bool Protocol::open(const std::string& name)
{
if (name == "") {
return false;
}
Route r = getRoute();
r.setToName(name);
setRoute(r);
// We are not the initiator of the connection, so we
// expect to receive a header (carrier-dependent).
bool ok = expectHeader();
if (!ok)
return false;
// Respond to header (carrier-dependent).
return respondToHeader();
}
bool TcpRosCarrier::expectReplyToHeader(ConnectionState& proto) {
RosHeader header;
char mlen[4];
Bytes mlen_buf(mlen,4);
int res = proto.is().readFull(mlen_buf);
if (res<4) {
printf("Fail %s %d\n", __FILE__, __LINE__);
return false;
}
int len = NetType::netInt(mlen_buf);
dbg_printf("Len %d\n", len);
if (len>10000) {
printf("not ready for serious messages\n");
return false;
}
ManagedBytes m(len);
res = proto.is().readFull(m.bytes());
if (res!=len) {
printf("Fail %s %d\n", __FILE__, __LINE__);
return false;
}
header.readHeader(string(m.get(),m.length()));
dbg_printf("Message header: %s\n", header.toString().c_str());
std::string rosname;
if (header.data.find("type")!=header.data.end()) {
rosname = header.data["type"];
}
dbg_printf("<incoming> Type of data is [%s]s\n", rosname.c_str());
if (header.data.find("callerid")!=header.data.end()) {
string name = header.data["callerid"];
dbg_printf("<incoming> callerid is %s\n", name.c_str());
dbg_printf("Route was %s\n", proto.getRoute().toString().c_str());
Route route = proto.getRoute();
route.setToName(name);
proto.setRoute(route);
dbg_printf("Route is now %s\n", proto.getRoute().toString().c_str());
}
if (!isService) {
isService = (header.data.find("request_type")!=header.data.end());
}
if (rosname!="" && (user_type != wire_type || user_type == "")) {
kind = TcpRosStream::rosToKind(rosname.c_str());
TcpRosStream::configureTwiddler(twiddler,kind.c_str(),rosname.c_str(),false,false);
translate = TCPROS_TRANSLATE_TWIDDLER;
} else {
rosname = "";
}
dbg_printf("tcpros %s mode\n", isService?"service":"topic");
// we may be a pull stream
sender = isService;
processRosHeader(header);
auto* stream = new TcpRosStream(proto.giveStreams(),
sender,
sender,
isService,
raw,
rosname.c_str());
if (stream==nullptr) { return false; }
dbg_printf("Getting ready to hand off streams...\n");
proto.takeStreams(stream);
return proto.is().isOk();
}
