bool Protocol::write(SizedWriter& writer)
{
// End any current write.
writer.stopWrite();
// Skip if this connection is not active (e.g. when there are several
// logical mcast connections but only one write is actually needed).
if (!getConnection().isActive())
return false;
this->writer = &writer;
bool replied = false;
yAssert(delegate != nullptr);
getStreams().beginPacket(); // Message begins.
bool ok = delegate->write(*this, writer);
getStreams().endPacket(); // Message ends.
PortReader* reply = writer.getReplyHandler();
if (reply != nullptr) {
if (!delegate->supportReply()) {
// We are expected to get a reply, but cannot.
YARP_INFO(log, std::string("connection ") + getRoute().toString() + " does not support replies (try \"tcp\" or \"text_ack\")");
}
if (ok) {
// Read reply.
reader.reset(is(), &getStreams(), getRoute(), messageLen, delegate->isTextMode(), delegate->isBareMode());
replied = reply->read(reader);
}
}
expectAck(); // Expect acknowledgement (carrier-specific).
this->writer = nullptr;
return replied;
}
bool AbstractCarrier::write(ConnectionState& proto, SizedWriter& writer) {
bool ok = sendIndex(proto,writer);
if (!ok) {
return false;
}
writer.write(proto.os());
proto.os().flush();
return proto.os().isOk();
}
bool AbstractCarrier::defaultSendIndex(ConnectionState& proto, SizedWriter& writer)
{
writeYarpInt(10, proto);
int len = (int)writer.length();
char lens[] = { (char)len, (char)1,
(char)-1, (char)-1, (char)-1, (char)-1,
(char)-1, (char)-1, (char)-1, (char)-1 };
Bytes b(lens, 10);
OutputStream& os = proto.os();
os.write(b);
NetInt32 numberSrc;
Bytes number((char*)&numberSrc, sizeof(NetInt32));
for (int i=0; i<len; i++) {
NetType::netInt((int)writer.length(i), number);
os.write(number);
}
NetType::netInt(0, number);
os.write(number);
return os.isOk();
}
bool yarp::os::impl::NameserCarrier::write(Protocol& proto, SizedWriter& writer) {
String target = firstSend?"VER ":"NAME_SERVER ";
Bytes b((char*)target.c_str(),target.length());
proto.os().write(b);
String txt;
// ancient nameserver can't deal with quotes
for (size_t i=0; i<writer.length(); i++) {
for (size_t j=0; j<writer.length(i); j++) {
char ch = writer.data(i)[j];
if (ch!='\"') {
txt += ch;
}
}
}
Bytes b2((char*)txt.c_str(),txt.length());
proto.os().write(b2);
proto.os().flush();
firstSend = false;
return proto.os().isOk();
}
bool yarp::os::impl::HttpCarrier::write(Protocol& proto, SizedWriter& writer) {
DummyConnector con;
con.setTextMode(true);
for (size_t i=writer.headerLength(); i<writer.length(); i++) {
con.getWriter().appendBlock(writer.data(i),writer.length(i));
}
Bottle b;
b.read(con.getReader());
ConstString body = b.find("web").toString();
if (body.length()!=0) {
ConstString header;
header += NetType::toHexString(body.length()).c_str();
header += "\r\n";
Bytes b2((char*)header.c_str(),header.length());
proto.os().write(b2);
Bytes b3((char*)body.c_str(),body.length());
proto.os().write(b3);
proto.os().write('\r');
proto.os().write('\n');
} else {
ConstString txt = b.toString() + "\r\n";
ConstString header;
header += NetType::toHexString(txt.length()).c_str();
header += "\r\n";
Bytes b2((char*)header.c_str(),header.length());
proto.os().write(b2);
Bytes b3((char*)txt.c_str(),txt.length());
proto.os().write(b3);
proto.os().write('\r');
proto.os().write('\n');
}
proto.os().flush();
return proto.os().isOk();
}
bool WireTwiddler::write(yarp::os::Bottle& bot,
yarp::os::ManagedBytes& data) {
StringOutputStream sos;
if (!writer) {
writer = ConnectionWriter::createBufferedConnectionWriter();
}
if (!writer) {
return false;
}
SizedWriter *buf = writer->getBuffer();
if (!buf) {
return false;
}
buf->clear();
bot.write(*writer);
WireTwiddlerWriter twiddled_output(*buf,*this);
twiddled_output.write(sos);
std::string result = sos.toString();
data = ManagedBytes(Bytes((char*)result.c_str(),result.length()),false);
data.copy();
return true;
}
bool yarp::os::impl::LocalCarrier::write(ConnectionState& proto, SizedWriter& writer) {
YARP_UNUSED(proto);
yarp::os::Portable *ref = writer.getReference();
if (ref != nullptr) {
peerMutex.lock();
if (peer != nullptr) {
peer->accept(ref);
} else {
YARP_ERROR(Logger::get(),
"local send failed - write without peer");
}
peerMutex.unlock();
} else {
YARP_ERROR(Logger::get(),
"local send failed - no object");
}
return true;
}
void Protocol::reply(SizedWriter& writer)
{
writer.stopWrite();
delegate->reply(*this, writer);
pendingReply = false;
}
virtual bool write(Protocol& proto, SizedWriter& writer) {
bool ok = sendIndex(proto);
if (!ok) return false;
writer.write(proto.os());
return proto.os().isOk();
}
bool yarp::os::impl::HttpCarrier::reply(Protocol& proto, SizedWriter& writer) {
DummyConnector con;
con.setTextMode(true);
for (size_t i=writer.headerLength(); i<writer.length(); i++) {
con.getWriter().appendBlock(writer.data(i),writer.length(i));
}
Bottle b;
b.read(con.getReader());
ConstString mime = b.check("mime",Value("text/html")).asString();
ConstString body;
bool using_json = false;
if (stream!=NULL) {
if (stream->useJson()) {
mime = "text/json";
asJson(body,&b,stream->typeHint());
using_json = true;
}
}
if (b.check("web")&&!using_json) {
body = b.find("web").toString();
}
if (b.check("stream")&&!using_json) {
String header("HTTP/1.1 200 OK\r\nContent-Type: ");
header += mime;
header += "\r\n";
header += "Transfer-Encoding: chunked\r\n";
header += "\r\n";
int N = 2*1024;
header += NetType::toHexString(body.length()+N);
header += "\r\n";
Bytes b2((char*)header.c_str(),header.length());
proto.os().write(b2);
// chrome etc won't render until enough chars are received.
for (int i=0; i<N; i++) {
proto.os().write(' ');
}
Bytes b3((char*)body.c_str(),body.length());
proto.os().write(b3);
proto.os().write('\r');
proto.os().write('\n');
if (stream!=NULL) {
stream->flip();
}
return true;
}
if (stream!=NULL) {
stream->finish();
}
// Could check response codes, mime types here.
if (body.length()!=0 || using_json) {
ConstString mime = b.check("mime",Value("text/html")).asString();
String header("HTTP/1.1 200 OK\nContent-Type: ");
header += mime;
header += "\n";
header += "Access-Control-Allow-Origin: *\n";
header += "\n";
Bytes b2((char*)header.c_str(),header.length());
proto.os().write(b2);
//body = b.toString();
Bytes b3((char*)body.c_str(),body.length());
proto.os().write(b3);
} else {
writer.write(proto.os());
}
proto.os().flush();
return proto.os().isOk();
}
bool TcpRosCarrier::reply(Protocol& proto, SizedWriter& writer) {
// don't need to do anything special for now.
writer.write(proto.os());
return proto.os().isOk();
}
bool XmlRpcCarrier::write(Protocol& proto, SizedWriter& writer) {
//XmlRpc::setVerbosity(10);
StringOutputStream sos;
StringInputStream sis;
writer.write(sos);
sis.reset(sos.toString());
String header;
if (sender) {
header = NetType::readLine(sis);
}
String body = NetType::readLine(sis);
//printf("Asked to write: hdr %s body %s\n",
// header.c_str(), body.c_str());
Value v;
//printf("HEADER %s\n", header.c_str());
if (header[0]=='q') {
body = "yarp.quit";
// XMLRPC does not need a quit message, this should get stripped
return false;
}
Bottle *bot = v.asList();
//Bottle aux;
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);
}
//printf("xmlrpc block to write is %s\n", args.toXml().c_str());
std::string req;
if (sender) {
const Address& addr = host.isValid()?host:proto.getStreams().getRemoteAddress();
XmlRpcClient c(addr.getName().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;
//printf("converts to %s\n", req.c_str());
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);
//printf("WRITING [%s]\n", req.c_str()+start);
proto.os().write(b);
return proto.os().isOk();
}
bool Carrier::reply(ConnectionState& proto, SizedWriter& writer) {
writer.write(proto.os());
return proto.os().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();
}
