mavconn: Port MAVConnTCPClient to Boost.ASIO.

Also it disables MAVConnTCPServer before i rewrite it.
Issue #72.

include/mavros/mavconn_tcp.h

@@ -27,14 +27,11 @@
 #pragma once
 
 #include <list>
-#include <ev++.h>
+#include <atomic>
+#include <boost/asio.hpp>
 #include <mavros/mavconn_interface.h>
 #include <mavros/mavconn_msgbuffer.h>
 
-#include <arpa/inet.h>
-#include <sys/types.h>
-#include <sys/socket.h>
-
 namespace mavconn {
 
 /**
@@ -51,11 +48,13 @@ class MAVConnTCPClient : public MAVConnInterface {
 	 */
 	MAVConnTCPClient(uint8_t system_id = 1, uint8_t component_id = MAV_COMP_ID_UDP_BRIDGE,
 			std::string server_host = "localhost", unsigned short server_port = 5760);
+#if 0
 	/**
 	 * Special client variation for use in MAVConnTCPServer
 	 * @param[in] client_sd    socket descriptor
 	 */
 	explicit MAVConnTCPClient(uint8_t system_id, uint8_t component_id, int client_sd, sockaddr_in &client_addr);
+#endif
 	~MAVConnTCPClient();
 
 	void close();
@@ -65,24 +64,29 @@ class MAVConnTCPClient : public MAVConnInterface {
 	void send_bytes(const uint8_t *bytes, size_t length);
 
 	inline mavlink_status_t get_status() { return *mavlink_get_channel_status(channel); };
-	inline bool is_open() { return sockfd != -1; };
+	inline bool is_open() { return socket.is_open(); };
 
 private:
 	friend class MAVConnTCPServer;
-	ev::io io;
-	int sockfd;
+	boost::asio::io_service io_service;
+	std::unique_ptr<boost::asio::io_service::work> io_work;
+	std::thread io_thread;
 
-	sockaddr_in server_addr;
+	boost::asio::ip::tcp::socket socket;
+	boost::asio::ip::tcp::endpoint server_ep;
 
+	std::atomic<bool> tx_in_progress;
 	std::list<MsgBuffer*> tx_q;
-	boost::recursive_mutex mutex;
+	uint8_t rx_buf[MsgBuffer::MAX_SIZE];
+	std::recursive_mutex mutex;
 
-	void event_cb(ev::io &watcher, int revents);
-	void read_cb(ev::io &watcher);
-	void write_cb(ev::io &watcher);
+	void do_recv();
+	void async_receive_end(boost::system::error_code, size_t bytes_transferred);
+	void do_send(bool check_tx_state);
+	void async_send_end(boost::system::error_code, size_t bytes_transferred);
 };
 
-
+#if 0
 /**
  * @brief TCP server interface
  *
@@ -122,6 +126,7 @@ class MAVConnTCPServer : public MAVConnInterface {
 	void client_closed(MAVConnTCPClient *instp);
 	void recv_message(const mavlink_message_t *message, uint8_t sysid, uint8_t compid);
 };
+#endif
 
 }; // namespace mavconn
 

src/mavconn/mavconn_interface.cpp

@@ -233,8 +233,9 @@ static boost::shared_ptr<MAVConnInterface> url_parse_tcp_server(
 	url_parse_host(host, bind_host, bind_port, "0.0.0.0", 5760);
 	url_parse_query(query, system_id, component_id);
 
-	return boost::make_shared<MAVConnTCPServer>(system_id, component_id,
-			bind_host, bind_port);
+	//return boost::make_shared<MAVConnTCPServer>(system_id, component_id,
+	//		bind_host, bind_port);
+	return boost::shared_ptr<MAVConnInterface>();
 }
 
 boost::shared_ptr<MAVConnInterface> MAVConnInterface::open_url(std::string url,

src/mavconn/mavconn_serial.cpp

@@ -80,6 +80,12 @@ void MAVConnSerial::close() {
 	serial_dev.close();
 	io_service.stop();
 	/* emit */ port_closed();
+
+	// clear tx queue
+	std::for_each(tx_q.begin(), tx_q.end(),
+			[](MsgBuffer *p) { delete p; });
+	tx_q.clear();
+
 	io_thread.join();
 }