bool yarp::os::impl::UdpCarrier::expectReplyToHeader(ConnectionState& proto) {
// I am the sender
int myPort = proto.getStreams().getLocalAddress().getPort();
ConstString myName = proto.getStreams().getLocalAddress().getHost();
ConstString altName = proto.getStreams().getRemoteAddress().getHost();
int altPort = readYarpInt(proto);
if (altPort==-1) {
return false;
}
DgramTwoWayStream *stream = new DgramTwoWayStream();
yAssert(stream!=YARP_NULLPTR);
proto.takeStreams(YARP_NULLPTR); // free up port from tcp
bool ok =
stream->open(Contact(myName,myPort),Contact(altName,altPort));
if (!ok) {
delete stream;
return false;
}
proto.takeStreams(stream);
return true;
}
bool yarp::os::impl::McastCarrier::becomeMcast(ConnectionState& proto, bool sender) {
#ifndef YARP_HAS_ACE
return false;
#else
YARP_UNUSED(sender);
DgramTwoWayStream *stream = new DgramTwoWayStream();
yAssert(stream!=YARP_NULLPTR);
Contact remote = proto.getStreams().getRemoteAddress();
Contact local;
local = proto.getStreams().getLocalAddress();
bool test = true;
//(yarp::NameConfig::getEnv("YARP_MCAST_TEST")!="");
/*
if (test) {
printf(" MULTICAST is being extended; some temporary status messages added\n");
printf(" Local: %s\n", local.toString().c_str());
printf(" Remote: %s\n", remote.toString().c_str());
}
*/
proto.takeStreams(YARP_NULLPTR); // free up port from tcp
if (sender) {
/*
Multicast behavior seems a bit variable.
We assume here that if packages need to be broadcast
to targets via different network interfaces, that
we'll need to send independently on those two
interfaces. This may or may not always be the case,
the author doesn't know, so is being cautious.
*/
key = proto.getRoute().getFromName();
if (test) {
key += "/net=";
key += local.getHost();
}
YARP_DEBUG(Logger::get(),
ConstString("multicast key: ") + key);
addSender(key);
}
bool ok = true;
if (isElect()||!sender) {
if (test) {
ok = stream->join(mcastAddress,sender,local);
} else {
ok = stream->join(mcastAddress,sender);
}
}
if (!ok) {
delete stream;
return false;
}
proto.takeStreams(stream);
return true;
#endif
}
bool yarp::os::impl::UdpCarrier::respondToHeader(ConnectionState& proto) {
// I am the receiver
// issue: need a fresh port number...
DgramTwoWayStream *stream = new DgramTwoWayStream();
yAssert(stream!=YARP_NULLPTR);
Contact remote = proto.getStreams().getRemoteAddress();
bool ok = stream->open(remote);
if (!ok) {
delete stream;
return false;
}
int myPort = stream->getLocalAddress().getPort();
writeYarpInt(myPort,proto);
proto.takeStreams(stream);
return true;
}
bool H264Carrier::expectReplyToHeader(ConnectionState& proto)
{
// I'm the receiver...
cfgParams.remotePort = proto.getRoute().getToContact().getPort();
auto* stream = new H264Stream(cfgParams);
if (stream==nullptr) { return false; }
yarp::os::Contact remote = proto.getStreams().getRemoteAddress();
bool ok = stream->open(remote);
//std::cout << "Remote contact info: host=" << proto.getRoute().getToContact().getHost() << " port= " << proto.getRoute().getToContact().getPort() <<std::endl;
if (!ok)
{
delete stream;
return false;
}
stream->start();
proto.takeStreams(stream);
return true;
}
bool yarp::os::impl::McastCarrier::sendHeader(ConnectionState& proto) {
// need to do more than the default
bool ok = defaultSendHeader(proto);
if (!ok) return false;
YARP_DEBUG(Logger::get(),"Adding extra mcast header");
Contact addr;
Contact alt = proto.getStreams().getLocalAddress();
ConstString altKey =
proto.getRoute().getFromName() +
"/net=" + alt.getHost();
McastCarrier *elect = getCaster().getElect(altKey);
if (elect!=YARP_NULLPTR) {
YARP_DEBUG(Logger::get(),"picking up peer mcast name");
addr = elect->mcastAddress;
mcastName = elect->mcastName;
} else {
// fetch an mcast address
Contact target("...", "mcast", "...", 0);
addr = NetworkBase::registerContact(target);
mcastName = addr.getRegName();
if (addr.isValid()) {
// mark owner of mcast address
NetworkBase::setProperty(proto.getRoute().getFromName().c_str(),
"owns",
Value(mcastName.c_str()));
}
}
int ip[] = { 224, 3, 1, 1 };
int port = 11000;
if (addr.isValid()) {
SplitString ss(addr.getHost().c_str(),'.');
if (ss.size()!=4) {
addr = Contact();
} else {
yAssert(ss.size()==4);
for (int i=0; i<4; i++) {
ip[i] = NetType::toInt(ss.get(i));
}
port = addr.getPort();
}
}
if (!addr.isValid()) {
YARP_ERROR(Logger::get(), "Name server not responding helpfully, setting mcast name arbitrarily.");
YARP_ERROR(Logger::get(), "Only a single mcast address supported in this mode.");
addr = Contact("/tmp/mcast", "mcast", "224.3.1.1", 11000);
}
ManagedBytes block(6);
for (int i=0; i<4; i++) {
((unsigned char*)block.get())[i] = (unsigned char)ip[i];
}
block.get()[5] = (char)(port%256);
block.get()[4] = (char)(port/256);
proto.os().write(block.bytes());
mcastAddress = addr;
return true;
}
bool yarp::os::impl::TcpCarrier::respondToHeader(ConnectionState& proto) {
int cport = proto.getStreams().getLocalAddress().getPort();
writeYarpInt(cport, proto);
return proto.checkStreams();
}
bool yarp::os::impl::HttpCarrier::expectSenderSpecifier(ConnectionState& proto) {
proto.setRoute(proto.getRoute().addFromName("web"));
ConstString remainder = proto.is().readLine();
if (!urlDone) {
for (unsigned int i=0; i<remainder.length(); i++) {
if (remainder[i]!=' ') {
url += remainder[i];
} else {
break;
}
}
}
bool done = false;
expectPost = false;
contentLength = 0;
while (!done) {
ConstString result = proto.is().readLine();
if (result == "") {
done = true;
} else {
//printf(">>> %s\n", result.c_str());
Bottle b;
b.fromString(result.c_str());
if (b.get(0).asString()=="Content-Length:") {
//printf("]]] got length %d\n", b.get(1).asInt());
contentLength = b.get(1).asInt();
}
if (b.get(0).asString()=="Content-Type:") {
//printf("]]] got type %s\n", b.get(1).asString());
if (b.get(1).asString()=="application/x-www-form-urlencoded") {
expectPost = true;
}
}
}
}
if (expectPost) {
//printf("[[[this is a post message of length %d]]]\n", contentLength);
ManagedBytes blk(contentLength+1);
Bytes start(blk.get(),contentLength);
proto.is().readFull(start);
blk.get()[contentLength] = '\0';
//printf("message: %s\n", blk.get());
input = blk.get();
} else {
//printf("message: %s\n", url.c_str());
input = url;
}
prop.fromQuery(input.c_str());
prop.put("REQUEST_URI",url.c_str());
//printf("Property %s\n",prop.toString().c_str());
Contact home = NetworkBase::getNameServerContact();
Contact me = proto.getStreams().getLocalAddress();
ConstString from = "<html><head><link href=\"http://";
from += home.getHost();
from += ":";
from += NetType::toString(home.getPort());
from += "/web/main.css\" rel=\"stylesheet\" type=\"text/css\"/></head><body bgcolor='#ffffcc'><h1>yarp port ";
from += proto.getRoute().getToName();
from += "</h1>\n";
from += "<p>(<a href=\"http://";
from += home.getHost();
from += ":";
from += NetType::toString(home.getPort());
from += "/data=list\">All ports</a>) \n";
from += "(<a href=\"http://";
from += me.getHost();
from += ":";
from += NetType::toString(me.getPort());
from += "/\">connections</a>) \n";
from += "(<a href=\"http://";
from += me.getHost();
from += ":";
from += NetType::toString(me.getPort());
from += "/data=help\">help</a>) \n";
from += "(<a href=\"http://";
from += me.getHost();
from += ":";
from += NetType::toString(me.getPort());
from += "/r\">read</a>) \n";
from += "</p>\n";
from += "<p>\n";
from += "<form method=\"post\" action=\"http://";
from += me.getHost();
from += ":";
from += NetType::toString(me.getPort());
from += "/form\">";
prefix = from;
//Bytes b2((char*)from.c_str(),from.length());
//proto.os().write(b2);
//proto.os().flush();
// Message gets finished by the stream
return proto.os().isOk();
}
bool TcpRosCarrier::sendHeader(ConnectionState& proto) {
dbg_printf("Route is %s\n", proto.getRoute().toString().c_str());
Name n(proto.getRoute().getCarrierName() + "://test");
ConstString mode = "topic";
ConstString modeValue = n.getCarrierModifier("topic");
if (modeValue=="") {
mode = "service";
modeValue = n.getCarrierModifier("service");
isService = true;
}
if (modeValue=="") {
printf("*** no topic or service specified!\n");
mode = "topic";
modeValue = "notopic";
isService = false;
}
ConstString rawValue = n.getCarrierModifier("raw");
if (rawValue=="2") {
raw = 2;
dbg_printf("ROS-native mode requested\n");
} else if (rawValue=="1") {
raw = 1;
dbg_printf("Raw mode requested\n");
} else if (rawValue=="0") {
raw = 0;
dbg_printf("Cooked mode requested\n");
}
RosHeader header;
dbg_printf("Writing to %s\n", proto.getStreams().getRemoteAddress().toString().c_str());
dbg_printf("Writing from %s\n", proto.getStreams().getLocalAddress().toString().c_str());
ConstString rtyp = getRosType(proto);
if (rtyp!="") {
header.data["type"] = rtyp.c_str();
}
header.data[mode.c_str()] = modeValue.c_str();
header.data["md5sum"] = (md5sum!="")?md5sum:"*";
if (message_definition!="") {
header.data["message_definition"] = message_definition;
}
NestedContact nc(proto.getRoute().getFromName());
header.data["callerid"] = nc.getNodeName();
header.data["persistent"] = "1";
string header_serial = header.writeHeader();
string header_len(4,'\0');
char *at = (char*)header_len.c_str();
RosHeader::appendInt(at,header_serial.length());
dbg_printf("Writing %s -- %d bytes\n",
RosHeader::showMessage(header_len).c_str(),
(int)header_len.length());
Bytes b1((char*)header_len.c_str(),header_len.length());
proto.os().write(b1);
dbg_printf("Writing %s -- %d bytes\n",
RosHeader::showMessage(header_serial).c_str(),
(int)header_serial.length());
Bytes b2((char*)header_serial.c_str(),header_serial.length());
proto.os().write(b2);
return proto.os().isOk();
}
bool TcpRosCarrier::write(ConnectionState& proto, SizedWriter& writer) {
SizedWriter *flex_writer = &writer;
ConstString typ = "";
if (proto.getContactable()) {
typ = proto.getContactable()->getType().getName();
}
if (raw!=2) {
// At startup, we check for what kind of messages are going
// through, and prepare an appropriate byte-rejiggering if
// needed.
if (translate==TCPROS_TRANSLATE_UNKNOWN) {
dbg_printf("* TCPROS_TRANSLATE_UNKNOWN\n");
FlexImage *img = NULL;
if (typ=="yarp/image"||typ=="yarp/bottle") {
img = wi.checkForImage(writer);
}
if (img) {
translate = TCPROS_TRANSLATE_IMAGE;
ConstString frame = "/frame";
ri.init(*img,frame);
} else {
if (WireBottle::extractBlobFromBottle(writer,wt)) {
translate = TCPROS_TRANSLATE_BOTTLE_BLOB;
} else {
translate = TCPROS_TRANSLATE_INHIBIT;
}
}
}
} else {
translate = TCPROS_TRANSLATE_INHIBIT;
}
// Apply byte-rejiggering if needed.
switch (translate) {
case TCPROS_TRANSLATE_IMAGE:
{
dbg_printf("* TCPROS_TRANSLATE_IMAGE\n");
FlexImage *img = wi.checkForImage(writer);
if (img==NULL) {
fprintf(stderr, "TCPROS Expected an image, but did not get one.\n");
return false;
}
ri.update(img,seq,Time::now());
seq++;
flex_writer = &ri;
}
break;
case TCPROS_TRANSLATE_BOTTLE_BLOB:
{
dbg_printf("* TCPROS_TRANSLATE_BOTTLE_BLOB\n");
if (!WireBottle::extractBlobFromBottle(writer,wt)) {
fprintf(stderr, "TCPROS Expected a bottle blob, but did not get one.\n");
return false;
}
flex_writer = &wt;
}
break;
case TCPROS_TRANSLATE_TWIDDLER:
{
dbg_printf("* TCPROS_TRANSLATE_TWIDDLER\n");
twiddler_output.attach(writer,twiddler);
if (twiddler_output.update()) {
flex_writer = &twiddler_output;
} else {
flex_writer = NULL;
}
}
break;
case TCPROS_TRANSLATE_INHIBIT:
dbg_printf("* TCPROS_TRANSLATE_INHIBIT\n");
break;
default:
dbg_printf("* TCPROS_TRANSLATE_OTHER\n");
break;
}
if (flex_writer == NULL) {
return false;
}
int len = 0;
for (size_t i=0; i<flex_writer->length(); i++) {
len += (int)flex_writer->length(i);
}
dbg_printf("Prepping to write %d blocks (%d bytes)\n",
(int)flex_writer->length(),
len);
string header_len(4,'\0');
char *at = (char*)header_len.c_str();
RosHeader::appendInt(at,len);
Bytes b1((char*)header_len.c_str(),header_len.length());
proto.os().write(b1);
flex_writer->write(proto.os());
dbg_printf("done sending\n");
if (isService) {
if (!sender) {
if (!persistent) {
proto.os().close();
}
}
}
return proto.getStreams().isOk();
}
bool XmlRpcCarrier::write(ConnectionState& proto, SizedWriter& writer) {
StringOutputStream sos;
StringInputStream sis;
writer.write(sos);
sis.reset(sos.toString());
ConstString header;
if (sender) {
header = sis.readLine();
}
ConstString body = sis.readLine();
Value v;
if (header.length()>0 && header[0]=='q') {
body = "yarp.quit";
// XMLRPC does not need a quit message, this should get stripped
return false;
}
Bottle *bot = v.asList();
bot->fromString(body.c_str());
ConstString methodName;
if (sender) {
methodName = bot->get(0).toString();
*bot = bot->tail();
}
XmlRpcValue args;
if (bot->size()==1) {
toXmlRpcValue(bot->get(0),args);
} else {
toXmlRpcValue(v,args);
}
std::string req;
if (sender) {
const Contact& addr = host.isValid()?host:proto.getStreams().getRemoteAddress();
XmlRpcClient c(addr.getHost().c_str(),(addr.getPort()>0)?addr.getPort():80);
c.generateRequest(methodName.c_str(),args);
req = c.getRequest();
} else {
XmlRpcServerConnection c(0,NULL);
c.generateResponse(args.toXml());
req = c.getResponse();
}
int start = 0;
if (sender) {
if (req.length()<8) {
fprintf(stderr, "XmlRpcCarrier fail, %s:%d\n", __FILE__, __LINE__);
return false;
}
for (int i=0; i<(int)req.length(); i++) {
if (req[i] == '\n') {
start++;
break;
}
start++;
}
if (!firstRound) {
Bytes b((char*)http.c_str(),http.length());
proto.os().write(b);
}
firstRound = false;
}
Bytes b((char*)req.c_str()+start,req.length()-start);
proto.os().write(b);
return proto.os().isOk();
}
