void handleReceivedUDP(const boost::system::error_code& error,
std::size_t bytes_transferred)
{
if (error == boost::asio::error::operation_aborted)
return; /* we're done */
if (error) {
printf("SC_UdpInPort: received error - %s", error.message().c_str());
startReceiveUDP();
return;
}
if (mWorld->mDumpOSC) dumpOSC(mWorld->mDumpOSC, bytes_transferred, recvBuffer.data());
OSC_Packet * packet = (OSC_Packet*)malloc(sizeof(OSC_Packet));
packet->mReplyAddr.mProtocol = kUDP;
packet->mReplyAddr.mAddress = remoteEndpoint.address();
packet->mReplyAddr.mPort = remoteEndpoint.port();
packet->mReplyAddr.mSocket = udpSocket.native_handle();
packet->mReplyAddr.mReplyFunc = udp_reply_func;
packet->mReplyAddr.mReplyData = (void*)&udpSocket;
packet->mSize = bytes_transferred;
if (!UnrollOSCPacket(mWorld, bytes_transferred, recvBuffer.data(), packet))
free(packet);
startReceiveUDP();
}
void IpPool::OnDisConnect(const boost::asio::ip::udp::endpoint& end_point, bool is_active)
{
if (is_running_ == false) return;
LOG4CPLUS_INFO_LOG(logger_ippool, "IpPool::OnDisConnect Endpoint=" << end_point);
protocol::SocketAddr socket_addr(end_point.address().to_v4().to_ulong(), end_point.port());
std::map<protocol::SocketAddr, CandidatePeer::p>::iterator iter = candidate_peers_.find(socket_addr);
if (iter == candidate_peers_.end())
return;
CandidatePeer::p peer = iter->second;
assert(peer);
IPPoolIndexUpdating updating(peer, shared_from_this());
peer->last_active_time_ = framework::timer::TickCounter::tick_count();
// reset last_connect_time_ to avoid re-connecting the peer immediately
peer->last_connect_time_ = peer->last_active_time_;
peer->is_connecting_ = false;
peer->is_connected_ = false;
if (is_active)
{
protocol::CloseSessionPacket packet(protocol::Packet::NewTransactionID(),
protocol::PEER_VERSION, end_point);
AppModule::Inst()->DoSendPacket(packet, protocol::PEER_VERSION);
}
}
FaceUri::FaceUri(const boost::asio::ip::udp::endpoint& endpoint)
{
m_isV6 = endpoint.address().is_v6();
m_scheme = m_isV6 ? "udp6" : "udp4";
m_host = endpoint.address().to_string();
m_port = boost::lexical_cast<std::string>(endpoint.port());
}
void NetworkIF_i::IPCCAdjDiscoveredFtor::do_process(
const boost::asio::ip::udp::endpoint& sender_endpointl)
{
if (sender_endpointl.address().is_v4())
{
m_networkIF.createIPCC(sender_endpointl.address().to_v4().to_ulong(),
sender_endpointl.port());
}
}
static void
receive_robot_state (boost::asio::ip::udp::endpoint& endpoint,
uint16_t comp_id,
uint16_t msg_type,
shared_ptr<const roah_rsbb_msgs::RobotState> msg)
{
cout << "Received RobotState from " << endpoint.address().to_string()
<< ":" << endpoint.port()
<< ", COMP_ID " << comp_id
<< ", MSG_TYPE " << msg_type << endl
<< " time: " << msg->time().sec() << "." << msg->time().nsec() << endl
<< " messages_saved: " << msg->messages_saved() << endl
<< flush;
}
static void
receive_benchmark_state (boost::asio::ip::udp::endpoint& endpoint,
uint16_t comp_id,
uint16_t msg_type,
shared_ptr<const roah_rsbb_msgs::BenchmarkState> msg)
{
cout << "Received BenchmarkState from " << endpoint.address().to_string()
<< ":" << endpoint.port()
<< ", COMP_ID " << comp_id
<< ", MSG_TYPE " << msg_type << endl
<< " benchmark_type: " << msg->benchmark_type() << endl
<< " benchmark_state: " << msg->benchmark_state() << endl
<< flush;
}
static void
receive_robot_beacon (boost::asio::ip::udp::endpoint& endpoint,
uint16_t comp_id,
uint16_t msg_type,
shared_ptr<const roah_rsbb_msgs::RobotBeacon> msg)
{
cout << "Received RobotBeacon from " << endpoint.address().to_string()
<< ":" << endpoint.port()
<< ", COMP_ID " << comp_id
<< ", MSG_TYPE " << msg_type << endl
<< " team_name: " << msg->team_name() << endl
<< " robot_name: " << msg->robot_name() << endl
<< " time: " << msg->time().sec() << "." << msg->time().nsec() << endl
<< flush;
}
static void
receive_tablet_beacon (boost::asio::ip::udp::endpoint& endpoint,
uint16_t comp_id,
uint16_t msg_type,
shared_ptr<const roah_rsbb_msgs::TabletBeacon> msg)
{
cout << "Received TabletBeacon from " << endpoint.address().to_string()
<< ":" << endpoint.port()
<< ", COMP_ID " << comp_id
<< ", MSG_TYPE " << msg_type << endl
<< " last_call: " << msg->last_call().sec() << "." << msg->last_call().nsec() << endl
<< " last_pos: " << msg->last_pos().sec() << "." << msg->last_pos().nsec() << endl
<< " x: " << msg->x() << endl
<< " y: " << msg->y() << endl
<< flush;
}
void IpPool::OnConnectSucced(const boost::asio::ip::udp::endpoint& end_point)
{
if (is_running_ == false) return;
LOG4CPLUS_INFO_LOG(logger_ippool, "IpPool::OnConnectSucced Endpoint=" << end_point);
protocol::SocketAddr socket_addr(end_point.address().to_v4().to_ulong(), end_point.port());
std::map<protocol::SocketAddr, CandidatePeer::p>::iterator iter = candidate_peers_.find(socket_addr);
if (iter == candidate_peers_.end())
return;
CandidatePeer::p peer = iter->second;
assert(peer);
IPPoolIndexUpdating updating(peer, shared_from_this());
peer->last_active_time_ = framework::timer::TickCounter::tick_count();
peer->is_connecting_ = false;
peer->is_connected_ = true;
}
void
receive_rsbb_beacon (boost::asio::ip::udp::endpoint& endpoint,
uint16_t comp_id,
uint16_t msg_type,
shared_ptr<const roah_rsbb_msgs::RoahRsbbBeacon> rsbb_beacon)
{
cout << "Received RoahRsbbBeacon from " << endpoint.address().to_string()
<< ":" << endpoint.port()
<< ", COMP_ID " << comp_id
<< ", MSG_TYPE " << msg_type << endl;
unsigned short connect_port = 0;
for (auto const& bt : rsbb_beacon->benchmarking_teams()) {
cout << " team_name: " << bt.team_name()
<< ", robot_name: " << bt.robot_name()
<< ", rsbb_port: " << bt.rsbb_port() << endl;
if ( (bt.team_name() == TEAM_NAME) && (bt.robot_name() == ROBOT_NAME)) {
connect_port = bt.rsbb_port();
// break; // Commented to show all entries
}
}
lock_guard<mutex> lock (private_channel_mutex_);
if (connect_port != (private_channel_ ? private_channel_->port() : 0)) {
if (private_channel_) {
cout << "Disconnecting private channel" << endl;
private_channel_.reset();
}
if (connect_port) {
cout << "Connecting private channel to " << endpoint.address().to_string()
<< ":" << connect_port << endl;
private_channel_ = make_shared<PrivateChannel<CerrErrorHandler>> (endpoint.address().to_string(), connect_port, CRYPTO_KEY, CRYPTO_CIPHER);
private_channel_->signal_benchmark_state_received().connect (&DumpComm::receive_benchmark_state);
private_channel_->signal_robot_state_received().connect (&DumpComm::receive_robot_state);
}
}
cout << flush;
}
void ReceiveHandle(const boost::system::error_code e, const std::size_t size)
{
StartReceive();
if (e)
{
std::cout << e.value() << " " << e.message() << std::endl;
return;
}
const std::string data(recv_buf.data(), size);
std::cout << "Received: " << data << std::endl;
std::vector<std::string> args;
boost::algorithm::split(args, data, boost::algorithm::is_space());
if (args.size() > 1)
{
boost::asio::ip::udp::resolver resolver(io_service);
boost::asio::ip::udp::resolver::query query(boost::asio::ip::udp::v4(), args[0], args[1]);
boost::asio::ip::udp::endpoint clientEp = *resolver.resolve(query);
const std::string hello("ping!");
g_pSocket->send_to(boost::asio::buffer(hello), clientEp);
const std::string epStr = clientEp.address().to_string() + ":" + conv::cast<std::string>(clientEp.port());
std::cout << "Sending ping! to: " << epStr << std::endl;
}
else
{
const std::string hello("pong!");
g_pSocket->send_to(boost::asio::buffer(hello), ep);
const std::string epStr = ep.address().to_string() + ":" + conv::cast<std::string>(ep.port());
std::cout << "Sending pong! to: " << epStr << std::endl;
}
}
void message::encode_endpoint(
database::byte_buffer & body, const boost::asio::ip::udp::endpoint & ep
)
{
/**
* Write the type.
*/
body.write_uint16(attribute_type_endpoint);
/**
* Write the length.
*/
body.write_uint16(ep.address().is_v4() ? 8 : 20);
/**
* Encode the padding.
*/
body.write_uint8(0);
/**
* Write the ip address version.
*/
body.write_uint8(
ep.address().is_v4() ? constants::ipv4 : constants::ipv6
);
/**
* Write the port.
*/
body.write_uint16(ep.port());
/**
* Write the ip address.
*/
body.write_address(ep.address());
}
Endpoint::Endpoint(boost::asio::ip::udp::endpoint const &ep) :
m_addr(ep.address()),
m_port(ep.port()) {}
std::string EMServer::get_address_from_endpoint(boost::asio::ip::udp::endpoint &endpoint) const
{
return endpoint.address().to_string() + ":" + std::to_string(endpoint.port());
}
bool udp_handler::on_async_receive_from(
const boost::asio::ip::udp::endpoint & ep, const char * buf,
const std::size_t & len
)
{
if (auto n = node_impl_.lock())
{
if (static_cast<std::uint8_t> (buf[0]) & protocol::message_flag_0x40)
{
if (
static_cast<std::uint8_t> (buf[0]) &
protocol::message_flag_encrypted
)
{
/**
* Allocate the message.
*/
message msg(buf, len);
/**
* Get the shared secret.
*/
auto shared_secret = n->get_key_pool()->find(ep);
if (shared_secret.size() > 0 && msg.decrypt(shared_secret))
{
on_data(ep, msg.data(), msg.size());
}
else
{
protocol::header_t hdr;
std::memcpy(&hdr, buf, sizeof(hdr));
hdr.transaction_id = ntohs(hdr.transaction_id);
log_debug(
"UDP handler, message " << hdr.transaction_id <<
" decryption failed."
);
/**
* Allocate the protocol::message_code_public_key_ping.
*/
std::shared_ptr<message> request(
new message(protocol::message_code_public_key_ping)
);
/**
* Add their public endpoint as a
* message::attribute_type_endpoint.
*/
message::attribute_endpoint attr1;
attr1.type = message::attribute_type_endpoint;
attr1.length = 0;
attr1.value = ep;
request->endpoint_attributes().push_back(attr1);
/**
* Add our public key as a message::attribute_string of
* type message::attribute_type_public_key.
*/
message::attribute_string attr2;
attr2.type = message::attribute_type_public_key;
attr2.length = n->get_ecdhe()->public_key().size();
attr2.value = n->get_ecdhe()->public_key();
request->string_attributes().push_back(attr2);
/**
* Send the request.
*/
send_message(ep, request);
return false;
}
}
else
{
on_data(ep, buf, len);
}
}
else
{
n->on_app_udp_receive(
ep.address().to_string().c_str(), ep.port(), buf, len
);
}
}
else
{
return false;
}
return true;
}
void refBoxTransport::handle_recv_error(boost::asio::ip::udp::endpoint &endpoint, std::string msg)
{
printf("Receive error from %s:%u: %s\n",
endpoint.address().to_string().c_str(), endpoint.port(), msg.c_str());
}
void
handle_recv_error(boost::asio::ip::udp::endpoint &endpoint, std::string msg)
{
ROS_WARN("Receive error from %s:%u: %s",
endpoint.address().to_string().c_str(), endpoint.port(), msg.c_str());
}
fc::ip::endpoint to_fc_ep( const boost::asio::ip::udp::endpoint& e ) {
return fc::ip::endpoint( e.address().to_v4().to_ulong(), e.port() );
}
uint64_t kcp_client::endpoint_to_i(const boost::asio::ip::udp::endpoint& ep)
{
uint64_t addr_i = ep.address().to_v4().to_ulong();
uint32_t port = ep.port();
return (addr_i << 32) + port;
}
