bool yarp::os::impl::UdpCarrier::expectReplyToHeader(ConnectionState& proto) {
// I am the sender
int myPort = proto.getStreams().getLocalAddress().getPort();
ConstString myName = proto.getStreams().getLocalAddress().getHost();
ConstString altName = proto.getStreams().getRemoteAddress().getHost();
int altPort = readYarpInt(proto);
if (altPort==-1) {
return false;
}
DgramTwoWayStream *stream = new DgramTwoWayStream();
yAssert(stream!=YARP_NULLPTR);
proto.takeStreams(YARP_NULLPTR); // free up port from tcp
bool ok =
stream->open(Contact(myName,myPort),Contact(altName,altPort));
if (!ok) {
delete stream;
return false;
}
proto.takeStreams(stream);
return true;
}
bool yarp::os::impl::UdpCarrier::respondToHeader(ConnectionState& proto) {
// I am the receiver
// issue: need a fresh port number...
DgramTwoWayStream *stream = new DgramTwoWayStream();
yAssert(stream!=YARP_NULLPTR);
Contact remote = proto.getStreams().getRemoteAddress();
bool ok = stream->open(remote);
if (!ok) {
delete stream;
return false;
}
int myPort = stream->getLocalAddress().getPort();
writeYarpInt(myPort,proto);
proto.takeStreams(stream);
return true;
}
void DgramTwoWayStream::interrupt() {
bool act = false;
mutex.wait();
if ((!closed) && (!interrupting) && happy) {
act = true;
interrupting = true;
closed = true;
}
mutex.post();
if (act) {
if (reader) {
int ct = 3;
while (happy && ct>0) {
ct--;
DgramTwoWayStream tmp;
if (mgram) {
YARP_DEBUG(Logger::get(),
String("* mcast interrupt, interface ") +
restrictInterfaceIp.toString().c_str()
);
tmp.join(localAddress,true,
restrictInterfaceIp);
} else {
YARP_DEBUG(Logger::get(),"* dgram interrupt");
tmp.open(Contact(localAddress.getHost(),0),
localAddress);
}
YARP_DEBUG(Logger::get(),
String("* interrupt state ") +
NetType::toString(interrupting) + " " +
NetType::toString(closed) + " " +
NetType::toString(happy) + " ");
ManagedBytes empty(10);
for (size_t i=0; i<empty.length(); i++) {
empty.get()[i] = 0;
}
// don't want this message getting into a valid packet
tmp.pct = -1;
tmp.write(empty.bytes());
tmp.flush();
tmp.close();
if (happy) {
yarp::os::Time::delay(0.25);
}
}
YARP_DEBUG(Logger::get(),"dgram interrupt done");
}
mutex.wait();
interrupting = false;
mutex.post();
} else {
// wait for interruption to be done
if (interrupting) {
while (interrupting) {
YARP_DEBUG(Logger::get(),
"waiting for dgram interrupt to be finished...");
yarp::os::Time::delay(0.1);
}
}
}
}
