public bool handleHeader(Header header)
{
if (!header.Values.Contains("md5sum") || !header.Values.Contains("service") || !header.Values.Contains("callerid"))
{
string bbq = "Bogus tcpros header. did not have required elements: md5sum, service, callerid";
ROS.Error(bbq);
connection.sendHeaderError(ref bbq);
return false;
}
string md5sum = (string) header.Values["md5sum"];
string service = (string) header.Values["service"];
string client_callerid = (string) header.Values["client_callerid"];
if (header.Values.Contains("persistent") && ((string) header.Values["persistent"] == "1" || (string) header.Values["persistent"] == "true"))
persistent = true;
ROS.Debug("Service client [{0}] wants service [{1}] with md5sum [{2}]", client_callerid, service, md5sum);
IServicePublication isp = ServiceManager.Instance.lookupServicePublication(service);
if (isp == null)
{
string bbq = string.Format("received a tcpros connection for a nonexistent service [{0}]", service);
ROS.Error(bbq);
connection.sendHeaderError(ref bbq);
return false;
}
if (isp.md5sum != md5sum && md5sum != "*" && isp.md5sum != "*")
{
string bbq = "client wants service " + service + " to have md5sum " + md5sum + " but it has " + isp.md5sum + ". Dropping connection";
ROS.Error(bbq);
connection.sendHeaderError(ref bbq);
return false;
}
if (isp.isDropped)
{
string bbq = "received a tcpros connection for a nonexistent service [" + service + "]";
ROS.Error(bbq);
connection.sendHeaderError(ref bbq);
return false;
}
parent = isp;
IDictionary m = new Hashtable();
m["request_type"] = isp.req_datatype;
m["response_type"] = isp.res_datatype;
m["type"] = isp.datatype;
m["md5sum"] = isp.md5sum;
m["callerid"] = this_node.Name;
connection.writeHeader(m, onHeaderWritten);
isp.addServiceClientLink(this);
return true;
}
public bool handleHeader(Header header)
{
if (!header.Values.Contains("topic"))
{
string msg = "Header from subscriber did not have the required element: topic";
EDB.WriteLine(msg);
connection.sendHeaderError(ref msg);
return false;
}
string name = (string) header.Values["topic"];
string client_callerid = (string) header.Values["callerid"];
Publication pt = TopicManager.Instance.lookupPublication(name);
if (pt == null)
{
string msg = "received a connection for a nonexistent topic [" + name + "] from [" +
connection.transport + "] [" + client_callerid + "]";
EDB.WriteLine(msg);
connection.sendHeaderError(ref msg);
return false;
}
string error_message = "";
if (!pt.validateHeader(header, ref error_message))
{
connection.sendHeaderError(ref error_message);
EDB.WriteLine(error_message);
return false;
}
destination_caller_id = client_callerid;
connection_id = ConnectionManager.Instance.GetNewConnectionID();
name = pt.Name;
parent = pt;
lock (parent)
{
max_queue = parent.MaxQueue;
}
IDictionary m = new Hashtable();
m["type"] = pt.DataType;
m["md5sum"] = pt.Md5sum;
m["message_definition"] = pt.MessageDefinition;
m["callerid"] = this_node.Name;
m["latching"] = pt.Latch;
connection.writeHeader(m, onHeaderWritten);
pt.addSubscriberLink(this);
#if DEBUG
EDB.WriteLine("Finalize transport subscriber link for " + name);
#endif
return true;
}
public bool setHeader(Header h)
{
CallerID = (string) h.Values["callerid"];
if (!h.Values.Contains("md5sum"))
return false;
md5sum = (string) h.Values["md5sum"];
Latched = false;
if (!h.Values.Contains("latching"))
return false;
if ((string) h.Values["latching"] == "1")
Latched = true;
ConnectionID = ConnectionManager.Instance.GetNewConnectionID();
header = h;
parent.headerReceived(this, header);
return true;
}
public static bool exists(string service_name, bool print_failure_reason)
{
string mapped_name = names.resolve(service_name);
string host = "";
int port = 0;
if (ServiceManager.Instance.lookUpService(mapped_name, ref host, ref port))
{
TcpTransport transport = new TcpTransport();
IDictionary m = new Hashtable
{
{"probe", "1"},
{"md5sum", "*"},
{"callerid", this_node.Name},
{"service", mapped_name}
};
byte[] headerbuf = null;
int size = 0;
Header h = new Header();
h.Write(m, ref headerbuf, ref size);
if (transport.connect(host, port))
{
byte[] sizebuf = BitConverter.GetBytes(size);
transport.write(sizebuf, 0, sizebuf.Length);
transport.write(headerbuf, 0, size);
return true;
}
if (print_failure_reason)
{
ROS.Info("waitForService: Service[{0}] could not connect to host [{1}:{2}], waiting...", mapped_name, host, port);
}
}
else if (print_failure_reason)
{
ROS.Info("waitForService: Service[{0}] has not been advertised, waiting...", mapped_name);
}
return false;
}
public bool validateHeader(Header header, ref string error_message)
{
string md5sum = "", topic = "", client_callerid = "";
if (!header.Values.Contains("md5sum") || !header.Values.Contains("topic") ||
!header.Values.Contains("callerid"))
{
const string msg = "Header from subscriber did not have the required elements: md5sum, topic, callerid";
EDB.WriteLine(msg);
error_message = msg;
return false;
}
md5sum = (string) header.Values["md5sum"];
topic = (string) header.Values["topic"];
client_callerid = (string) header.Values["callerid"];
if (Dropped)
{
string msg = "received a tcpros connection for a nonexistent topic [" + topic + "] from [" +
client_callerid + "].";
EDB.WriteLine(msg);
error_message = msg;
return false;
}
if (Md5sum != md5sum && (md5sum != "*") && Md5sum != "*")
{
string datatype = header.Values.Contains("type") ? (string) header.Values["type"] : "unknown";
string msg = "Client [" + client_callerid + "] wants topic [" + topic + "] to hava datatype/md5sum [" +
datatype + "/" + md5sum + "], but our version has [" + DataType + "/" + Md5sum +
"]. Dropping connection";
EDB.WriteLine(msg);
error_message = msg;
return false;
}
return true;
}
public void parseHeader(Header header)
{
if (_topic == null)
{
if (header.Values.Contains("topic"))
_topic = header.Values["topic"].ToString();
}
string nodelay = "";
if (header.Values.Contains("tcp_nodelay"))
nodelay = (string) header.Values["tcp_nodelay"];
if (nodelay == "1")
{
setNoDelay(true);
}
}
public void parseHeader(Header header)
{
string nodelay = "";
if (header.Values.Contains("tcp_nodelay"))
nodelay = (string) header.Values["tcp_nodelay"];
if (nodelay == "1")
{
setNoDelay(true);
}
}
