private void socketUpdate(int events)
{
ScopedTimer.Ping();
lock (close_mutex)
{
if (closed)
{
return;
}
}
if (is_server)
{
TcpTransport transport = accept();
if (transport != null)
{
if (accept_cb == null)
{
throw new Exception("NULL ACCEPT_CB FTL!");
}
accept_cb(transport);
}
}
else
{
if ((events & POLLIN) != 0 && expecting_read) //POLL IN FLAG
{
if (read_cb != null)
{
read_cb(this);
}
}
if ((events & POLLOUT) != 0 && expecting_write)
{
if (write_cb != null)
{
write_cb(this);
}
}
if ((events & POLLERR) != 0 || (events & POLLHUP) != 0 || (events & POLLNVAL) != 0)
{
int error = 0;
try
{
error = (int)sock.GetSocketOption(SocketOptionLevel.Socket, SocketOptionName.Error);
}
catch (Exception e)
{
EDB.WriteLine("Failed to get sock options! (error: " + error + ")" + e);
}
if (error != 0)
{
EDB.WriteLine("SOCKET ERROR = " + error);
}
close();
}
}
}
private bool onMessageLength(Connection conn, byte[] buffer, int size, bool success)
{
ScopedTimer.Ping();
if (retry_timer != null)
{
ROS.timer_manager.RemoveTimer(ref retry_timer);
}
if (!success)
{
if (connection != null)
{
connection.read(4, onMessageLength);
}
return(true);
}
if (conn != connection || size != 4)
{
return(false);
}
int len = BitConverter.ToInt32(buffer, 0);
if (len > 1000000000)
{
EDB.WriteLine("TransportPublisherLink: 1 GB message WTF?!");
drop();
return(false);
}
connection.read(len, onMessage);
return(true);
}
public int write(byte[] buffer, int pos, int size)
{
ScopedTimer.Ping();
lock (close_mutex)
{
if (closed)
{
return(-1);
}
}
SocketError err;
//EDB.WriteLine(ByteDumpCondensed(buffer));
int num_bytes = sock.Send(buffer, pos, size, SocketFlags.None, out err);
if (num_bytes <= 0)
{
if (err == SocketError.TryAgain || err == SocketError.WouldBlock)
{
num_bytes = 0;
}
else if (err != SocketError.InProgress && err != SocketError.IsConnected && err != SocketError.Success)
{
close();
return(-1);
}
else
{
return(0);
}
}
return(num_bytes);
}
public int read(byte[] buffer, int pos, int length)
{
ScopedTimer.Ping();
lock (close_mutex)
{
if (closed)
{
return(-1);
}
}
int num_bytes = 0;
SocketError err;
num_bytes = sock.realsocket.Receive(buffer, pos, length, SocketFlags.None, out err);
if (num_bytes < 0)
{
if (err == SocketError.TryAgain || err == SocketError.WouldBlock)
{
num_bytes = 0;
}
else if (err != SocketError.InProgress && err != SocketError.IsConnected && err != SocketError.Success)
{
close();
num_bytes = -1;
}
}
return(num_bytes);
}
private bool onHeaderReceived(Connection conn, Header header)
{
ScopedTimer.Ping();
if (conn != connection)
{
return(false);
}
if (!setHeader(header))
{
drop();
return(false);
}
if (retry_timer != null)
{
ROS.timer_manager.RemoveTimer(ref retry_timer);
}
connection.read(4, onMessageLength);
return(true);
}
private bool onMessage(Connection conn, byte[] buffer, int size, bool success)
{
ScopedTimer.Ping();
if (!success || conn == null || conn != connection)
{
return(false);
}
if (success)
{
IRosMessage msg = IRosMessage.generate(parent.msgtype);
msg.Serialized = buffer;
msg.connection_header = getHeader().Values;
handleMessage(msg, true, false);
}
if (success || !connection.transport.getRequiresHeader())
{
connection.read(4, onMessageLength);
}
return(true);
}
private void writeTransport()
{
lock (writing)
{
if (dropped)
{
return;
}
ScopedTimer.Ping();
bool can_write_more = true;
while (write_callback != null && can_write_more && !dropped)
{
int to_write = write_size - write_sent;
int bytes_sent = transport.write(write_buffer, write_sent, to_write);
if (bytes_sent <= 0)
{
return;
}
write_sent += (int)bytes_sent;
if (bytes_sent < write_size - write_sent)
{
can_write_more = false;
}
if (write_sent == write_size && !dropped)
{
lock (write_callback_mutex)
{
WriteFinishedFunc callback = write_callback;
write_callback = null;
write_buffer = null;
write_sent = 0;
write_size = 0;
if (!callback(this))
{
Console.WriteLine("Failed to invoke " + callback.Method.Name);
}
}
}
}
}
}
private void readTransport()
{
lock (reading)
{
//EDB.WriteLine("READ - "+transport.poll_set);
if (dropped)
{
return;
}
ScopedTimer.Ping();
ReadFinishedFunc callback;
lock (read_callback_mutex)
callback = read_callback;
int size;
while (!dropped && callback != null)
{
ScopedTimer.Ping();
int to_read = read_size - read_filled;
if (to_read > 0 && read_buffer == null)
{
throw new Exception("Trying to read " + to_read + " bytes with a null read_buffer!");
}
if (callback == null)
{
lock (read_callback_mutex)
callback = read_callback;
}
if (callback == null)
{
throw new Exception("Cannot determine which read_callback to invoke?!");
}
if (to_read > 0)
{
ScopedTimer.Ping();
int bytes_read = transport.read(read_buffer, read_filled, to_read);
if (dropped)
{
if (read_callback == null)
{
transport.disableRead();
}
break;
}
if (bytes_read < 0)
{
ScopedTimer.Ping();
read_callback = null;
byte[] buffer = read_buffer;
read_buffer = null;
size = read_size;
read_size = 0;
read_filled = 0;
#if BEGIN_INVOKE
callback.BeginInvoke(this, buffer, size, false, readTransportComplete, callback);
#else
if (!callback(this, buffer, size, false))
{
Console.WriteLine("Callbacks invoked by connection errored");
}
callback = null;
lock (read_callback_mutex)
if (read_callback == null)
{
transport.disableRead();
}
#endif
break;
}
lock (read_callback_mutex)
callback = read_callback;
read_filled += bytes_read;
}
else
{
lock (read_callback_mutex)
if (read_callback == null)
{
transport.disableRead();
}
break;
}
if (read_filled == read_size && !dropped)
{
size = read_size;
byte[] buffer = read_buffer;
read_buffer = null;
lock (read_callback_mutex)
read_callback = null;
read_size = 0;
#if BEGIN_INVOKE
callback.BeginInvoke(this, buffer, size, true, readTransportComplete, callback);
#else
if (!callback(this, buffer, size, true))
{
Console.WriteLine("Callbacks invoked by connection errored");
}
lock (read_callback_mutex)
if (read_callback == null)
{
transport.disableRead();
}
#endif
callback = null;
}
else
{
lock (read_callback_mutex)
if (read_callback == null)
{
transport.disableRead();
}
break;
}
}
}
}
