isConnected())
            return;
        Log.warning("Disconnecting Tcp Server..");
        super.disconnect();
        try {
            
            if(!socket.isClosed()){
                socket.shutdownOutput(); // Sends the 'FIN' on the network
                while (getDataIns().read() >= 0) ; // "read()" returns '-1' when the 'FIN' is reached
                socket.close(); // Now we can close the Socket  
            }
            
        } catch (IOException e) {
            // TODO Auto-generated catch block
            e.printStackTrace();
        }
        
    }
    
 
 
//  /* (non-Javadoc)
//   * @see com.neuronrobotics.sdk.common.BowlerAbstractConnection#reconnect()
//   */
//  @Override
//  public boolean reconnect() {
//      Log.warning("TCP Server Reconnect, just disconnecting");
//      disconnect();
//      return false;
//  }
    
    /* (non-Javadoc)
     * @see com.neuronrobotics.sdk.common.BowlerAbstractConnection#waitingForConnection()
     */
    @Override
    public boolean waitingForConnection() {
        return false;
    }
 
    public boolean isClientConnected() {
        if(out==null)
            return true;
        return !out.checkError();
    }
 
 
 
}