int main(int argc, char** argv)
{
ros::init(argc, argv, "sonar_safety_node");
ros::NodeHandle n;
SonarSafetyNode ssn(n);
ssn.spin();
}
void Interconnect::process()
{
QPID_LOG(trace, id << " processing interconnect");
if (closeRequested) {
close();
} else {
if ((pn_connection_state(connection) & UNINIT) == UNINIT) {
QPID_LOG_CAT(debug, model, id << " interconnect open initiated");
pn_connection_set_container(connection, getBroker().getFederationTag().c_str());
setProperties(connection);
pn_connection_open(connection);
out.connectionEstablished();
setInterconnectDomain(domain);
}
if (!isOpened && (pn_connection_state(connection) & PN_REMOTE_ACTIVE)) {
QPID_LOG_CAT(debug, model, id << " interconnect open completed, attaching link");
isOpened = true;
readPeerProperties();
const char* containerid(pn_connection_remote_container(connection));
if (containerid) {
setContainerId(std::string(containerid));
}
opened();
getBroker().getConnectionObservers().opened(*this);
pn_session_t* s = pn_session(connection);
pn_session_open(s);
boost::shared_ptr<Session> ssn(new Session(s, *this, out));
sessions[s] = ssn;
pn_link_t* l = incoming ? pn_receiver(s, name.c_str()) : pn_sender(s, name.c_str());
pn_link_open(l);
ssn->attach(l, source, target, relay);
}
Connection::process();
}
}
void Connection::process()
{
QPID_LOG(trace, id << " process()");
if ((pn_connection_state(connection) & REQUIRES_OPEN) == REQUIRES_OPEN) {
QPID_LOG_CAT(debug, model, id << " connection opened");
pn_connection_set_container(connection, broker.getFederationTag().c_str());
pn_connection_open(connection);
}
for (pn_session_t* s = pn_session_head(connection, REQUIRES_OPEN); s; s = pn_session_next(s, REQUIRES_OPEN)) {
QPID_LOG_CAT(debug, model, id << " session begun");
pn_session_open(s);
boost::shared_ptr<Session> ssn(new Session(s, broker, *this, out));
sessions[s] = ssn;
}
for (pn_link_t* l = pn_link_head(connection, REQUIRES_OPEN); l; l = pn_link_next(l, REQUIRES_OPEN)) {
pn_link_open(l);
Sessions::iterator session = sessions.find(pn_link_session(l));
if (session == sessions.end()) {
QPID_LOG(error, id << " Link attached on unknown session!");
} else {
try {
session->second->attach(l);
QPID_LOG_CAT(debug, protocol, id << " link " << l << " attached on " << pn_link_session(l));
} catch (const std::exception& e) {
QPID_LOG_CAT(error, protocol, "Error on attach: " << e.what());
//TODO: set error details on detach when that is exposed via engine API
pn_link_close(l);
}
}
}
//handle deliveries
for (pn_delivery_t* delivery = pn_work_head(connection); delivery; delivery = pn_work_next(delivery)) {
pn_link_t* link = pn_delivery_link(delivery);
if (pn_link_is_receiver(link)) {
Sessions::iterator i = sessions.find(pn_link_session(link));
if (i != sessions.end()) {
i->second->readable(link, delivery);
} else {
pn_delivery_update(delivery, PN_REJECTED);
}
} else { //i.e. SENDER
Sessions::iterator i = sessions.find(pn_link_session(link));
if (i != sessions.end()) {
QPID_LOG(trace, id << " handling outgoing delivery for " << link << " on session " << pn_link_session(link));
i->second->writable(link, delivery);
} else {
QPID_LOG(error, id << " Got delivery for non-existent session: " << pn_link_session(link) << ", link: " << link);
}
}
}
for (pn_link_t* l = pn_link_head(connection, REQUIRES_CLOSE); l; l = pn_link_next(l, REQUIRES_CLOSE)) {
pn_link_close(l);
Sessions::iterator session = sessions.find(pn_link_session(l));
if (session == sessions.end()) {
QPID_LOG(error, id << " peer attempted to detach link on unknown session!");
} else {
session->second->detach(l);
QPID_LOG_CAT(debug, model, id << " link detached");
}
}
for (pn_session_t* s = pn_session_head(connection, REQUIRES_CLOSE); s; s = pn_session_next(s, REQUIRES_CLOSE)) {
pn_session_close(s);
Sessions::iterator i = sessions.find(s);
if (i != sessions.end()) {
i->second->close();
sessions.erase(i);
QPID_LOG_CAT(debug, model, id << " session ended");
} else {
QPID_LOG(error, id << " peer attempted to close unrecognised session");
}
}
if ((pn_connection_state(connection) & REQUIRES_CLOSE) == REQUIRES_CLOSE) {
QPID_LOG_CAT(debug, model, id << " connection closed");
pn_connection_close(connection);
}
}
