TcpRosCarrier.h

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/*
 * Copyright (C) 2006-2020 Istituto Italiano di Tecnologia (IIT)
 * 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.
 */
 
#ifndef TCPROSCARRIER_INC
#define TCPROSCARRIER_INC
 
#include <yarp/os/Carrier.h>
 
#include <yarp/wire_rep_utils/WireImage.h>
#include <yarp/wire_rep_utils/WireBottle.h>
#include <yarp/wire_rep_utils/WireTwiddler.h>
 
#include "RosHeader.h"
#include "TcpRosStream.h"
 
#define TCPROS_TRANSLATE_INHIBIT (-1)
#define TCPROS_TRANSLATE_UNKNOWN (0)
#define TCPROS_TRANSLATE_IMAGE (1)
#define TCPROS_TRANSLATE_BOTTLE_BLOB (2)
#define TCPROS_TRANSLATE_TWIDDLER (3)
 
class TcpRosCarrier :
        public yarp::os::Carrier
{
private:
    bool firstRound;
    bool sender;
    int headerLen1;
    int headerLen2;
    int raw;
    int translate;
    yarp::wire_rep_utils::WireImage wi;
    yarp::wire_rep_utils::RosWireImage ri;
    yarp::wire_rep_utils::SizedWriterTail wt;
    int seq;
    yarp::wire_rep_utils::WireTwiddler twiddler;
    yarp::wire_rep_utils::WireTwiddlerWriter twiddler_output;
    std::string kind;
    bool persistent;
    std::string wire_type;
    std::string user_type;
    std::string md5sum;
    std::string message_definition;
 
    std::string getRosType(yarp::os::ConnectionState& proto);
 
protected:
    bool isService;
public:
    TcpRosCarrier() {
        firstRound = true;
        sender = false;
        headerLen1 = 0;
        headerLen2 = 0;
        isService = false;
        raw = -1;
        translate = TCPROS_TRANSLATE_UNKNOWN;
        seq = 0;
        persistent = true;
    }
 
    Carrier *create() const override {
        return new TcpRosCarrier();
    }
 
    std::string getName() const override {
        return isService?"rossrv":"tcpros";
    }
 
    bool isConnectionless() const override {
        return false;
    }
 
    bool canAccept() const override {
        return true;
    }
 
    bool canOffer() const override {
        return true;
    }
 
    bool isTextMode() const override {
        return false;
    }
 
    bool isBareMode() const override {
        return true;
    }
 
    bool canEscape() const override {
        return false;
    }
 
    bool requireAck() const override {
        return false;
    }
 
    bool supportReply() const override {
        return true;
    }
 
    bool isPush() const override {
        // if topic-like, pull ; if service-like, push!
        return isService;
    }
 
    bool isLocal() const override {
        return false;
    }
 
    std::string toString() const override {
        return isService?"rossrv_carrier":"tcpros_carrier";
    }
 
    void getHeader(yarp::os::Bytes& header) const override {
        // no header, will need to do some fancy footwork
        const char *target = "NONONONO";
        for (size_t i=0; i<8 && i<header.length(); i++) {
            header.get()[i] = target[i];
        }
    }
 
    bool checkHeader(const yarp::os::Bytes& header) override;
 
    void setParameters(const yarp::os::Bytes& header) override;
 
    // Now, the initial hand-shaking
 
    bool prepareSend(yarp::os::ConnectionState& proto) override {
        return true;
    }
 
    bool sendHeader(yarp::os::ConnectionState& proto) override;
 
    bool expectSenderSpecifier(yarp::os::ConnectionState& proto) override;
 
    bool expectExtraHeader(yarp::os::ConnectionState& proto) override {
        return true;
    }
 
    bool respondToHeader(yarp::os::ConnectionState& proto) override {
        sender = false;
        return true;
    }
 
    bool expectReplyToHeader(yarp::os::ConnectionState& proto) override;
 
    bool isActive() const override {
        return true;
    }
 
 
    // Payload time!
 
    bool write(yarp::os::ConnectionState& proto, yarp::os::SizedWriter& writer) override;
 
    bool reply(yarp::os::ConnectionState& proto, yarp::os::SizedWriter& writer) override;
 
    virtual bool sendIndex(yarp::os::ConnectionState& proto, yarp::os::SizedWriter& writer) {
        return true;
    }
 
    bool expectIndex(yarp::os::ConnectionState& proto) override {
        return true;
    }
 
    bool sendAck(yarp::os::ConnectionState& proto) override {
        return true;
    }
 
    bool expectAck(yarp::os::ConnectionState& proto) override {
        return true;
    }
 
    std::string getBootstrapCarrierName() const override { return {}; }
 
    virtual int connect(const yarp::os::Contact& src,
                        const yarp::os::Contact& dest,
                        const yarp::os::ContactStyle& style,
                        int mode,
                        bool reversed) override;
 
private:
    void processRosHeader(RosHeader& header);
 
};
 
/*
 * Set up an explicit service carrier, so that we know the
 * direction of data flow as early as possible.  Its name
 * is "rossrv" (see TcpRosCarrier::getName)
 */
class RosSrvCarrier :
        public TcpRosCarrier
{
public:
    RosSrvCarrier() {
        isService = true;
    }
 
    Carrier *create() const override {
        return new RosSrvCarrier();
    }
};
 
#endif