TcpFace.cpp

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/*
 * Copyright (C) 2006-2020 Istituto Italiano di Tecnologia (IIT)
 * Copyright (C) 2006-2010 RobotCub Consortium
 * Copyright (C) 2010 Daniel Krieg <krieg@fias.uni-frankfurt.de>
 * 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/TcpFace.h>
 
#include <yarp/os/impl/LogComponent.h>
#include <yarp/os/impl/NameConfig.h>
#include <yarp/os/impl/Protocol.h>
#include <yarp/os/impl/SocketTwoWayStream.h>
 
#include <cstdio>
 
using namespace yarp::os::impl;
using namespace yarp::os;
 
namespace {
YARP_OS_LOG_COMPONENT(TCPFACE, "yarp.os.impl.TcpFace")
} // namespace
 
 
TcpFace::TcpFace() = default;
 
TcpFace::~TcpFace()
{
    closeFace();
}
 
 
bool TcpFace::open(const Contact& address)
{
    yCDebug(TCPFACE, "opening for address %s", address.toURI().c_str());
 
    this->address = address;
#ifdef YARP_HAS_ACE
    ACE_INET_Addr serverAddr((address.getPort() > 0) ? address.getPort() : 0);
    int result = peerAcceptor.open(serverAddr, 1);
    if (address.getPort() <= 0) {
        ACE_INET_Addr localAddr;
        peerAcceptor.get_local_addr(localAddr);
        this->address = address;
        this->address.setSocket("tcp",
                                NameConfig::getHostName(),
                                localAddr.get_port_number());
    }
#else
    int result = peerAcceptor.open(address);
    if (address.getPort() <= 0) {
        this->address = address;
        this->address.setSocket("tcp",
                                NameConfig::getHostName(),
                                peerAcceptor.get_port_number());
    }
#endif
    yCDebug(TCPFACE, "Opened at address %s", this->address.toURI().c_str());
 
    return result != -1;
}
 
void TcpFace::close()
{
    closeFace();
}
 
void TcpFace::closeFace()
{
    if (address.isValid()) {
        peerAcceptor.close();
 
        address = Contact();
    }
}
 
static void showError()
{
    yCError(TCPFACE, "Authentication failed.");
    yCError(TCPFACE, "Authentication was enabled in the auth.conf file.");
    yCError(TCPFACE, "If you do not want to use authentication, please");
    yCError(TCPFACE, "remove this file.");
    yCError(TCPFACE, "If you do want to set up authentication, check:");
    yCError(TCPFACE, "  http://www.yarp.it/yarp_port_auth.html");
}
 
InputProtocol* TcpFace::read()
{
    auto* stream = new SocketTwoWayStream();
    yCAssert(TCPFACE, stream != nullptr);
 
    int result = stream->open(peerAcceptor);
    if (result < 0) {
        //printf("exception on tcp stream read: %s\n", e.toString().c_str());
        stream->close();
        delete stream;
        stream = nullptr;
    }
 
    if (stream != nullptr) {
        stream->setReadTimeout(2.0);
        stream->setWriteTimeout(2.0);
 
        bool success = auth.authSource(&(stream->getInputStream()), &(stream->getOutputStream()));
        if (!success) {
            showError();
            return nullptr;
        }
        stream->setReadTimeout(0.);
        stream->setWriteTimeout(0.);
 
        return new Protocol(stream);
    }
    return nullptr;
}
 
OutputProtocol* TcpFace::write(const Contact& address)
{
    auto* stream = new SocketTwoWayStream();
    int result = stream->open(address);
    if (result < 0) {
        stream->close();
        delete stream;
        return nullptr;
    }
 
    if (stream != nullptr) {
        stream->setReadTimeout(2.0);
        stream->setWriteTimeout(2.0);
 
        bool success = auth.authDest(&(stream->getInputStream()), &(stream->getOutputStream()));
        if (!success) {
            showError();
            return nullptr;
        }
        stream->setReadTimeout(0.);
        stream->setWriteTimeout(0.);
 
        return new Protocol(stream);
    }
    return nullptr;
}
 
 
Contact TcpFace::getLocalAddress() const
{
    return address;
}