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Apply UDP patch fixing connection header from #2432

This commit is contained in:
Josh Faust 2010-02-12 22:42:41 +00:00
parent a519acdfb1
commit df74dbd976
3 changed files with 39 additions and 4 deletions
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6
core/roscpp/include/ros/connection.h
View File

@ -151,6 +151,12 @@ public:
*/
Header& getHeader() { return header_; }
/**
* \brief Set the Header associated with this connection (used with UDPROS,
* which receives the connection during XMLRPC negotiation).
*/
void setHeader(const Header& header) { header_ = header; }
std::string getCallerId();
std::string getRemoteString();

20
core/roscpp/src/libros/subscription.cpp
View File

@ -501,20 +501,31 @@ void Subscription::pendingConnectionDone(const PendingConnectionPtr& conn, XmlRp
}
else if (proto_name == "UDPROS")
{
if (proto.size() != 5 ||
if (proto.size() != 6 ||
proto[1].getType() != XmlRpcValue::TypeString ||
proto[2].getType() != XmlRpcValue::TypeInt ||
proto[3].getType() != XmlRpcValue::TypeInt ||
proto[4].getType() != XmlRpcValue::TypeInt)
proto[4].getType() != XmlRpcValue::TypeInt ||
proto[5].getType() != XmlRpcValue::TypeBase64)
{
ROSCPP_LOG_DEBUG("publisher implements UDPROS, but the " \
"parameters aren't string,int,int");
ROSCPP_LOG_DEBUG("publisher implements UDPROS, but the " \
"parameters aren't string,int,int,int,base64");
return;
}
std::string pub_host = proto[1];
int pub_port = proto[2];
int conn_id = proto[3];
int max_datagram_size = proto[4];
std::vector<char> header_bytes = proto[5];
boost::shared_array<uint8_t> buffer = boost::shared_array<uint8_t>(new uint8_t[header_bytes.size()]);
memcpy(buffer.get(), &header_bytes[0], header_bytes.size());
Header h;
std::string err;
if (!h.parse(buffer, header_bytes.size(), err))
{
ROSCPP_LOG_DEBUG("Unable to parse UDPROS connection header: %s", err.c_str());
return;
}
ROSCPP_LOG_DEBUG("Connecting via udpros to topic [%s] at host [%s:%d] connection id [%08x] max_datagram_size [%d]", name_.c_str(), pub_host.c_str(), pub_port, conn_id, max_datagram_size);
//TransportUDPPtr transport(new TransportUDP(&g_node->getPollSet()));
@ -531,6 +542,7 @@ void Subscription::pendingConnectionDone(const PendingConnectionPtr& conn, XmlRp
TransportPublisherLinkPtr pub_link(new TransportPublisherLink(shared_from_this(), xmlrpc_uri, transport_hints_));
connection->initialize(udp_transport, false, NULL);
connection->setHeader(h);
pub_link->initialize(connection);
ConnectionManager::instance()->addConnection(connection);

17
core/roscpp/src/libros/topic_manager.cpp
View File

@ -598,6 +598,13 @@ bool TopicManager::requestTopic(const string &topic,
return false;
}
PublicationPtr pub_ptr = lookupPublication(topic);
if(!pub_ptr)
{
ROSCPP_LOG_DEBUG("Unable to find advertised topic %s for UDPROS connection", topic.c_str());
return false;
}
std::string host = proto[2];
int port = proto[3];
int max_datagram_size = proto[4];
@ -611,6 +618,16 @@ bool TopicManager::requestTopic(const string &topic,
udpros_params[2] = connection_manager_->getUDPServerTransport()->getServerPort();
udpros_params[3] = conn_id;
udpros_params[4] = max_datagram_size;
M_string m;
m["topic"] = topic;
m["md5sum"] = pub_ptr->getMD5Sum();
m["type"] = pub_ptr->getDataType();
m["message_definition"] = pub_ptr->getMessageDefinition();
boost::shared_array<uint8_t> msg_def_buffer;
uint32_t len;
Header::write(m, msg_def_buffer, len);
XmlRpcValue v(msg_def_buffer.get(), len);
udpros_params[5] = v;
ret[0] = int(1);
ret[1] = string();
ret[2] = udpros_params;