NameserCarrier.cpp

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/*
 * Copyright (C) 2006-2020 Istituto Italiano di Tecnologia (IIT)
 * Copyright (C) 2006-2010 RobotCub Consortium
 * All rights reserved.
 *
 * This software may be modified and distributed under the terms of the
 * BSD-3-Clause license. See the accompanying LICENSE file for details.
 */
 
#include <yarp/os/impl/NameserCarrier.h>
 
#include <yarp/os/ConnectionState.h>
#include <yarp/os/Route.h>
#include <yarp/os/SizedWriter.h>
 
#include <string>
 
using namespace yarp::os;
using namespace yarp::os::impl;
 
yarp::os::impl::NameserTwoWayStream::NameserTwoWayStream(TwoWayStream* delegate) :
        delegate(delegate),
        pendingRead(""),
        swallowRead("VER ")
{
}
 
yarp::os::impl::NameserTwoWayStream::~NameserTwoWayStream()
{
    if (delegate != nullptr) {
        delete delegate;
        delegate = nullptr;
    }
}
 
yarp::os::InputStream& yarp::os::impl::NameserTwoWayStream::getInputStream()
{
    return *this;
}
 
yarp::os::OutputStream& yarp::os::impl::NameserTwoWayStream::getOutputStream()
{
    return delegate->getOutputStream();
}
 
const Contact& yarp::os::impl::NameserTwoWayStream::getLocalAddress() const
{
    return delegate->getLocalAddress();
}
 
const Contact& yarp::os::impl::NameserTwoWayStream::getRemoteAddress() const
{
    return delegate->getRemoteAddress();
}
 
bool yarp::os::impl::NameserTwoWayStream::isOk() const
{
    return delegate->isOk();
}
 
void yarp::os::impl::NameserTwoWayStream::reset()
{
    delegate->reset();
}
 
void yarp::os::impl::NameserTwoWayStream::close()
{
    delegate->close();
}
 
void yarp::os::impl::NameserTwoWayStream::beginPacket()
{
    delegate->beginPacket();
}
 
void yarp::os::impl::NameserTwoWayStream::endPacket()
{
    delegate->endPacket();
}
 
yarp::conf::ssize_t yarp::os::impl::NameserTwoWayStream::read(Bytes& b)
{
    // assume it is ok for name_ser to go byte-by-byte
    // since this protocol will be phased out
    if (b.length() <= 0) {
        return 0;
    }
    Bytes tmp(b.get(), 1);
    while (swallowRead.length() > 0) {
        yarp::conf::ssize_t r = delegate->getInputStream().read(tmp);
        if (r <= 0) {
            return r;
        }
        swallowRead = swallowRead.substr(1, swallowRead.length() - 1);
    }
    if (pendingRead.length() > 0) {
        b.get()[0] = pendingRead[0];
        pendingRead = pendingRead.substr(1, pendingRead.length() - 1);
        return 1;
    }
    yarp::conf::ssize_t r = delegate->getInputStream().read(tmp);
    if (r <= 0) {
        return r;
    }
    if (tmp.get()[0] == '\n') {
        pendingRead = "";
        swallowRead = "NAME_SERVER ";
    }
    return r;
}
 
 
yarp::os::impl::NameserCarrier::NameserCarrier()
{
    firstSend = true;
}
 
std::string yarp::os::impl::NameserCarrier::getName() const
{
    return "name_ser";
}
 
std::string yarp::os::impl::NameserCarrier::getSpecifierName() const
{
    return "NAME_SER";
}
 
yarp::os::Carrier* yarp::os::impl::NameserCarrier::create() const
{
    return new NameserCarrier();
}
 
bool yarp::os::impl::NameserCarrier::checkHeader(const yarp::os::Bytes& header)
{
    if (header.length() == 8) {
        std::string target = getSpecifierName();
        for (int i = 0; i < 8; i++) {
            if (!(target[i] == header.get()[i])) {
                return false;
            }
        }
        return true;
    }
    return false;
}
 
void yarp::os::impl::NameserCarrier::getHeader(Bytes& header) const
{
    if (header.length() == 8) {
        std::string target = getSpecifierName();
        for (int i = 0; i < 8; i++) {
            header.get()[i] = target[i];
        }
    }
}
 
 
bool yarp::os::impl::NameserCarrier::requireAck() const
{
    return false;
}
 
bool yarp::os::impl::NameserCarrier::isTextMode() const
{
    return true;
}
 
bool yarp::os::impl::NameserCarrier::supportReply() const
{
    return true;
}
 
bool yarp::os::impl::NameserCarrier::canEscape() const
{
    return false;
}
 
bool yarp::os::impl::NameserCarrier::sendHeader(ConnectionState& proto)
{
    std::string target = getSpecifierName();
    yarp::os::Bytes b((char*)target.c_str(), 8);
    proto.os().write(b);
    proto.os().flush();
    return proto.os().isOk();
}
 
bool yarp::os::impl::NameserCarrier::expectSenderSpecifier(ConnectionState& proto)
{
    Route route = proto.getRoute();
    route.setFromName("anon");
    proto.setRoute(route);
    return true;
}
 
bool yarp::os::impl::NameserCarrier::expectIndex(ConnectionState& proto)
{
    YARP_UNUSED(proto);
    return true;
}
 
bool yarp::os::impl::NameserCarrier::sendAck(ConnectionState& proto)
{
    YARP_UNUSED(proto);
    return true;
}
 
bool yarp::os::impl::NameserCarrier::expectAck(ConnectionState& proto)
{
    YARP_UNUSED(proto);
    return true;
}
 
bool yarp::os::impl::NameserCarrier::respondToHeader(ConnectionState& proto)
{
    // I am the receiver
    auto* stream = new NameserTwoWayStream(proto.giveStreams());
    proto.takeStreams(stream);
    return true;
}
 
bool yarp::os::impl::NameserCarrier::expectReplyToHeader(ConnectionState& proto)
{
    YARP_UNUSED(proto);
    // I am the sender
    return true;
}
 
bool yarp::os::impl::NameserCarrier::write(ConnectionState& proto, SizedWriter& writer)
{
    std::string target = firstSend ? "VER " : "NAME_SERVER ";
    Bytes b((char*)target.c_str(), target.length());
    proto.os().write(b);
    proto.os().flush();
    std::string txt;
    // ancient nameserver can't deal with quotes
    for (size_t i = 0; i < writer.length(); i++) {
        for (size_t j = 0; j < writer.length(i); j++) {
            char ch = writer.data(i)[j];
            if (ch != '\"') {
                txt += ch;
            }
        }
    }
    Bytes b2((char*)txt.c_str(), txt.length());
    proto.os().write(b2);
    proto.os().flush();
    firstSend = false;
    return proto.os().isOk();
}