Unify socket open (#174)

* Define TCPSocket::open(...) inside TCPSocket class
Before, it as a virtual method that in its base implementation returned `false`
only.
It had to be (and was) implemented in several classes inheriting from it
and all implementations were the same. This commit defines the method inside
the base class directly.

* Make TCPSocket::setOptions private and TCPSocket::open static

Author: Felix Exner (fexner)

include/ur_client_library/comm/stream.h

@@ -114,12 +114,6 @@ class URStream : public TCPSocket
     return host_;
   }
 
-protected:
-  virtual bool open(int socket_fd, struct sockaddr* address, size_t address_len)
-  {
-    return ::connect(socket_fd, address, address_len) == 0;
-  }
-
 private:
   std::string host_;
   int port_;
@@ -145,7 +139,6 @@ bool URStream<T>::read(uint8_t* buf, const size_t buf_len, size_t& total)
 
   while (remainder > 0 && TCPSocket::read(buf_pos, remainder, read))
   {
-    TCPSocket::setOptions(getSocketFD());
     if (initial)
     {
       remainder = T::HeaderType::getPackageLength(buf);

include/ur_client_library/comm/tcp_socket.h

@@ -52,12 +52,13 @@ class TCPSocket
   std::atomic<SocketState> state_;
   std::chrono::seconds reconnection_time_;
 
+  void setupOptions();
+
 protected:
-  virtual bool open(int socket_fd, struct sockaddr* address, size_t address_len)
+  static bool open(int socket_fd, struct sockaddr* address, size_t address_len)
   {
-    return false;
+    return ::connect(socket_fd, address, address_len) == 0;
   }
-  virtual void setOptions(int socket_fd);
 
   bool setup(std::string& host, int port);
 

include/ur_client_library/ur/dashboard_client.h

@@ -429,12 +429,6 @@ class DashboardClient : public comm::TCPSocket
    */
   bool commandSaveLog();
 
-protected:
-  virtual bool open(int socket_fd, struct sockaddr* address, size_t address_len)
-  {
-    return ::connect(socket_fd, address, address_len) == 0;
-  }
-
 private:
   /*!
    * \brief Makes sure that the dashboard_server's version is above the required version

src/comm/tcp_socket.cpp

@@ -43,15 +43,15 @@ TCPSocket::~TCPSocket()
   close();
 }
 
-void TCPSocket::setOptions(int socket_fd)
+void TCPSocket::setupOptions()
 {
   int flag = 1;
-  setsockopt(socket_fd, IPPROTO_TCP, TCP_NODELAY, &flag, sizeof(int));
-  setsockopt(socket_fd, IPPROTO_TCP, TCP_QUICKACK, &flag, sizeof(int));
+  setsockopt(socket_fd_, IPPROTO_TCP, TCP_NODELAY, &flag, sizeof(int));
+  setsockopt(socket_fd_, IPPROTO_TCP, TCP_QUICKACK, &flag, sizeof(int));
 
   if (recv_timeout_ != nullptr)
   {
-    setsockopt(socket_fd, SOL_SOCKET, SO_RCVTIMEO, recv_timeout_.get(), sizeof(timeval));
+    setsockopt(socket_fd_, SOL_SOCKET, SO_RCVTIMEO, recv_timeout_.get(), sizeof(timeval));
   }
 }
 
@@ -107,7 +107,7 @@ bool TCPSocket::setup(std::string& host, int port)
       std::this_thread::sleep_for(reconnection_time_);
     }
   }
-  setOptions(socket_fd_);
+  setupOptions();
   state_ = SocketState::Connected;
   URCL_LOG_DEBUG("Connection established for %s:%d", host.c_str(), port);
   return connected;
@@ -206,7 +206,7 @@ void TCPSocket::setReceiveTimeout(const timeval& timeout)
 
   if (state_ == SocketState::Connected)
   {
-    setOptions(socket_fd_);
+    setupOptions();
   }
 }
 

tests/test_reverse_interface.cpp

@@ -145,12 +145,6 @@ class ReverseIntefaceTest : public ::testing::Test
       readMessage(keep_alive_signal, pos, control_mode);
       return pos[0];
     }
-
-  protected:
-    virtual bool open(int socket_fd, struct sockaddr* address, size_t address_len)
-    {
-      return ::connect(socket_fd, address, address_len) == 0;
-    }
   };
 
   void SetUp()

tests/test_script_command_interface.cpp

@@ -98,12 +98,6 @@ class ScriptCommandInterfaceTest : public ::testing::Test
         b_pos += sizeof(int32_t);
       }
     }
-
-  protected:
-    virtual bool open(int socket_fd, struct sockaddr* address, size_t address_len)
-    {
-      return ::connect(socket_fd, address, address_len) == 0;
-    }
   };
 
   void SetUp()

tests/test_script_sender.cpp

@@ -77,12 +77,6 @@ class ScriptSenderTest : public ::testing::Test
       }
       return result.str();
     }
-
-  protected:
-    virtual bool open(int socket_fd, struct sockaddr* address, size_t address_len)
-    {
-      return ::connect(socket_fd, address, address_len) == 0;
-    }
   };
 
   void SetUp()

tests/test_tcp_server.cpp

@@ -74,12 +74,6 @@ class TCPServerTest : public ::testing::Test
       }
       return result.str();
     }
-
-  protected:
-    virtual bool open(int socket_fd, struct sockaddr* address, size_t address_len)
-    {
-      return ::connect(socket_fd, address, address_len) == 0;
-    }
   };
 
   // callback functions

tests/test_tcp_socket.cpp

@@ -136,12 +136,6 @@ class TCPSocketTest : public ::testing::Test
       return false;
     }
 
-  protected:
-    virtual bool open(int socket_fd, struct sockaddr* address, size_t address_len)
-    {
-      return ::connect(socket_fd, address, address_len) == 0;
-    }
-
   private:
     std::thread client_setup_thread_;
     int port_;

tests/test_trajectory_point_interface.cpp

@@ -69,7 +69,6 @@ class TrajectoryPointInterfaceTest : public ::testing::Test
       size_t remainder = sizeof(int32_t) * 21;
       while (remainder > 0)
       {
-        TCPSocket::setOptions(getSocketFD());
         if (!TCPSocket::read(b_pos, remainder, read))
         {
           std::cout << "Failed to read from socket, this should not happen during a test!" << std::endl;
@@ -172,12 +171,6 @@ class TrajectoryPointInterfaceTest : public ::testing::Test
       readMessage(spl.pos, spl.vel, spl.acc, spl.goal_time, spl.blend_radius_or_spline_type, spl.motion_type);
       return spl;
     }
-
-  protected:
-    virtual bool open(int socket_fd, struct sockaddr* address, size_t address_len)
-    {
-      return ::connect(socket_fd, address, address_len) == 0;
-    }
   };
 
   void SetUp()