bool TransportSubscriberLink::handleHeader(const ros::Header& header)
{
std::string topic;
if (!header.getValue("topic", topic))
{
std::string msg("Header from subscriber did not have the required element: topic");
ROS_ERROR("%s", msg.c_str());
connection_->sendHeaderError(msg);
return false;
}
// This will get validated by validateHeader below
std::string client_callerid;
header.getValue("callerid", client_callerid);
PublicationPtr pt = TopicManager::instance()->lookupPublication(topic);
if (!pt)
{
std::string msg = std::string("received a connection for a nonexistent topic [") +
topic + std::string("] from [" + connection_->getTransport()->getTransportInfo() + "] [" + client_callerid +"].");
ROSCPP_LOG_DEBUG("%s", msg.c_str());
connection_->sendHeaderError(msg);
return false;
}
std::string error_msg;
if (!pt->validateHeader(header, error_msg))
{
ROSCPP_LOG_DEBUG("%s", error_msg.c_str());
connection_->sendHeaderError(error_msg);
return false;
}
destination_caller_id_ = client_callerid;
connection_id_ = ConnectionManager::instance()->getNewConnectionID();
topic_ = pt->getName();
parent_ = PublicationWPtr(pt);
// Send back a success, with info
M_string m;
m["type"] = pt->getDataType();
m["md5sum"] = pt->getMD5Sum();
m["message_definition"] = pt->getMessageDefinition();
m["callerid"] = this_node::getName();
m["latching"] = pt->isLatching() ? "1" : "0";
connection_->writeHeader(m, boost::bind(&TransportSubscriberLink::onHeaderWritten, this, _1));
pt->addSubscriberLink(shared_from_this());
return true;
}
bool SubscriberLink::verifyDatatype(const std::string &datatype)
{
PublicationPtr parent = parent_.lock();
if (!parent)
{
ROS_ERROR("Trying to verify the datatype on a publisher without a parent");
ROS_BREAK();
return false;
}
if (datatype != parent->getDataType())
{
ROS_ERROR( "tried to send a message with type %s on a " \
"TransportSubscriberLink that has datatype %s",
datatype.c_str(), parent->getDataType().c_str());
return false; // todo: figure out a way to log this error
}
return true;
}
const std::string& SubscriberLink::getDataType()
{
PublicationPtr parent = parent_.lock();
return parent->getDataType();
}
