bool TransportPublisherLink::initialize(const ConnectionPtr& connection)
{
connection_ = connection;
connection_->addDropListener(boost::bind(&TransportPublisherLink::onConnectionDropped, this, _1, _2));
if (connection_->getTransport()->requiresHeader())
{
connection_->setHeaderReceivedCallback(boost::bind(&TransportPublisherLink::onHeaderReceived, this, _1, _2));
SubscriptionPtr parent = parent_.lock();
M_string header;
header["topic"] = parent->getName();
header["md5sum"] = parent->md5sum();
header["callerid"] = this_node::getName();
header["type"] = parent->datatype();
header["tcp_nodelay"] = transport_hints_.getTCPNoDelay() ? "1" : "0";
connection_->writeHeader(header, boost::bind(&TransportPublisherLink::onHeaderWritten, this, _1));
}
else
{
connection_->read(4, boost::bind(&TransportPublisherLink::onMessageLength, this, _1, _2, _3, _4));
}
return true;
}
void TransportPublisherLink::onRetryTimer(const ros::WallTimerEvent&)
{
if (dropping_)
{
return;
}
if (needs_retry_ && WallTime::now() > next_retry_)
{
retry_period_ = std::min(retry_period_ * 2, WallDuration(20));
needs_retry_ = false;
SubscriptionPtr parent = parent_.lock();
// TODO: support retry on more than just TCP
// For now, since UDP does not have a heartbeat, we do not attempt to retry
// UDP connections since an error there likely means some invalid operation has
// happened.
if (connection_->getTransport()->getType() == std::string("TCPROS"))
{
std::string topic = parent ? parent->getName() : "unknown";
TransportTCPPtr old_transport = boost::dynamic_pointer_cast<TransportTCP>(connection_->getTransport());
ROS_ASSERT(old_transport);
const std::string& host = old_transport->getConnectedHost();
int port = old_transport->getConnectedPort();
ROSCPP_LOG_DEBUG("Retrying connection to [%s:%d] for topic [%s]", host.c_str(), port, topic.c_str());
TransportTCPPtr transport(new TransportTCP(&PollManager::instance()->getPollSet()));
if (transport->connect(host, port))
{
ConnectionPtr connection(new Connection);
connection->initialize(transport, false, HeaderReceivedFunc());
initialize(connection);
ConnectionManager::instance()->addConnection(connection);
}
else
{
ROSCPP_LOG_DEBUG("connect() failed when retrying connection to [%s:%d] for topic [%s]", host.c_str(), port, topic.c_str());
}
}
else if (parent)
{
parent->removePublisherLink(shared_from_this());
}
}
}
void IntraProcessPublisherLink::setPublisher(const IntraProcessSubscriberLinkPtr& publisher)
{
publisher_ = publisher;
SubscriptionPtr parent = parent_.lock();
ROS_ASSERT(parent);
Header header;
M_stringPtr values = header.getValues();
(*values)["callerid"] = this_node::getName();
(*values)["topic"] = parent->getName();
(*values)["type"] = publisher->getDataType();
(*values)["md5sum"] = publisher->getMD5Sum();
(*values)["message_definition"] = publisher->getMessageDefinition();
(*values)["latching"] = publisher->isLatching() ? "1" : "0";
setHeader(header);
}
void TransportPublisherLink::onConnectionDropped(const ConnectionPtr& conn, Connection::DropReason reason)
{
if (dropping_)
{
return;
}
ROS_ASSERT(conn == connection_);
SubscriptionPtr parent = parent_.lock();
if (reason == Connection::TransportDisconnect)
{
std::string topic = parent ? parent->getName() : "unknown";
ROSCPP_LOG_DEBUG("Connection to publisher [%s] to topic [%s] dropped", connection_->getTransport()->getTransportInfo().c_str(), topic.c_str());
ROS_ASSERT(!needs_retry_);
needs_retry_ = true;
next_retry_ = WallTime::now() + retry_period_;
if (retry_timer_handle_ == -1)
{
retry_period_ = WallDuration(0.1);
next_retry_ = WallTime::now() + retry_period_;
retry_timer_handle_ = getInternalTimerManager()->add(WallDuration(retry_period_),
boost::bind(&TransportPublisherLink::onRetryTimer, this, _1), getInternalCallbackQueue().get(),
VoidConstPtr(), false);
}
else
{
getInternalTimerManager()->setPeriod(retry_timer_handle_, retry_period_);
}
}
else
{
drop();
}
}