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connection.cpp
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connection.cpp
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/*
* Software License Agreement (BSD License)
*
* Copyright (c) 2008, Willow Garage, Inc.
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above
* copyright notice, this list of conditions and the following
* disclaimer in the documentation and/or other materials provided
* with the distribution.
* * Neither the name of Willow Garage, Inc. nor the names of its
* contributors may be used to endorse or promote products derived
* from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*/
#include "ros/connection.h"
#include "ros/transport/transport.h"
#include "ros/file_log.h"
#include <ros/assert.h>
#include <boost/shared_array.hpp>
#include <boost/bind.hpp>
namespace ros
{
Connection::Connection()
: is_server_(false)
, dropped_(false)
, read_filled_(0)
, read_size_(0)
, reading_(false)
, has_read_callback_(0)
, write_sent_(0)
, write_size_(0)
, writing_(false)
, has_write_callback_(0)
, sending_header_error_(false)
{
}
Connection::~Connection()
{
ROS_DEBUG_NAMED("superdebug", "Connection destructing, dropped=%s", dropped_ ? "true" : "false");
drop(Destructing);
}
void Connection::initialize(const TransportPtr& transport, bool is_server, const HeaderReceivedFunc& header_func)
{
ROS_ASSERT(transport);
transport_ = transport;
header_func_ = header_func;
is_server_ = is_server;
transport_->setReadCallback(boost::bind(&Connection::onReadable, this, boost::placeholders::_1));
transport_->setWriteCallback(boost::bind(&Connection::onWriteable, this, boost::placeholders::_1));
transport_->setDisconnectCallback(boost::bind(&Connection::onDisconnect, this, boost::placeholders::_1));
if (header_func)
{
read(4, boost::bind(&Connection::onHeaderLengthRead, this, boost::placeholders::_1, boost::placeholders::_2, boost::placeholders::_3, boost::placeholders::_4));
}
}
boost::signals2::connection Connection::addDropListener(const DropFunc& slot)
{
boost::recursive_mutex::scoped_lock lock(drop_mutex_);
return drop_signal_.connect(slot);
}
void Connection::removeDropListener(const boost::signals2::connection& c)
{
boost::recursive_mutex::scoped_lock lock(drop_mutex_);
c.disconnect();
}
void Connection::onReadable(const TransportPtr& transport)
{
(void)transport;
ROS_ASSERT(transport == transport_);
readTransport();
}
void Connection::readTransport()
{
boost::recursive_mutex::scoped_try_lock lock(read_mutex_);
if (!lock.owns_lock() || dropped_ || reading_)
{
return;
}
reading_ = true;
while (!dropped_ && has_read_callback_)
{
ROS_ASSERT(read_buffer_);
uint32_t to_read = read_size_ - read_filled_;
if (to_read > 0)
{
int32_t bytes_read = transport_->read(read_buffer_.get() + read_filled_, to_read);
ROS_DEBUG_NAMED("superdebug", "Connection read %d bytes", bytes_read);
if (dropped_)
{
return;
}
else if (bytes_read < 0)
{
// Bad read, throw away results and report error
ReadFinishedFunc callback;
callback = read_callback_;
read_callback_.clear();
read_buffer_.reset();
uint32_t size = read_size_;
read_size_ = 0;
read_filled_ = 0;
has_read_callback_ = 0;
if (callback)
{
callback(shared_from_this(), read_buffer_, size, false);
}
break;
}
read_filled_ += bytes_read;
}
ROS_ASSERT((int32_t)read_size_ >= 0);
ROS_ASSERT((int32_t)read_filled_ >= 0);
ROS_ASSERT_MSG(read_filled_ <= read_size_, "read_filled_ = %d, read_size_ = %d", read_filled_, read_size_);
if (read_filled_ == read_size_ && !dropped_)
{
ReadFinishedFunc callback;
uint32_t size;
boost::shared_array<uint8_t> buffer;
ROS_ASSERT(has_read_callback_);
// store off the read info in case another read() call is made from within the callback
callback = read_callback_;
size = read_size_;
buffer = read_buffer_;
read_callback_.clear();
read_buffer_.reset();
read_size_ = 0;
read_filled_ = 0;
has_read_callback_ = 0;
ROS_DEBUG_NAMED("superdebug", "Calling read callback");
callback(shared_from_this(), buffer, size, true);
}
else
{
break;
}
}
if (!has_read_callback_)
{
transport_->disableRead();
}
reading_ = false;
}
void Connection::writeTransport()
{
boost::recursive_mutex::scoped_try_lock lock(write_mutex_);
if (!lock.owns_lock() || dropped_ || writing_)
{
return;
}
writing_ = true;
bool can_write_more = true;
while (has_write_callback_ && can_write_more && !dropped_)
{
uint32_t to_write = write_size_ - write_sent_;
ROS_DEBUG_NAMED("superdebug", "Connection writing %d bytes", to_write);
int32_t bytes_sent = transport_->write(write_buffer_.get() + write_sent_, to_write);
ROS_DEBUG_NAMED("superdebug", "Connection wrote %d bytes", bytes_sent);
if (bytes_sent < 0)
{
writing_ = false;
return;
}
write_sent_ += bytes_sent;
if (bytes_sent < (int)write_size_ - (int)write_sent_)
{
can_write_more = false;
}
if (write_sent_ == write_size_ && !dropped_)
{
WriteFinishedFunc callback;
{
boost::mutex::scoped_lock lock(write_callback_mutex_);
ROS_ASSERT(has_write_callback_);
// Store off a copy of the callback in case another write() call happens in it
callback = write_callback_;
write_callback_ = WriteFinishedFunc();
write_buffer_ = boost::shared_array<uint8_t>();
write_sent_ = 0;
write_size_ = 0;
has_write_callback_ = 0;
}
ROS_DEBUG_NAMED("superdebug", "Calling write callback");
callback(shared_from_this());
}
}
{
boost::mutex::scoped_lock lock(write_callback_mutex_);
if (!has_write_callback_)
{
transport_->disableWrite();
}
}
writing_ = false;
}
void Connection::onWriteable(const TransportPtr& transport)
{
(void)transport;
ROS_ASSERT(transport == transport_);
writeTransport();
}
void Connection::read(uint32_t size, const ReadFinishedFunc& callback)
{
if (dropped_ || sending_header_error_)
{
return;
}
{
boost::recursive_mutex::scoped_lock lock(read_mutex_);
ROS_ASSERT(!read_callback_);
read_callback_ = callback;
read_buffer_ = boost::shared_array<uint8_t>(new uint8_t[size]);
read_size_ = size;
read_filled_ = 0;
has_read_callback_ = 1;
}
transport_->enableRead();
// read immediately if possible
readTransport();
}
void Connection::write(const boost::shared_array<uint8_t>& buffer, uint32_t size, const WriteFinishedFunc& callback, bool immediate)
{
if (dropped_ || sending_header_error_)
{
return;
}
{
boost::mutex::scoped_lock lock(write_callback_mutex_);
ROS_ASSERT(!write_callback_);
write_callback_ = callback;
write_buffer_ = buffer;
write_size_ = size;
write_sent_ = 0;
has_write_callback_ = 1;
}
transport_->enableWrite();
if (immediate)
{
// write immediately if possible
writeTransport();
}
}
void Connection::onDisconnect(const TransportPtr& transport)
{
(void)transport;
ROS_ASSERT(transport == transport_);
drop(TransportDisconnect);
}
void Connection::drop(DropReason reason)
{
ROSCPP_LOG_DEBUG("Connection::drop(%u)", reason);
bool did_drop = false;
{
boost::recursive_mutex::scoped_lock lock(drop_mutex_);
if (!dropped_)
{
dropped_ = true;
did_drop = true;
}
}
if (did_drop)
{
transport_->close();
{
boost::recursive_mutex::scoped_lock lock(drop_mutex_);
drop_signal_(shared_from_this(), reason);
}
}
}
bool Connection::isDropped()
{
boost::recursive_mutex::scoped_lock lock(drop_mutex_);
return dropped_;
}
void Connection::writeHeader(const M_string& key_vals, const WriteFinishedFunc& finished_callback)
{
ROS_ASSERT(!header_written_callback_);
header_written_callback_ = finished_callback;
if (!transport_->requiresHeader())
{
onHeaderWritten(shared_from_this());
return;
}
boost::shared_array<uint8_t> buffer;
uint32_t len;
Header::write(key_vals, buffer, len);
uint32_t msg_len = len + 4;
boost::shared_array<uint8_t> full_msg(new uint8_t[msg_len]);
memcpy(full_msg.get() + 4, buffer.get(), len);
*((uint32_t*)full_msg.get()) = len;
write(full_msg, msg_len, boost::bind(&Connection::onHeaderWritten, this, boost::placeholders::_1), false);
}
void Connection::sendHeaderError(const std::string& error_msg)
{
M_string m;
m["error"] = error_msg;
writeHeader(m, boost::bind(&Connection::onErrorHeaderWritten, this, boost::placeholders::_1));
sending_header_error_ = true;
}
void Connection::onHeaderLengthRead(const ConnectionPtr& conn, const boost::shared_array<uint8_t>& buffer, uint32_t size, bool success)
{
(void)size;
ROS_ASSERT(conn.get() == this);
ROS_ASSERT(size == 4);
if (!success)
return;
uint32_t len = *((uint32_t*)buffer.get());
if (len > 1000000000)
{
ROS_ERROR("a header of over a gigabyte was " \
"predicted in tcpros. that seems highly " \
"unlikely, so I'll assume protocol " \
"synchronization is lost.");
conn->drop(HeaderError);
}
read(len, boost::bind(&Connection::onHeaderRead, this, boost::placeholders::_1, boost::placeholders::_2, boost::placeholders::_3, boost::placeholders::_4));
}
void Connection::onHeaderRead(const ConnectionPtr& conn, const boost::shared_array<uint8_t>& buffer, uint32_t size, bool success)
{
ROS_ASSERT(conn.get() == this);
if (!success)
return;
std::string error_msg;
if (!header_.parse(buffer, size, error_msg))
{
drop(HeaderError);
}
else
{
std::string error_val;
if (header_.getValue("error", error_val))
{
ROSCPP_LOG_DEBUG("Received error message in header for connection to [%s]: [%s]", transport_->getTransportInfo().c_str(), error_val.c_str());
drop(HeaderError);
}
else
{
ROS_ASSERT(header_func_);
transport_->parseHeader(header_);
header_func_(conn, header_);
}
}
}
void Connection::onHeaderWritten(const ConnectionPtr& conn)
{
ROS_ASSERT(conn.get() == this);
ROS_ASSERT(header_written_callback_);
header_written_callback_(conn);
header_written_callback_ = WriteFinishedFunc();
}
void Connection::onErrorHeaderWritten(const ConnectionPtr& conn)
{
(void)conn;
drop(HeaderError);
}
void Connection::setHeaderReceivedCallback(const HeaderReceivedFunc& func)
{
header_func_ = func;
if (transport_->requiresHeader())
read(4, boost::bind(&Connection::onHeaderLengthRead, this, boost::placeholders::_1, boost::placeholders::_2, boost::placeholders::_3, boost::placeholders::_4));
}
std::string Connection::getCallerId()
{
std::string callerid;
if (header_.getValue("callerid", callerid))
{
return callerid;
}
return std::string("unknown");
}
std::string Connection::getRemoteString()
{
std::stringstream ss;
ss << "callerid=[" << getCallerId() << "] address=[" << transport_->getTransportInfo() << "]";
return ss.str();
}
}