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RosNodeServer.cs
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RosNodeServer.cs
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using System;
using System.Collections.Generic;
using System.Threading;
using System.Threading.Tasks;
using Iviz.Roslib.Utils;
using Iviz.Tools;
using Iviz.XmlRpc;
namespace Iviz.Roslib.XmlRpc;
/// <summary>
/// Manages queries from other ROS nodes or the master through XMLRPC
/// </summary>
internal sealed class RosNodeServer
{
static readonly XmlRpcArg DefaultOkResponse = OkResponse(0);
readonly RosClient client;
readonly Dictionary<string, Func<XmlRpcValue[], CancellationToken, ValueTask>> lateCallbacks;
readonly HttpListener listener;
readonly Dictionary<string, Func<XmlRpcValue[], XmlRpcArg>> methods;
readonly CancellationTokenSource runningTs = new();
Task? task;
bool disposed;
public RosNodeServer(RosClient client)
{
this.client = client;
listener = new HttpListener(client.CallerUri.Port);
methods = new Dictionary<string, Func<XmlRpcValue[], XmlRpcArg>>
{
["getBusStats"] = GetBusStats,
["getBusInfo"] = GetBusInfo,
["getMasterUri"] = GetMasterUri,
["shutdown"] = Shutdown,
["getSubscriptions"] = GetSubscriptions,
["getPublications"] = GetPublications,
["paramUpdate"] = ParamUpdate,
["publisherUpdate"] = PublisherUpdate,
["requestTopic"] = RequestTopic,
["getPid"] = GetPid,
["system.multicall"] = SystemMulticall,
};
lateCallbacks = new Dictionary<string, Func<XmlRpcValue[], CancellationToken, ValueTask>>
{
["publisherUpdate"] = PublisherUpdateLateCallback
};
}
public int ListenerPort => listener.LocalPort;
Uri Uri => client.CallerUri;
public void Dispose()
{
DisposeAsync(true).WaitNoThrow(this);
}
public ValueTask DisposeAsync()
{
return DisposeAsync(false);
}
async ValueTask DisposeAsync(bool sync)
{
if (disposed)
{
return;
}
disposed = true;
runningTs.Cancel();
if (sync)
{
listener.Dispose();
task?.WaitNoThrow(2000, this);
}
else
{
await listener.DisposeAsync().AwaitNoThrow(this);
await task.AwaitNoThrow(2000, this);
}
}
public void Start()
{
task = TaskUtils.Run(async () => await Run().AwaitNoThrow(this));
}
public override string ToString()
{
return $"[{nameof(RosNodeServer)} {Uri}]";
}
async ValueTask Run()
{
try
{
await listener.StartAsync(StartContext, true).AwaitNoThrow(this);
}
finally
{
await listener.AwaitRunningTasks();
Logger.LogDebugFormat("{0}: Leaving task", this);
}
}
async ValueTask StartContext(HttpListenerContext context, CancellationToken token)
{
using var linkedTs = CancellationTokenSource.CreateLinkedTokenSource(token, runningTs.Token);
try
{
await XmlRpcService.MethodResponseAsync(context, methods, lateCallbacks, linkedTs.Token);
}
catch (OperationCanceledException)
{
}
catch (Exception e)
{
Logger.LogErrorFormat(BaseUtils.GenericExceptionFormat, this, e);
}
}
static XmlRpcArg OkResponse(XmlRpcArg arg) => new(StatusCode.Success, "ok", arg);
static XmlRpcArg ErrorResponse(string msg) => new(StatusCode.Error, msg, 0);
static XmlRpcArg FailureResponse(string msg) => new(StatusCode.Failure, msg, 0);
static XmlRpcArg GetBusStats(XmlRpcValue[] _)
{
return ErrorResponse("Not implemented yet");
}
XmlRpcArg GetBusInfo(XmlRpcValue[] _)
{
var busInfo = client.GetBusInfoRpc();
XmlRpcArg[][] response = busInfo.Select(BusInfoToArg).ToArray();
return OkResponse(response);
}
static XmlRpcArg[] BusInfoToArg(BusInfo info)
{
return new XmlRpcArg[]
{
info.ConnectionId,
info.DestinationId,
info.Direction switch
{
BusInfo.DirectionType.In => "i",
BusInfo.DirectionType.Out => "o",
_ => ""
},
info.TransportType switch
{
TransportType.Tcp => RosUtils.ProtocolTcpRosName,
TransportType.Udp => RosUtils.ProtocolUdpRosName,
_ => ""
},
info.Topic,
info.Connected ? 1 : 0
};
}
XmlRpcArg GetMasterUri(XmlRpcValue[] _)
{
return OkResponse(client.MasterUri);
}
XmlRpcArg Shutdown(XmlRpcValue[] args)
{
if (client.ShutdownAction == null)
{
return FailureResponse("Shutdown failed. No callback set by the client.");
}
if (args.Length < 2 ||
!args[0].TryGetString(out string callerId) ||
!args[1].TryGetString(out string reason))
{
return ErrorResponse("Failed to parse arguments");
}
client.ShutdownAction(callerId, reason);
return DefaultOkResponse;
}
static XmlRpcArg GetPid(XmlRpcValue[] _)
{
return OkResponse(ConnectionUtils.GetProcessId());
}
XmlRpcArg GetSubscriptions(XmlRpcValue[] _)
{
var subscriptions = client.GetSubscriptionsRpc();
return OkResponse(new XmlRpcArg(subscriptions.Select(info => (info.Topic, info.Type)).ToArray()));
}
XmlRpcArg GetPublications(XmlRpcValue[] _)
{
var publications = client.GetPublicationsRpc();
return OkResponse(new XmlRpcArg(publications.Select(info => (info.Topic, info.Type)).ToArray()));
}
XmlRpcArg ParamUpdate(XmlRpcValue[] args)
{
if (client.ParamUpdateAction == null)
{
return DefaultOkResponse;
}
if (args.Length < 3 ||
!args[0].TryGetString(out string callerId) ||
!args[1].TryGetString(out string parameterKey) ||
args[2].IsEmpty)
{
return ErrorResponse("Failed to parse arguments");
}
client.ParamUpdateAction(callerId, parameterKey, args[2]);
return DefaultOkResponse;
}
static XmlRpcArg PublisherUpdate(XmlRpcValue[] args)
{
// processing happens in PublisherUpdateLateCallback
return DefaultOkResponse;
}
async ValueTask PublisherUpdateLateCallback(XmlRpcValue[] args, CancellationToken token)
{
if (args.Length < 3 ||
!args[1].TryGetString(out string topic) ||
!args[2].TryGetArray(out var publishers))
{
return;
}
var publisherUris = new List<Uri>();
foreach (var publisherObj in publishers)
{
if (!publisherObj.TryGetString(out string publisherStr) ||
!Uri.TryCreate(publisherStr, UriKind.Absolute, out Uri? publisherUri))
{
Logger.LogFormat("{0}: Invalid uri '{1}'", this, publisherObj);
continue;
}
publisherUris.Add(publisherUri);
}
try
{
await client.PublisherUpdateRpcAsync(topic, publisherUris, token);
}
catch (Exception e) when (e is not OperationCanceledException)
{
Logger.LogErrorFormat("{0}: Error while updating the publisher list. {1}", this, e);
}
}
XmlRpcArg RequestTopic(XmlRpcValue[] args)
{
if (args.Length < 3 ||
!args[0].TryGetString(out string callerId) ||
!args[1].TryGetString(out string topic) ||
!args[2].TryGetArray(out var protocols))
{
return ErrorResponse("Failed to parse arguments");
}
if (protocols.Length == 0)
{
return FailureResponse("No compatible protocols found");
}
bool requestsTcp;
RpcUdpTopicRequest? requestsUdp;
// just take whatever is in place 0
// we assume that the subscriber decides the priority
var protocol = protocols[0];
if (!protocol.TryGetArray(out var entries))
{
return ErrorResponse("Expected array of arrays");
}
if (entries.Length == 0)
{
return ErrorResponse("Array is empty");
}
if (!entries[0].TryGetString(out var protocolType))
{
return ErrorResponse("Expected string as the first protocol entry");
}
if (protocolType == RosUtils.ProtocolTcpRosName)
{
requestsTcp = true;
requestsUdp = null;
}
else if (protocolType == RosUtils.ProtocolUdpRosName)
{
if (entries.Length < 5
|| !entries[1].TryGetBase64(out byte[] rosHeader)
|| !entries[2].TryGetString(out string hostname)
|| !entries[3].TryGetInteger(out int port)
|| !entries[4].TryGetInteger(out int maxPacketSize))
{
return ErrorResponse("Failed to parse UDP entries");
}
if (port is < 0 or >= ushort.MaxValue)
{
return ErrorResponse($"Invalid port: {port.ToString()}");
}
if (maxPacketSize <= UdpRosParams.HeaderLength)
{
return ErrorResponse($"Invalid UDP max packet size: {maxPacketSize.ToString()}");
}
requestsTcp = false;
requestsUdp = new RpcUdpTopicRequest(rosHeader, hostname, port, maxPacketSize);
}
else
{
return ErrorResponse($"Unknown transport protocol name '{protocolType}'");
}
try
{
var result = client.TryRequestTopicRpc(callerId, topic, requestsTcp, requestsUdp,
out Endpoint? tcpResponse, out RpcUdpTopicResponse? udpResponse);
return result switch
{
TopicRequestRpcResult.Success when tcpResponse is var (hostname, port) =>
OkResponse(new XmlRpcArg[] { RosUtils.ProtocolTcpRosName, hostname, port }),
TopicRequestRpcResult.Success when
udpResponse is var (hostname, port, connectionId, maxPacketSize, header) =>
OkResponse(new XmlRpcArg[]
{ RosUtils.ProtocolUdpRosName, hostname, port, connectionId, maxPacketSize, header }),
TopicRequestRpcResult.Disposing =>
ErrorResponse("Internal error [client shutting down]"),
TopicRequestRpcResult.NoSuchTopic =>
FailureResponse($"Client does not publish topic '{topic}'"),
TopicRequestRpcResult.NoSuitableProtocol =>
FailureResponse("Publisher does not support any of the proposed protocols"),
_ => ErrorResponse("Unknown error")
};
}
catch (RosInvalidHeaderException e)
{
Logger.LogErrorFormat("{0}: Header error in " + nameof(RequestTopic) + ": {1}", this, e);
return ErrorResponse($"Error while parsing ROS header: {e.Message}");
}
catch (Exception e)
{
Logger.LogErrorFormat("{0}: Error in " + nameof(RequestTopic) + ": {1}", this, e);
return ErrorResponse($"Internal error: {e.Message}");
}
}
XmlRpcArg SystemMulticall(XmlRpcValue[] args)
{
if (args.Length != 1 ||
!args[0].TryGetArray(out var calls))
{
return ErrorResponse("Failed to parse arguments");
}
List<XmlRpcArg> responses = new(calls.Length);
foreach (var callObject in calls)
{
if (!callObject.TryGetStruct(out var call))
{
return ErrorResponse("Failed to parse arguments");
}
string? methodName = null;
XmlRpcValue[]? arguments = null;
foreach ((string key, XmlRpcValue value) in call)
{
switch (key)
{
case "methodName":
{
if (!value.TryGetString(out string elementStr))
{
return ErrorResponse("Failed to parse method name");
}
methodName = elementStr;
break;
}
case "params":
{
if (!value.TryGetArray(out XmlRpcValue[] elementObjs) ||
elementObjs.Length == 0)
{
return ErrorResponse("Failed to parse arguments");
}
arguments = elementObjs;
break;
}
default:
return ErrorResponse("Failed to parse struct array");
}
}
if (methodName == null || arguments == null)
{
return ErrorResponse("'methodname' or 'params' missing");
}
if (!methods.TryGetValue(methodName, out var method))
{
return ErrorResponse("Method not found");
}
XmlRpcArg response = method(arguments);
responses.Add(response);
if (lateCallbacks != null &&
lateCallbacks.TryGetValue(methodName, out var lateCallback))
{
lateCallback(args, default);
}
}
return responses.ToArray();
}
}
public enum TopicRequestRpcResult
{
Success,
NoSuchTopic,
Disposing,
NoSuitableProtocol,
}