C++ ConnectionState::giveStreams方法代码示例

bool yarp::os::impl::HttpCarrier::respondToHeader(ConnectionState& proto) {
    stream = new HttpTwoWayStream(proto.giveStreams(),
                                  input.c_str(),
                                  prefix.c_str(),
                                  prop,
                                  false);
    proto.takeStreams(stream);
    return true;
}

bool XmlRpcCarrier::respondToHeader(ConnectionState& proto) {
    shouldInterpretRosMessages(proto);
    sender = false;
    XmlRpcStream *stream = new XmlRpcStream(proto.giveStreams(),
                                            sender,
                                            interpretRos);
    if (stream==NULL) { return false; }
    proto.takeStreams(stream);
    return true;
}

bool yarp::os::impl::HttpCarrier::expectReplyToHeader(ConnectionState& proto) {
    input = "";
    YARP_SSIZE_T len = 1;
    while (len>0) {
        char buf[2];
        Bytes b((char *)&buf[0],1);
        len = proto.is().read(b);
        if (len>0) {
            buf[len] = '\0';
            input += ConstString(buf,len);
        }
    }
    stream = new HttpTwoWayStream(proto.giveStreams(),
                                  input.c_str(),
                                  prefix.c_str(),
                                  prop,
                                  true);
    proto.takeStreams(stream);
    return true;
}

bool TcpRosCarrier::expectSenderSpecifier(ConnectionState& proto) {
    proto.setRoute(proto.getRoute().addFromName("tcpros"));

    dbg_printf("Trying for tcpros header\n");
    ManagedBytes m(headerLen1);
    Bytes mrem(m.get()+4,m.length()-4);
    NetInt32 ni = headerLen2;
    memcpy(m.get(),(char*)(&ni), 4);
    dbg_printf("reading %d bytes\n", (int)mrem.length());
    int res = proto.is().readFull(mrem);
    dbg_printf("read %d bytes\n", res);
    if (res!=(int)mrem.length()) {
        if (res>=0) {
            fprintf(stderr,"TCPROS header failure, expected %d bytes, got %d bytes\n",
                    (int)mrem.length(),res);
        } else {
            fprintf(stderr,"TCPROS connection has gone terribly wrong\n");
        }
        return false;
    }
    RosHeader header;
    header.readHeader(string(m.get(),m.length()));
    dbg_printf("Got header %s\n", header.toString().c_str());

    ConstString rosname = "";
    if (header.data.find("type")!=header.data.end()) {
        rosname = header.data["type"].c_str();
    }
    ConstString rtyp = getRosType(proto);
    if (rtyp!="") {
        rosname = rtyp;
        header.data["type"] = rosname;
        header.data["md5sum"] = (md5sum!="")?md5sum:"*";
        if (message_definition!="") {
            header.data["message_definition"] = message_definition;
        }
    }
    dbg_printf("<outgoing> Type of data is %s\n", rosname.c_str());

    if (header.data.find("callerid")!=header.data.end()) {
        proto.setRoute(proto.getRoute().addFromName(header.data["callerid"].c_str()));
    } else {
        proto.setRoute(proto.getRoute().addFromName("tcpros"));
    }

    // Let's just ignore everything that is sane and holy, and
    // send the same header right back.
    // **UPDATE** Oh, ok, let's modify the callerid.  Begrudgingly.
    NestedContact nc(proto.getRoute().getToName());
    header.data["callerid"] = nc.getNodeName().c_str();

    string header_serial = header.writeHeader();
    string header_len(4,'\0');
    char *at = (char*)header_len.c_str();
    RosHeader::appendInt(at,header_serial.length());
    dbg_printf("Writing %s -- %d bytes\n", 
               RosHeader::showMessage(header_len).c_str(),
               (int)header_len.length());
    
    Bytes b1((char*)header_len.c_str(),header_len.length());
    proto.os().write(b1);
    dbg_printf("Writing %s -- %d bytes\n", 
               RosHeader::showMessage(header_serial).c_str(),
               (int)header_serial.length());
    Bytes b2((char*)header_serial.c_str(),header_serial.length());
    proto.os().write(b2);

    if (header.data.find("probe")!=header.data.end()) {
        dbg_printf("================PROBE===============\n");
        return false;
    }


    if (!isService) {
        isService = (header.data.find("service")!=header.data.end());
    }
    if (rosname!="" && (user_type != wire_type || user_type == "")) {
        if (wire_type!="sensor_msgs/Image") { // currently using a custom method for images
            kind = TcpRosStream::rosToKind(rosname.c_str()).c_str();
            TcpRosStream::configureTwiddler(twiddler,kind.c_str(),rosname.c_str(),true,true);
            translate = TCPROS_TRANSLATE_TWIDDLER;
        }
    } else {
        rosname = "";
    }
    sender = isService; 

    processRosHeader(header);

    if (isService) {
        TcpRosStream *stream = new TcpRosStream(proto.giveStreams(),sender,
                                                false,
                                                isService,raw,rosname.c_str());
        
        if (stream==NULL) { return false; }
        proto.takeStreams(stream);
        return proto.is().isOk();
    }

    return true;
//.........这里部分代码省略.........

bool TcpRosCarrier::expectReplyToHeader(ConnectionState& proto) {
    RosHeader header;

    char mlen[4];
    Bytes mlen_buf(mlen,4);

    int res = proto.is().readFull(mlen_buf);
    if (res<4) {
        printf("Fail %s %d\n", __FILE__, __LINE__);
        return false;
    }
    int len = NetType::netInt(mlen_buf);
    dbg_printf("Len %d\n", len);
    if (len>10000) {
        printf("not ready for serious messages\n");
        return false;
    }
    ManagedBytes m(len);
    res = proto.is().readFull(m.bytes());
    if (res!=len) {
        printf("Fail %s %d\n", __FILE__, __LINE__);
        return false;
    }
    header.readHeader(string(m.get(),m.length()));
    dbg_printf("Message header: %s\n", header.toString().c_str());
    ConstString rosname = "";
    if (header.data.find("type")!=header.data.end()) {
        rosname = header.data["type"].c_str();
    }
    dbg_printf("<incoming> Type of data is [%s]s\n", rosname.c_str());
    if (header.data.find("callerid")!=header.data.end()) {
        string name = header.data["callerid"];
        dbg_printf("<incoming> callerid is %s\n", name.c_str());
        dbg_printf("Route was %s\n", proto.getRoute().toString().c_str());
        proto.setRoute(proto.getRoute().addToName(name.c_str()));
        dbg_printf("Route is now %s\n", proto.getRoute().toString().c_str());
    }

    if (!isService) {
        isService = (header.data.find("request_type")!=header.data.end());
    }
    if (rosname!="" && (user_type != wire_type || user_type == "")) {
        kind = TcpRosStream::rosToKind(rosname.c_str()).c_str();
        TcpRosStream::configureTwiddler(twiddler,kind.c_str(),rosname.c_str(),false,false);
        translate = TCPROS_TRANSLATE_TWIDDLER;
    } else {
        rosname = "";
    }
    dbg_printf("tcpros %s mode\n", isService?"service":"topic");

    // we may be a pull stream
    sender = isService;

    processRosHeader(header);

    TcpRosStream *stream = new TcpRosStream(proto.giveStreams(),sender,
                                            sender,
                                            isService,raw,rosname.c_str());

    if (stream==NULL) { return false; }

    dbg_printf("Getting ready to hand off streams...\n");

    proto.takeStreams(stream);

    return proto.is().isOk();
}