def run(self):
"""
Main TCP receive loop. Should be run in a separate thread -- use start()
to do this automatically.
"""
self.is_shutdown = False
if not self.server_sock:
raise ROSInternalException("%s did not connect"%self.__class__.__name__)
while not self.is_shutdown:
try:
(client_sock, client_addr) = self.server_sock.accept()
except socket.timeout:
continue
except ConnectionAbortedError:
continue
except IOError as e:
(e_errno, msg, *_) = e.args
if e_errno == errno.EINTR: #interrupted system call
continue
if not self.is_shutdown:
raise
if self.is_shutdown:
break
try:
#leave threading decisions up to inbound_handler
self.inbound_handler(client_sock, client_addr)
except socket.error as e:
if not self.is_shutdown:
traceback.print_exc()
logwarn("Failed to handle inbound connection due to socket error: %s"%e)
logdebug("TCPServer[%s] shutting down", self.port)
def run(self):
"""
Main TCP receive loop. Should be run in a separate thread -- use start()
to do this automatically.
"""
self.is_shutdown = False
if not self.server_sock:
raise ROSInternalException("%s did not connect"%self.__class__.__name__)
while not self.is_shutdown:
try:
(client_sock, client_addr) = self.server_sock.accept()
except socket.timeout:
continue
except IOError as e:
(errno, msg) = e.args
if errno == 4: #interrupted system call
continue
raise
if self.is_shutdown:
break
try:
#leave threading decisions up to inbound_handler
self.inbound_handler(client_sock, client_addr)
except socket.error as e:
if not self.is_shutdown:
traceback.print_exc()
logwarn("Failed to handle inbound connection due to socket error: %s"%e)
logdebug("TCPServer[%s] shutting down", self.port)
def reg_removed(self, resolved_name, data_type_or_uri, reg_type):
"""
RegistrationListener callback
@param resolved_name: resolved name of topic or service
@type resolved_name: str
@param data_type_or_uri: either the data type (for topic regs) or the service URI (for service regs).
@type data_type_or_uri: str
@param reg_type: Valid values are L{Registration.PUB}, L{Registration.SUB}, L{Registration.SRV}
@type reg_type: str
"""
master_uri = self.master_uri
if not master_uri:
self.logger.error("Registrar: master_uri is not set yet, cannot inform master of deregistration")
else:
try:
master = xmlrpcapi(master_uri)
if reg_type == Registration.PUB:
self.logger.debug("unregisterPublisher(%s, %s)", resolved_name, self.uri)
master.unregisterPublisher(get_caller_id(), resolved_name, self.uri)
elif reg_type == Registration.SUB:
self.logger.debug("unregisterSubscriber(%s, %s)", resolved_name, data_type_or_uri)
master.unregisterSubscriber(get_caller_id(), resolved_name, self.uri)
elif reg_type == Registration.SRV:
self.logger.debug("unregisterService(%s, %s)", resolved_name, data_type_or_uri)
master.unregisterService(get_caller_id(), resolved_name, data_type_or_uri)
except:
logwarn("unable to communicate with ROS Master, registrations are now out of sync")
self.logger.error(traceback.format_exc())
def run(self):
"""
Main TCP receive loop. Should be run in a separate thread -- use start()
to do this automatically.
"""
self.is_shutdown = False
if not self.server_sock:
raise ROSInternalException("%s did not connect" %
self.__class__.__name__)
while not self.is_shutdown:
try:
(client_sock, client_addr) = self.server_sock.accept()
except socket.timeout:
continue
if self.is_shutdown:
break
try:
#leave threading decisions up to inbound_handler
self.inbound_handler(client_sock, client_addr)
except socket.error, e:
if not self.is_shutdown:
traceback.print_exc()
logwarn(
"Failed to handle inbound connection due to socket error: %s"
% e)
def _tcp_server_callback(self, sock, client_addr):
"""
TCPServer callback: detects incoming topic or service connection and passes connection accordingly
@param sock: socket connection
@type sock: socket.socket
@param client_addr: client address
@type client_addr: (str, int)
@raise TransportInitError: If transport cannot be succesfully initialized
"""
#TODOXXX:rewrite this logic so it is possible to create TCPROSTransport object first, set its protocol,
#and then use that to do the writing
try:
buff_size = 4096 # size of read buffer
if python3 == 0:
#initialize read_ros_handshake_header with BytesIO for Python 3 (instead of bytesarray())
header = read_ros_handshake_header(sock, StringIO(), buff_size)
else:
header = read_ros_handshake_header(sock, BytesIO(), buff_size)
if 'topic' in header:
err_msg = self.topic_connection_handler(
sock, client_addr, header)
elif 'service' in header:
err_msg = self.service_connection_handler(
sock, client_addr, header)
else:
err_msg = 'no topic or service name detected'
if err_msg:
# shutdown race condition: nodes that come up and down
# quickly can receive connections during teardown.
# We use is_shutdown_requested() because we can get
# into bad connection states during client shutdown
# hooks.
if not rospy.core.is_shutdown_requested():
write_ros_handshake_header(sock, {'error': err_msg})
raise TransportInitError(
"Could not process inbound connection: " + err_msg +
str(header))
else:
write_ros_handshake_header(sock,
{'error': 'node shutting down'})
return
except rospy.exceptions.TransportInitError as e:
logwarn(str(e))
if sock is not None:
sock.close()
except Exception as e:
# collect stack trace separately in local log file
if not rospy.core.is_shutdown_requested():
logwarn("Inbound TCP/IP connection failed from '%s': %s",
str(client_addr), e)
rospyerr("Inbound TCP/IP connection failed from '%s':\n%s",
str(client_addr), traceback.format_exc())
if sock is not None:
sock.close()
def _tcp_server_callback(self, sock, client_addr):
"""
TCPServer callback: detects incoming topic or service connection and passes connection accordingly
@param sock: socket connection
@type sock: socket.socket
@param client_addr: client address
@type client_addr: (str, int)
@raise TransportInitError: If transport cannot be succesfully initialized
"""
#TODOXXX:rewrite this logic so it is possible to create TCPROSTransport object first, set its protocol,
#and then use that to do the writing
try:
buff_size = 4096 # size of read buffer
if python3 == 0:
#initialize read_ros_handshake_header with BytesIO for Python 3 (instead of bytesarray())
header = read_ros_handshake_header(sock, StringIO(), buff_size)
else:
header = read_ros_handshake_header(sock, BytesIO(), buff_size)
if 'topic' in header:
err_msg = self.topic_connection_handler(sock, client_addr, header)
elif 'service' in header:
err_msg = self.service_connection_handler(sock, client_addr, header)
else:
err_msg = 'no topic or service name detected'
if err_msg:
# shutdown race condition: nodes that come up and down
# quickly can receive connections during teardown.
# We use is_shutdown_requested() because we can get
# into bad connection states during client shutdown
# hooks.
if not rospy.core.is_shutdown_requested():
write_ros_handshake_header(sock, {'error' : err_msg})
raise TransportInitError("Could not process inbound connection: "+err_msg+str(header))
else:
write_ros_handshake_header(sock, {'error' : 'node shutting down'})
return
except rospy.exceptions.TransportInitError as e:
logwarn(str(e))
if sock is not None:
sock.close()
except Exception as e:
# collect stack trace separately in local log file
if not rospy.core.is_shutdown_requested():
logwarn("Inbound TCP/IP connection failed: %s", e)
rospyerr("Inbound TCP/IP connection failed:\n%s", traceback.format_exc())
if sock is not None:
sock.close()
def _configure_pub_socket(sock, is_tcp_nodelay):
"""
Configure socket options on a new publisher socket.
@param sock: socket.socket
@type sock: socket.socket
@param is_tcp_nodelay: if True, TCP_NODELAY will be set on outgoing socket if available
@param is_tcp_nodelay: bool
"""
# #956: low latency, TCP_NODELAY support
if is_tcp_nodelay:
if hasattr(socket, 'TCP_NODELAY'):
sock.setsockopt(socket.IPPROTO_TCP, socket.TCP_NODELAY, 1)
else:
logwarn("WARNING: cannot enable TCP_NODELAY as its not supported on this platform")
def _tcp_server_callback(self, sock, client_addr):
"""
TCPServer callback: detects incoming topic or service connection and passes connection accordingly
@param sock: socket connection
@type sock: socket.socket
@param client_addr: client address
@type client_addr: (str, int)
@raise TransportInitError: If transport cannot be succesfully initialized
"""
#TODOXXX:rewrite this logic so it is possible to create TCPROSTransport object first, set its protocol,
#and then use that to do the writing
try:
buff_size = 4096 # size of read buffer
header = read_ros_handshake_header(sock, cStringIO.StringIO(),
buff_size)
if 'topic' in header:
err_msg = self.topic_connection_handler(
sock, client_addr, header)
elif 'service' in header:
err_msg = self.service_connection_handler(
sock, client_addr, header)
else:
err_msg = 'no topic or service name detected'
if err_msg:
# shutdown race condition: nodes that come up and down quickly can receive connections during teardown
if not rospy.core.is_shutdown():
write_ros_handshake_header(sock, {'error': err_msg})
raise TransportInitError(
"Could not process inbound connection: " + err_msg +
str(header))
else:
write_ros_handshake_header(sock,
{'error': 'node shutting down'})
return
except rospy.exceptions.TransportInitError, e:
logwarn(str(e))
if sock is not None:
sock.close()
def connect(self, dest_addr, dest_port, endpoint_id, timeout=None):
"""
Establish TCP connection to the specified
address/port. connect() always calls L{write_header()} and
L{read_header()} after the connection is made
@param dest_addr: destination IP address
@type dest_addr: str
@param dest_port: destination port
@type dest_port: int
@param endpoint_id: string identifier for connection (for statistics)
@type endpoint_id: str
@param timeout: (optional keyword) timeout in seconds
@type timeout: float
@raise TransportInitError: if unable to create connection
"""
# first make sure that if ROS_HOSTNAME=localhost, we will not attempt
# to connect to anything other than localhost
if ("ROS_HOSTNAME" in os.environ) and (os.environ["ROS_HOSTNAME"] == "localhost"):
if not rosgraph.network.is_local_address(dest_addr):
msg = "attempted to connect to non-local host [%s] from a node launched with ROS_HOSTNAME=localhost" % (dest_addr)
logwarn(msg)
self.close()
raise TransportInitError(msg) # bubble up
# now we can proceed with trying to connect.
try:
self.endpoint_id = endpoint_id
self.dest_address = (dest_addr, dest_port)
if rosgraph.network.use_ipv6():
s = socket.socket(socket.AF_INET6, socket.SOCK_STREAM)
else:
s = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
if _is_use_tcp_keepalive():
# OSX (among others) does not define these options
if hasattr(socket, 'TCP_KEEPCNT') and \
hasattr(socket, 'TCP_KEEPIDLE') and \
hasattr(socket, 'TCP_KEEPINTVL'):
# turn on KEEPALIVE
s.setsockopt(socket.SOL_SOCKET, socket.SO_KEEPALIVE, 1)
# - # keepalive failures before actual connection failure
s.setsockopt(socket.SOL_TCP, socket.TCP_KEEPCNT, 9)
# - timeout before starting KEEPALIVE process
s.setsockopt(socket.SOL_TCP, socket.TCP_KEEPIDLE, 60)
# - interval to send KEEPALIVE after IDLE timeout
s.setsockopt(socket.SOL_TCP, socket.TCP_KEEPINTVL, 10)
if timeout is not None:
s.settimeout(timeout)
self.socket = s
logdebug('connecting to ' + str(dest_addr)+ ' ' + str(dest_port))
self.socket.connect((dest_addr, dest_port))
self.write_header()
self.read_header()
self.local_endpoint = self.socket.getsockname()
self.remote_endpoint = (dest_addr, dest_port)
except TransportInitError as tie:
rospyerr("Unable to initiate TCP/IP socket to %s:%s (%s): %s"%(dest_addr, dest_port, endpoint_id, traceback.format_exc()))
raise
except Exception as e:
#logerr("Unknown error initiating TCP/IP socket to %s:%s (%s): %s"%(dest_addr, dest_port, endpoint_id, str(e)))
rospywarn("Unknown error initiating TCP/IP socket to %s:%s (%s): %s"%(dest_addr, dest_port, endpoint_id, traceback.format_exc()))
# check for error type and reason. On unknown errors the socket will be closed
# to avoid reconnection and error reproduction
if not isinstance(e, socket.error):
# FATAL: no reconnection as error is unknown
self.close()
elif not isinstance(e, socket.timeout) and e.errno not in [
errno.ENETDOWN, errno.ENETUNREACH, errno.ENETRESET,
errno.ECONNABORTED, errno.ETIMEDOUT, errno.EHOSTDOWN, errno.EHOSTUNREACH]:
# reconnect in follow cases, otherwise close the socket:
# 1. socket.timeout: on timeouts caused by delays on wireless links
# 2. ENETDOWN (100), ENETUNREACH (101), ENETRESET (102), ECONNABORTED (103):
# while using ROS_HOSTNAME ros binds to a specific interface. Theses errors
# are thrown on interface shutdown e.g. on reconnection in LTE networks
# 3. ETIMEDOUT (110): same like 1. (for completeness)
# 4. EHOSTDOWN (112), EHOSTUNREACH (113): while network and/or DNS-server is not reachable
#
# no reconnection as error is not 1.-4.
self.close()
raise TransportInitError(str(e)) #re-raise i/o error
def connect(self, dest_addr, dest_port, endpoint_id, timeout=None):
"""
Establish TCP connection to the specified
address/port. connect() always calls L{write_header()} and
L{read_header()} after the connection is made
@param dest_addr: destination IP address
@type dest_addr: str
@param dest_port: destination port
@type dest_port: int
@param endpoint_id: string identifier for connection (for statistics)
@type endpoint_id: str
@param timeout: (optional keyword) timeout in seconds
@type timeout: float
@raise TransportInitError: if unable to create connection
"""
# first make sure that if ROS_HOSTNAME=localhost, we will not attempt
# to connect to anything other than localhost
if ("ROS_HOSTNAME" in os.environ) and (os.environ["ROS_HOSTNAME"] == "localhost"):
if not rosgraph.network.is_local_address(dest_addr):
msg = "attempted to connect to non-local host [%s] from a node launched with ROS_HOSTNAME=localhost" % (dest_addr)
logwarn(msg)
self.close()
raise TransportInitError(msg) # bubble up
# now we can proceed with trying to connect.
try:
self.endpoint_id = endpoint_id
self.dest_address = (dest_addr, dest_port)
if rosgraph.network.use_ipv6():
s = socket.socket(socket.AF_INET6, socket.SOCK_STREAM)
else:
s = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
if _is_use_tcp_keepalive():
# OSX (among others) does not define these options
if hasattr(socket, 'TCP_KEEPCNT') and \
hasattr(socket, 'TCP_KEEPIDLE') and \
hasattr(socket, 'TCP_KEEPINTVL'):
# turn on KEEPALIVE
s.setsockopt(socket.SOL_SOCKET, socket.SO_KEEPALIVE, 1)
# - # keepalive failures before actual connection failure
s.setsockopt(socket.SOL_TCP, socket.TCP_KEEPCNT, 9)
# - timeout before starting KEEPALIVE process
s.setsockopt(socket.SOL_TCP, socket.TCP_KEEPIDLE, 60)
# - interval to send KEEPALIVE after IDLE timeout
s.setsockopt(socket.SOL_TCP, socket.TCP_KEEPINTVL, 10)
if timeout is not None:
s.settimeout(timeout)
self.socket = s
logdebug('connecting to ' + str(dest_addr)+ ' ' + str(dest_port))
self.socket.connect((dest_addr, dest_port))
self.write_header()
self.read_header()
self.local_endpoint = self.socket.getsockname()
self.remote_endpoint = (dest_addr, dest_port)
except TransportInitError as tie:
rospyerr("Unable to initiate TCP/IP socket to %s:%s (%s): %s"%(dest_addr, dest_port, endpoint_id, traceback.format_exc()))
raise
except Exception as e:
#logerr("Unknown error initiating TCP/IP socket to %s:%s (%s): %s"%(dest_addr, dest_port, endpoint_id, str(e)))
rospywarn("Unknown error initiating TCP/IP socket to %s:%s (%s): %s"%(dest_addr, dest_port, endpoint_id, traceback.format_exc()))
# check for error type and reason. On unknown errors the socket will be closed
# to avoid reconnection and error reproduction
if not isinstance(e, socket.error):
# FATAL: no reconnection as error is unknown
self.close()
elif not isinstance(e, socket.timeout) and e.errno not in [100, 101, 102, 103, 110, 112, 113]:
# reconnect in follow cases, otherwise close the socket:
# 1. socket.timeout: on timeouts caused by delays on wireless links
# 2. ENETDOWN (100), ENETUNREACH (101), ENETRESET (102), ECONNABORTED (103):
# while using ROS_HOSTNAME ros binds to a specific interface. Theses errors
# are thrown on interface shutdown e.g. on reconnection in LTE networks
# 3. ETIMEDOUT (110): same like 1. (for completeness)
# 4. EHOSTDOWN (112), EHOSTUNREACH (113): while network and/or DNS-server is not reachable
#
# no reconnection as error is not 1.-4.
self.close()
raise TransportInitError(str(e)) #re-raise i/o error
def connect(self, dest_addr, dest_port, endpoint_id, timeout=None):
"""
Establish TCP connection to the specified
address/port. connect() always calls L{write_header()} and
L{read_header()} after the connection is made
@param dest_addr: destination IP address
@type dest_addr: str
@param dest_port: destination port
@type dest_port: int
@param endpoint_id: string identifier for connection (for statistics)
@type endpoint_id: str
@param timeout: (optional keyword) timeout in seconds
@type timeout: float
@raise TransportInitError: if unable to create connection
"""
# first make sure that if ROS_HOSTNAME=localhost, we will not attempt
# to connect to anything other than localhost
if ("ROS_HOSTNAME" in os.environ) and (os.environ["ROS_HOSTNAME"]
== "localhost"):
if not rosgraph.network.is_local_address(dest_addr):
msg = "attempted to connect to non-local host [%s] from a node launched with ROS_HOSTNAME=localhost" % (
dest_addr)
logwarn(msg)
self.close()
raise TransportInitError(msg) # bubble up
# now we can proceed with trying to connect.
try:
self.endpoint_id = endpoint_id
self.dest_address = (dest_addr, dest_port)
if rosgraph.network.use_ipv6():
s = socket.socket(socket.AF_INET6, socket.SOCK_STREAM)
else:
s = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
if _is_use_tcp_keepalive():
# OSX (among others) does not define these options
if hasattr(socket, 'TCP_KEEPCNT') and \
hasattr(socket, 'TCP_KEEPIDLE') and \
hasattr(socket, 'TCP_KEEPINTVL'):
# turn on KEEPALIVE
s.setsockopt(socket.SOL_SOCKET, socket.SO_KEEPALIVE, 1)
# - # keepalive failures before actual connection failure
s.setsockopt(socket.SOL_TCP, socket.TCP_KEEPCNT, 9)
# - timeout before starting KEEPALIVE process
s.setsockopt(socket.SOL_TCP, socket.TCP_KEEPIDLE, 60)
# - interval to send KEEPALIVE after IDLE timeout
s.setsockopt(socket.SOL_TCP, socket.TCP_KEEPINTVL, 10)
if timeout is not None:
s.settimeout(timeout)
self.socket = s
logdebug('connecting to ' + str(dest_addr) + ' ' + str(dest_port))
self.socket.connect((dest_addr, dest_port))
self.write_header()
self.read_header()
self.local_endpoint = self.socket.getsockname()
self.remote_endpoint = (dest_addr, dest_port)
except TransportInitError as tie:
rospyerr(
"Unable to initiate TCP/IP socket to %s:%s (%s): %s" %
(dest_addr, dest_port, endpoint_id, traceback.format_exc()))
raise
except Exception as e:
#logerr("Unknown error initiating TCP/IP socket to %s:%s (%s): %s"%(dest_addr, dest_port, endpoint_id, str(e)))
rospywarn(
"Unknown error initiating TCP/IP socket to %s:%s (%s): %s" %
(dest_addr, dest_port, endpoint_id, traceback.format_exc()))
# FATAL: no reconnection as error is unknown
self.close()
raise TransportInitError(str(e)) #re-raise i/o error
def connect(self, dest_addr, dest_port, endpoint_id, timeout=None):
"""
Establish TCP connection to the specified
address/port. connect() always calls L{write_header()} and
L{read_header()} after the connection is made
@param dest_addr: destination IP address
@type dest_addr: str
@param dest_port: destination port
@type dest_port: int
@param endpoint_id: string identifier for connection (for statistics)
@type endpoint_id: str
@param timeout: (optional keyword) timeout in seconds
@type timeout: float
@raise TransportInitError: if unable to create connection
"""
# first make sure that if ROS_HOSTNAME=localhost, we will not attempt
# to connect to anything other than localhost
if ("ROS_HOSTNAME" in os.environ) and (os.environ["ROS_HOSTNAME"] == "localhost"):
if not rosgraph.network.is_local_address(dest_addr):
msg = "attempted to connect to non-local host [%s] from a node launched with ROS_HOSTNAME=localhost" % (dest_addr)
logwarn(msg)
self.close()
raise TransportInitError(msg) # bubble up
# now we can proceed with trying to connect.
try:
self.endpoint_id = endpoint_id
self.dest_address = (dest_addr, dest_port)
if rosgraph.network.use_ipv6():
s = socket.socket(socket.AF_INET6, socket.SOCK_STREAM)
else:
s = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
if _is_use_tcp_keepalive():
# OSX (among others) does not define these options
if hasattr(socket, 'TCP_KEEPCNT') and \
hasattr(socket, 'TCP_KEEPIDLE') and \
hasattr(socket, 'TCP_KEEPINTVL'):
# turn on KEEPALIVE
s.setsockopt(socket.SOL_SOCKET, socket.SO_KEEPALIVE, 1)
# - # keepalive failures before actual connection failure
s.setsockopt(socket.SOL_TCP, socket.TCP_KEEPCNT, 9)
# - timeout before starting KEEPALIVE process
s.setsockopt(socket.SOL_TCP, socket.TCP_KEEPIDLE, 60)
# - interval to send KEEPALIVE after IDLE timeout
s.setsockopt(socket.SOL_TCP, socket.TCP_KEEPINTVL, 10)
if timeout is not None:
s.settimeout(timeout)
self.socket = s
logdebug('connecting to ' + str(dest_addr)+ ' ' + str(dest_port))
self.socket.connect((dest_addr, dest_port))
self.write_header()
self.read_header()
self.local_endpoint = self.socket.getsockname()
self.remote_endpoint = (dest_addr, dest_port)
except TransportInitError as tie:
rospyerr("Unable to initiate TCP/IP socket to %s:%s (%s): %s"%(dest_addr, dest_port, endpoint_id, traceback.format_exc()))
raise
except Exception as e:
#logerr("Unknown error initiating TCP/IP socket to %s:%s (%s): %s"%(dest_addr, dest_port, endpoint_id, str(e)))
rospywarn("Unknown error initiating TCP/IP socket to %s:%s (%s): %s"%(dest_addr, dest_port, endpoint_id, traceback.format_exc()))
# FATAL: no reconnection as error is unknown
self.close()
raise TransportInitError(str(e)) #re-raise i/o error
if not rospy.core.is_shutdown():
write_ros_handshake_header(sock, {'error': err_msg})
raise TransportInitError(
"Could not process inbound connection: " + err_msg +
str(header))
else:
write_ros_handshake_header(sock,
{'error': 'node shutting down'})
return
except rospy.exceptions.TransportInitError, e:
logwarn(str(e))
if sock is not None:
sock.close()
except Exception, e:
# collect stack trace separately in local log file
logwarn("Inbound TCP/IP connection failed: %s", e)
rospyerr("Inbound TCP/IP connection failed:\n%s",
traceback.format_exc(e))
if sock is not None:
sock.close()
class TCPROSTransportProtocol(object):
"""
Abstraction of TCPROS connections. Implementations Services/Publishers/Subscribers must implement this
protocol, which defines how messages are deserialized from an inbound connection (read_messages()) as
well as which fields to send when creating a new connection (get_header_fields()).
"""
def __init__(self,
resolved_name,
recv_data_class,
