public async Task <IDictionary <string, string> > ReadHeader(CancellationToken cancel)
{
int length = await this.ReadInt32(cancel);
if (length > MESSAGE_SIZE_LIMIT)
{
throw new ConnectionError("Invalid header length received");
}
byte[] headerBuffer = await this.ReadBlock(length, cancel);
if (!Header.Parse(headerBuffer, length, out string errorMessage))
{
throw new ConnectionError(errorMessage);
}
if (Header.Values.ContainsKey("error"))
{
string error = Header.Values["error"];
logger.LogInformation("Received error message in header for connection to [{0}]: [{1}]",
"TCPROS connection to [" + this.Socket.RemoteEndPoint + "]", error);
throw new ConnectionError(error);
}
if (topic == null && Header.Values.ContainsKey("topic"))
{
topic = Header.Values["topic"];
}
if (Header.Values.ContainsKey("tcp_nodelay"))
{
if (Header.Values["tcp_nodelay"] == "1")
{
this.Socket.NoDelay = true;
}
}
return(Header.Values);
}
private bool onHeaderRead(Connection conn, byte[] data, int size, bool success)
{
Debug.Assert(conn == this);
if (!success)
{
return(false);
}
string error_msg = "";
if (!header.Parse(data, (int)size, ref error_msg))
{
drop(DropReason.HeaderError);
return(false);
}
else
{
string error_val = "";
if (header.Values.ContainsKey("error"))
{
error_val = (string)header.Values["error"];
ROS.Info()($"[{ThisNode.Name}] Received error message in header for connection to [TCPROS connection to [{transport.cachedRemoteHost}]]: [{error_val}]");
drop(DropReason.HeaderError);
return(false);
}
else
{
if (header_func == null)
{
throw new InvalidOperationException("`header_func` callback was not registered");
}
transport.parseHeader(header);
header_func(conn, header);
}
}
return(true);
}
