pump socket client to talk to rosbridge server

include/tcp_pump_client.h

-#ifndef UDP_CLIENT_H
-#define UDP_CLIENT_H
+#ifndef TCP_PUMP_CLIENT_H
+#define TCP_PUMP_CLIENT_H
 
 #include <sys/types.h>
 #include <sys/socket.h> /* socket functions */
@@ -12,6 +12,7 @@
 #include <netdb.h> /* gethostbyname */
 #include <netinet/in.h>/* sockaddr_in */
 #include <iostream>
+#include <memory>
 #include "CLA_Logger.h"
 #include "rapidjson/document.h"
 
@@ -45,10 +46,10 @@ namespace CLA {
       socklen_t addrlen;
       Document document; /* to parse json data */
       fd_set set; /* descriptor read set*/
-      CLA::LOGGER m_logger;
+      std::shared_ptr<CLA::LOGGER> m_logger;
     public:
-      tcp_pump_client();
-      tcp_pump_client(const string&, const string&);
+      tcp_pump_client(std::shared_ptr<CLA::LOGGER>&);
+      tcp_pump_client(const string&, const string&, std::shared_ptr<CLA::LOGGER>&);
       ~tcp_pump_client();
       void initialize();
       double getCurrentInfusionRate(const string&);

tcp_pump_client.cpp

@@ -2,7 +2,7 @@
 
 using namespace CLA;
 
-tcp_pump_client::tcp_pump_client() : m_logger() {
+tcp_pump_client::tcp_pump_client(std::shared_ptr<CLA::LOGGER>& logger) : m_logger(logger) {
   /* we can only talk to rosbrige server using json strings; here we want to
    * 'subscribe' to 'chatter topic' publishing messages of type 'std_msgs/String'
    */
@@ -10,20 +10,21 @@ tcp_pump_client::tcp_pump_client() : m_logger() {
     m_host = "localhost"; /* rosbridge server runs on localhost */
     port = 9090; /* rosbridge server uses this port number */
     SOCKET_TIMEOUT_SEC = 1;
-    SOCKET_TIMEOUT_uSEC = 500;
+    SOCKET_TIMEOUT_uSEC = 0;
     m_bpdrug_last_sent_rate = 0;
     m_last_sent_rate = 0;
     m_new_rate = 0;
     m_current_rate = 0;
 }
 
-tcp_pump_client::tcp_pump_client(const string& topic, const string& type): m_topic(move(topic)),
-m_type(move(type)), m_logger() {
+tcp_pump_client::tcp_pump_client(const string& topic, const string& type,
+std::shared_ptr<CLA::LOGGER>& logger): m_topic(move(topic)), m_type(move(type)),
+m_logger(logger) {
     json_message = "{\"op\":\"subscribe\", \"topic\": \""+m_topic+"\", \"type\": \""+m_type+"\"}";
     m_host = "localhost"; /* rosbridge server runs on localhost */
     port = 9090; /* rosbridge server uses this port number */
     SOCKET_TIMEOUT_SEC = 1;
-    SOCKET_TIMEOUT_uSEC = 500;
+    SOCKET_TIMEOUT_uSEC = 0;
     m_bpdrug_last_sent_rate = 0;
     m_last_sent_rate = 0;
     m_new_rate = 0;
@@ -33,15 +34,16 @@ m_type(move(type)), m_logger() {
 void tcp_pump_client::initialize() {
   /* create a UDP socket */
   fd = socket(AF_INET, SOCK_STREAM, 0);
+  m_logger->debug("Connecting to rosbridge server ...");
   if (fd < 0) {
-    fprintf(stderr, "can not create socket\n");
-    m_logger.error("Failed to create socket");
+    std::cerr <<"can not create socket"<<std::endl;
+    m_logger->error("Failed to create socket");
     exit(EXIT_FAILURE);
   }
   /* look up the address of the server given its name */
   hp = gethostbyname(m_host);
   if(!hp) {
-    fprintf(stderr, "could not obtain address %s\n", m_host);
+    std::cerr << "could not obtain address " << m_host << std::endl;
     exit(EXIT_FAILURE);
   }
   /* initialize sockaddr_in servaddr*/
@@ -54,20 +56,21 @@ void tcp_pump_client::initialize() {
   addrlen = sizeof(servaddr);
   /* initialize buffer s*/
   memset(buff, 0 , sizeof(buff));
-  /*connect to server */
   if (connect(fd, (struct sockaddr*)&servaddr, addrlen) < 0) {
+  /*connect to server */
      cout << "Connection Failed \n";
-     m_logger.error("TCP Connection Failed");
+     m_logger->error("Connection Failed");
      exit(EXIT_FAILURE);
 
   }
+  m_logger->debug("Connection established");
   /* send json message to server */
   int n = write(fd, json_message.c_str(), strlen(json_message.c_str()));
   if (n < 0) {
-      cout <<"Can not write to socket\n";
-      m_logger.error("Can not write to socket");
-      exit(EXIT_FAILURE);
+      cerr <<"Can not write to socket\n";
+      m_logger->error("Can not write to socket");
   }
+  m_logger->debug("subscription request sent to rosbridge server");
 }
 
 double tcp_pump_client::getCurrentInfusionRate(const string& substance) {
@@ -77,7 +80,8 @@ double tcp_pump_client::getCurrentInfusionRate(const string& substance) {
   FD_SET(fd, &set);/* add descriptor to the read set */
   rec_value = select(FD_SETSIZE, &set, NULL, NULL, &timeout);
   if (rec_value == -1 ) {
-    cout << "socket error\n";
+    cerr << "socket error\n";
+    m_logger->error("socket error");
     exit(EXIT_FAILURE);
   }
   else if (rec_value == 0) {
@@ -100,12 +104,21 @@ double tcp_pump_client::get_new_rate(const string& substance) {
     if (substance == "Norepinephrine") {
       m_new_rate = document["msg"]["data"].GetDouble();
       m_bpdrug_last_sent_rate = m_new_rate;
+      if (m_new_rate)
+        m_logger->debug("New infusion rate for Norepinephrine received: "+to_string(int(m_new_rate))+" mL/hr");
     }
     else if (substance == "Saline") {
       m_new_rate = document["msg"]["data"].GetDouble();
       m_saline_last_sent_rate = m_new_rate;
+      if (m_new_rate > 0)
+        m_logger->info("New infusion rate for Saline received "+to_string(int(m_new_rate))+" mL/hr");
     }
   }
+  else {
+    m_logger->error("Socket connection to rosbridge server lost");
+    exit(EXIT_FAILURE);
+  }
+
   return m_new_rate;
 }
 
@@ -114,9 +127,11 @@ double tcp_pump_client::waiting_for_new_rate(const string& substance) {
    * returning the last sent rate value
    */
   if (substance == "Norepinephrine") {
+    m_logger->debug(substance+": waiting for new infusion rate ...");
     m_last_sent_rate = m_bpdrug_last_sent_rate;
   }
   else if (substance == "Saline") {
+    m_logger->debug(substance +": waiting for new infusion rate ...");
     m_last_sent_rate = m_saline_last_sent_rate;
   }
   return m_last_sent_rate;
@@ -127,6 +142,7 @@ void tcp_pump_client::clear() {
 }
 
 tcp_pump_client::~tcp_pump_client() {
+  m_logger->debug("Shutting down socket connection");
   close(fd);
   clear();
   delete hp;