| public writeHeader ( IDictionary key_vals, WriteFinishedFunc finished_func ) : void | ||
| key_vals | IDictionary | |
| finished_func | WriteFinishedFunc | |
| return | void | |
public bool initialize(Connection connection)
{
#if DEBUG
EDB.WriteLine("Init transport publisher link: " + parent.name);
#endif
this.connection = connection;
connection.DroppedEvent += onConnectionDropped;
if (connection.transport.getRequiresHeader())
{
connection.setHeaderReceivedCallback(onHeaderReceived);
IDictionary header = new Hashtable();
header["topic"] = parent.name;
header["md5sum"] = parent.md5sum;
header["callerid"] = this_node.Name;
header["type"] = parent.datatype;
header["tcp_nodelay"] = "1";
connection.writeHeader(header, onHeaderWritten);
}
else
{
connection.read(4, onMessageLength);
}
return(true);
}
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);
}
internal void initialize(Connection connection)
{
this.connection = connection;
connection.DroppedEvent += onConnectionDropped;
connection.setHeaderReceivedCallback(onHeaderReceived);
IDictionary dict = new Hashtable();
dict["service"] = name;
dict["md5sum"] = IRosService.generate((SrvTypes)Enum.Parse(typeof(SrvTypes), RequestType.ToString().Replace("__Request", "").Replace("__Response", ""))).MD5Sum();
dict["callerid"] = this_node.Name;
dict["persistent"] = persistent ? "1" : "0";
if (header_values != null)
{
foreach (object o in header_values.Keys)
{
dict[o] = header_values[o];
}
}
connection.writeHeader(dict, onHeaderWritten);
}
