void testStartStop() {
report(0,"checking start/stop works...");
Contact address("/port", "tcp", "127.0.0.1", safePort());
PortCore core;
core.listen(address);
core.start();
report(0,"there will be a small delay, stress-testing port...");
int tct = 10;
int ct = 0;
for (int i=0; i<tct; i++) {
Time::delay(0.01*(i%4));
OutputProtocol *op = Carriers::connect(address);
if (op!=nullptr) {
op->getOutputStream().write('h');
op->close();
delete op;
ct++; // connect is an event
} else {
report(1,"a connection failed");
}
}
while (core.getOutputCount()>0 || core.getEventCount()<ct) {
// close could abort connections
Time::delay(0.2);
}
core.close();
ct++; // close is an event
report(0,"finished stress-testing port...");
core.join();
checkEqual(core.getEventCount(),ct,"Got all events");
}
bool NameSpace::checkNetwork() {
Contact c = queryName(getNameServerName());
if (!c.isValid()) return false;
OutputProtocol *out = Carriers::connect(Address::fromContact(c));
if (out==NULL) {
return false;
}
out->close();
delete out;
out = NULL;
return true;
}
bool NameSpace::checkNetwork(double timeout) {
Contact c = queryName(getNameServerName());
if (!c.isValid()) return false;
c.setTimeout((float)timeout);
OutputProtocol *out = Carriers::connect(c);
if (out==NULL) {
return false;
}
out->close();
delete out;
out = NULL;
return true;
}
bool NameSpace::checkNetwork() {
if (localOnly()) return true;
Contact c = queryName(getNameServerName());
if (!c.isValid()) return false;
OutputProtocol *out = Carriers::connect(c);
if (out==YARP_NULLPTR) {
return false;
}
out->close();
delete out;
out = YARP_NULLPTR;
return true;
}
bool NetworkBase::write(const Contact& contact,
PortWriter& cmd,
PortReader& reply,
const ContactStyle& style) {
if (!getNameSpace().serverAllocatesPortNumbers()) {
// switch to more up-to-date method
Port port;
port.setAdminMode(style.admin);
port.openFake("network_write");
Contact ec = contact;
if (style.carrier!="") {
ec.setCarrier(style.carrier);
}
if (!port.addOutput(ec)) {
if (!style.quiet) {
ACE_OS::fprintf(stderr, "Cannot make connection to '%s'\n",
ec.toString().c_str());
}
return false;
}
bool ok = port.write(cmd,reply);
return ok;
}
const char *connectionName = "admin";
ConstString name = contact.getName();
const char *targetName = name.c_str(); // use carefully!
Contact address = contact;
if (!address.isValid()) {
address = getNameSpace().queryName(targetName);
}
if (!address.isValid()) {
if (!style.quiet) {
YARP_SPRINTF1(Logger::get(),error,
"cannot find port %s",
targetName);
}
return false;
}
if (style.timeout>0) {
address.setTimeout((float)style.timeout);
}
OutputProtocol *out = Carriers::connect(address);
if (out==YARP_NULLPTR) {
if (!style.quiet) {
YARP_SPRINTF1(Logger::get(),error,
"Cannot connect to port %s",
targetName);
}
return false;
}
if (style.timeout>0) {
out->setTimeout(style.timeout);
}
Route r(connectionName,targetName,
(style.carrier!="")?style.carrier.c_str():"text_ack");
out->open(r);
PortCommand pc(0,style.admin?"a":"d");
BufferedConnectionWriter bw(out->getConnection().isTextMode(),
out->getConnection().isBareMode());
bool ok = true;
if (out->getConnection().canEscape()) {
ok = pc.write(bw);
}
if (!ok) {
if (!style.quiet) {
YARP_ERROR(Logger::get(),"could not write to connection");
}
if (out!=YARP_NULLPTR) delete out;
return false;
}
ok = cmd.write(bw);
if (!ok) {
if (!style.quiet) {
YARP_ERROR(Logger::get(),"could not write to connection");
}
if (out!=YARP_NULLPTR) delete out;
return false;
}
if (style.expectReply) {
bw.setReplyHandler(reply);
}
out->write(bw);
if (out!=YARP_NULLPTR) {
delete out;
out = YARP_NULLPTR;
}
return true;
}
void PortCoreInputUnit::run() {
running = true;
phase.post();
Route route;
bool wasNoticed = false;
bool posted = false;
bool done = false;
YARP_ASSERT(ip!=NULL);
PortCommand cmd;
if (autoHandshake) {
bool ok = true;
if (!reversed) {
ip->open(getName().c_str());
}
if (!ok) {
YARP_DEBUG(Logger::get(),String("new input connection to ")+
getOwner().getName()+ " is broken");
done = true;
} else {
route = ip->getRoute();
// just before going official, tag any lurking inputs from
// the same source as undesired
if (Name(route.getFromName()).isRooted()) {
YARP_SPRINTF3(Logger::get(),
debug,
"Port %s starting up, flushing routes %s->*->%s",
getOwner().getName().c_str(),
route.getFromName().c_str(),
route.getToName().c_str());
getOwner().removeIO(Route(route.getFromName(),
route.getToName(),"*"),true);
}
officialRoute = route;
setMode();
getOwner().reportUnit(this,true);
String msg = String("Receiving input from ") +
route.getFromName() + " to " + route.getToName() +
" using " +
route.getCarrierName();
if (Name(route.getFromName()).isRooted()) {
if (reversed||ip->getConnection().isPush()) {
YARP_INFO(Logger::get(),msg);
posted = true;
} else {
YARP_DEBUG(Logger::get(),msg);
}
} else {
YARP_DEBUG(Logger::get(),msg);
}
// Report the new connection
PortInfo info;
info.message = msg.c_str();
info.tag = yarp::os::PortInfo::PORTINFO_CONNECTION;
info.incoming = true;
info.created = true;
info.sourceName = route.getFromName().c_str();
info.targetName = route.getToName().c_str();
info.portName = info.targetName;
info.carrierName = route.getCarrierName().c_str();
if (info.sourceName!="admin"&&info.sourceName!="null") {
getOwner().report(info);
wasNoticed = true;
}
}
} else {
bool ok = ip->open(""); // anonymous connection
route = ip->getRoute();
if (!ok) {
done = true;
}
}
if (!reversed) {
if (!ip->getConnection().isPush()) {
/* IP=OP */
OutputProtocol *op = &(ip->getOutput());
Route r = op->getRoute();
// reverse route
op->rename(Route().addFromName(r.getToName()).addToName(r.getFromName()).addCarrierName(r.getCarrierName()));
getOwner().addOutput(op);
ip = NULL;
done = true;
}
}
if (closing) {
done = true;
}
void *id = (void *)this;
while (!done) {
ConnectionReader& br = ip->beginRead();
if (br.getReference()!=NULL) {
//printf("HAVE A REFERENCE\n");
if (localReader!=NULL) {
bool ok = localReader->read(br);
if (!br.isActive()) { done = true; break; }
if (!ok) continue;
} else {
PortManager& man = getOwner();
bool ok = man.readBlock(br,id,NULL);
if (!br.isActive()) { done = true; break; }
if (!ok) continue;
}
//printf("DONE WITH A REFERENCE\n");
if (ip!=NULL) {
ip->endRead();
}
continue;
}
if (autoHandshake&&(ip->getConnection().canEscape())) {
bool ok = cmd.read(br);
if (!br.isActive()) { done = true; break; }
if (!ok) continue;
} else {
cmd = PortCommand('d',"");
if (!ip->checkStreams()) { done = true; break; }
}
if (closing||isDoomed()) {
done = true;
break;
}
char key = cmd.getKey();
//ACE_OS::printf("Port command is [%c:%d/%s]\n",
// (key>=32)?key:'?', key, cmd.getText().c_str());
PortManager& man = getOwner();
OutputStream *os = NULL;
if (br.isTextMode()) {
os = &(ip->getOutputStream());
}
switch (key) {
case '/':
YARP_SPRINTF3(Logger::get(),
debug,
"Port command (%s): %s should add connection: %s",
route.toString().c_str(),
getOwner().getName().c_str(),
cmd.getText().c_str());
man.addOutput(cmd.getText(),id,os);
break;
case '!':
YARP_SPRINTF3(Logger::get(),
debug,
"Port command (%s): %s should remove output: %s",
route.toString().c_str(),
getOwner().getName().c_str(),
cmd.getText().c_str());
man.removeOutput(cmd.getText().substr(1,String::npos),id,os);
break;
case '~':
YARP_SPRINTF3(Logger::get(),
debug,
"Port command (%s): %s should remove input: %s",
route.toString().c_str(),
getOwner().getName().c_str(),
cmd.getText().c_str());
man.removeInput(cmd.getText().substr(1,String::npos),id,os);
break;
case '*':
man.describe(id,os);
break;
case 'D':
case 'd':
{
bool suppressed = false;
// this will be the new way to signal that
// replies are not expected.
if (key=='D') {
ip->suppressReply();
}
String env = cmd.getText();
if (env.length()>1) {
if (!suppressed) {
// This is the backwards-compatible
// method for signalling replies are
// not expected. To be used until
// YARP 2.1.2 is a "long time ago".
if (env[1]=='o') {
ip->suppressReply();
}
}
if (env.length()>2) {
//YARP_ERROR(Logger::get(),
//"***** received an envelope! [%s]", env.c_str());
String env2 = env.substr(2,env.length());
man.setEnvelope(env2);
ip->setEnvelope(env2);
}
}
if (localReader) {
localReader->read(br);
if (!br.isActive()) { done = true; break; }
} else {
if (ip->getReceiver().acceptIncomingData(br)) {
man.readBlock(ip->getReceiver().modifyIncomingData(br),id,os);
} else {
skipIncomingData(br);
}
if (!br.isActive()) { done = true; break; }
}
}
break;
case 'a':
{
man.adminBlock(br,id,os);
}
break;
case 'r':
/*
In YARP implementation, OP=IP.
(This information is used rarely, and when used
is tagged with OP=IP keyword)
If it were not true, memory alloc would need to
reorganized here
*/
{
OutputProtocol *op = &(ip->getOutput());
ip->endRead();
Route r = op->getRoute();
// reverse route
op->rename(Route().addFromName(r.getToName()).addToName(r.getFromName()).addCarrierName(r.getCarrierName()));
getOwner().addOutput(op);
ip = NULL;
done = true;
}
break;
case 'q':
done = true;
break;
case 'i':
printf("Interrupt requested\n");
//ACE_OS::kill(0,2); // SIGINT
//ACE_OS::kill(Logger::get().getPid(),2); // SIGINT
ACE_OS::kill(Logger::get().getPid(),15); // SIGTERM
break;
case '?':
case 'h':
if (os!=NULL) {
BufferedConnectionWriter bw(true);
bw.appendLine("This is a YARP port. Here are the commands it responds to:");
bw.appendLine("* Gives a description of this port");
bw.appendLine("d Signals the beginning of input for the port's owner");
bw.appendLine("do The same as \"d\" except replies should be suppressed (\"data-only\")");
bw.appendLine("q Disconnects");
bw.appendLine("i Interrupt parent process (unix only)");
bw.appendLine("r Reverse connection type to be a reader");
bw.appendLine("/port Requests to send output to /port");
bw.appendLine("!/port Requests to stop sending output to /port");
bw.appendLine("~/port Requests to stop receiving input from /port");
bw.appendLine("a Signals the beginning of an administrative message");
bw.appendLine("? Gives this help");
bw.write(*os);
}
break;
default:
if (os!=NULL) {
BufferedConnectionWriter bw(true);
bw.appendLine("Port command not understood.");
bw.appendLine("Type d to send data to the port's owner.");
bw.appendLine("Type ? for help.");
bw.write(*os);
}
break;
}
if (ip!=NULL) {
ip->endRead();
}
if (ip==NULL) {
done = true;
break;
}
if (closing||isDoomed()||(!ip->checkStreams())) {
done = true;
break;
}
}
setDoomed(true);
YARP_DEBUG(Logger::get(),"PortCoreInputUnit closing ip");
access.wait();
if (ip!=NULL) {
ip->close();
}
access.post();
YARP_DEBUG(Logger::get(),"PortCoreInputUnit closed ip");
if (autoHandshake) {
String msg = String("Removing input from ") +
route.getFromName() + " to " + route.getToName();
if (Name(route.getFromName()).isRooted()) {
if (posted) {
YARP_INFO(Logger::get(),msg);
}
} else {
YARP_DEBUG(Logger::get(),"PortCoreInputUnit (unrooted) shutting down");
}
getOwner().reportUnit(this,false);
if (wasNoticed) {
// Report the disappearing connection
PortInfo info;
info.message = msg.c_str();
info.tag = yarp::os::PortInfo::PORTINFO_CONNECTION;
info.incoming = true;
info.created = false;
info.sourceName = route.getFromName().c_str();
info.targetName = route.getToName().c_str();
info.portName = info.targetName;
info.carrierName = route.getCarrierName().c_str();
if (info.sourceName!="admin") {
getOwner().report(info);
}
}
} else {
YARP_DEBUG(Logger::get(),"PortCoreInputUnit shutting down");
}
if (localReader!=NULL) {
delete localReader;
localReader = NULL;
}
running = false;
finished = true;
// it would be nice to get my entry removed from the port immediately,
// but it would be a bit dodgy to delete this object and join this
// thread within and from themselves
}
String NameClient::send(const String& cmd, bool multi) {
//printf("*** OLD YARP command %s\n", cmd.c_str());
setup();
if (NetworkBase::getQueryBypass()) {
ContactStyle style;
Bottle bcmd(cmd.c_str()), reply;
NetworkBase::writeToNameServer(bcmd,reply,style);
ConstString si = reply.toString(), so;
for (int i=0; i<(int)si.length(); i++) {
if (si[i]!='\"') {
so += si[i];
}
}
return so.c_str();
}
bool retried = false;
bool retry = false;
String result;
Contact server = getAddress();
float timeout = 10;
server.setTimeout(timeout);
do {
YARP_DEBUG(Logger::get(),String("sending to nameserver: ") + cmd);
if (isFakeMode()) {
//YARP_DEBUG(Logger::get(),"fake mode nameserver");
return getServer().apply(cmd,Contact::bySocket("tcp","127.0.0.1",NetworkBase::getDefaultPortRange())) + "\n";
}
TcpFace face;
YARP_DEBUG(Logger::get(),String("connecting to ") + getAddress().toURI());
OutputProtocol *ip = NULL;
if (!retry) {
ip = face.write(server);
} else {
retried = true;
}
if (ip==NULL) {
YARP_INFO(Logger::get(),"No connection to nameserver");
if (!allowScan) {
YARP_INFO(Logger::get(),"*** try running: yarp detect ***");
}
Contact alt;
if (!isFakeMode()) {
if (allowScan) {
YARP_INFO(Logger::get(),"no connection to nameserver, scanning mcast");
reportScan = true;
#ifdef YARP_HAS_ACE
alt = FallbackNameClient::seek();
#else
return ""; // nothing to do, nowhere to turn
#endif
}
}
if (alt.isValid()) {
address = alt;
if (allowSaveScan) {
reportSaveScan = true;
NameConfig nc;
nc.setAddress(alt);
nc.toFile();
}
server = getAddress();
server.setTimeout(timeout);
ip = face.write(server);
if (ip==NULL) {
YARP_ERROR(Logger::get(),
"no connection to nameserver, scanning mcast");
return "";
}
} else {
return "";
}
}
String cmdn = cmd + "\n";
Bytes b((char*)cmdn.c_str(),cmdn.length());
ip->getOutputStream().write(b);
bool more = multi;
while (more) {
String line = "";
line = ip->getInputStream().readLine();
if (!(ip->isOk())) {
more = false;
//YARP_DEBUG(Logger::get(), e.toString() + " <<< exception from name server");
retry = true;
break;
}
if (line.length()>1) {
if (line[0] == '*'||line[0] == '[') {
more = false;
}
}
result += line + "\n";
}
ip->close();
delete ip;
YARP_SPRINTF1(Logger::get(),
debug,
"<<< received from nameserver: %s",result.c_str());
} while (retry&&!retried);
return result;
}