def service_connection_handler(sock, client_addr, header):
"""
Process incoming service connection. For use with
TCPROSServer. Reads in service name from handshake and creates the
appropriate service handler for the connection.
@param sock: socket connection
@type sock: socket
@param client_addr: client address
@type client_addr: (str, int)
@param header: key/value pairs from handshake header
@type header: dict
@return: error string or None
@rtype: str
"""
for required in ['service', 'md5sum', 'callerid']:
if not required in header:
return "Missing required '%s' field" % required
else:
logger.debug("connection from %s:%s", client_addr[0], client_addr[1])
service_name = header['service']
""" check again if the client request is authorized """
auth_logger.info(
"received service connection for %s from %s (%s:%s)" %
(service_name, header["callerid"], client_addr[0], client_addr[1]))
client_ip_address = client_addr[0]
if not is_requester_authorized(service_name, client_ip_address):
auth_logger.warn(
"service connection for %s from %s (%s) not authorized" %
(service_name, header["callerid"], client_ip_address))
return "Client [%s] wants service connection for %s, but %s is not authorized" % (
header['callerid'], service_name, client_ip_address)
auth_logger.info("service connection for %s from %s (%s) OK" %
(service_name, header["callerid"], client_ip_address))
#TODO: make service manager configurable. I think the right
#thing to do is to make these singletons private members of a
#Node instance and enable rospy to have multiple node
#instances.
sm = get_service_manager()
md5sum = header['md5sum']
service = sm.get_service(service_name)
if not service:
return "[%s] is not a provider of [%s]" % (
rospy.names.get_caller_id(), service_name)
elif md5sum != rospy.names.SERVICE_ANYTYPE and md5sum != service.service_class._md5sum:
return "request from [%s]: md5sums do not match: [%s] vs. [%s]" % (
header['callerid'], md5sum, service.service_class._md5sum)
else:
transport = TCPROSTransport(service.protocol,
service_name,
header=header)
transport.set_socket(sock, header['callerid'])
transport.write_header()
# using threadpool reduced performance by an order of
# magnitude, need to investigate better
t = threading.Thread(target=service.handle,
args=(transport, header))
t.setDaemon(True)
t.start()
def test_TCPROSTransport(self):
import rospy.impl.tcpros_base
from rospy.impl.tcpros_base import TCPROSTransport, TCPROSTransportProtocol
from rospy.impl.transport import OUTBOUND
p = TCPROSTransportProtocol('Bob', rospy.AnyMsg)
p.direction = OUTBOUND
try:
TCPROSTransport(p, '')
self.fail("TCPROSTransport should not accept bad name")
except rospy.impl.tcpros_base.TransportInitError: pass
t = TCPROSTransport(p, 'transport-name')
self.assert_(t.socket is None)
self.assert_(t.md5sum is None)
self.assert_(t.type is None)
self.assertEquals(p, t.protocol)
self.assertEquals('TCPROS', t.transport_type)
self.assertEquals(OUTBOUND, t.direction)
self.assertEquals('unknown', t.endpoint_id)
self.assertEquals('', t.read_buff.getvalue())
self.assertEquals('', t.write_buff.getvalue())
s = MockSock('12345')
t.set_socket(s, 'new_endpoint_id')
self.assertEquals('new_endpoint_id', t.endpoint_id)
self.assertEquals(s, t.socket)
t.close()
self.assert_(t.socket is None)
self.assert_(t.read_buff is None)
self.assert_(t.write_buff is None)
self.assert_(t.protocol is None)
def test_TCPROSTransport(self):
import rospy.impl.tcpros_base
from rospy.impl.tcpros_base import TCPROSTransport, TCPROSTransportProtocol
from rospy.impl.transport import OUTBOUND
p = TCPROSTransportProtocol('Bob', rospy.AnyMsg)
p.direction = OUTBOUND
try:
TCPROSTransport(p, '')
self.fail("TCPROSTransport should not accept bad name")
except rospy.impl.tcpros_base.TransportInitError: pass
t = TCPROSTransport(p, 'transport-name')
self.assert_(t.socket is None)
self.assert_(t.md5sum is None)
self.assert_(t.type is None)
self.assertEquals(p, t.protocol)
self.assertEquals('TCPROS', t.transport_type)
self.assertEquals(OUTBOUND, t.direction)
self.assertEquals('unknown', t.endpoint_id)
self.assertEquals('', t.read_buff.getvalue())
self.assertEquals('', t.write_buff.getvalue())
s = MockSock('12345')
t.set_socket(s, 'new_endpoint_id')
self.assertEquals('new_endpoint_id', t.endpoint_id)
self.assertEquals(s, t.socket)
t.close()
self.assert_(t.socket is None)
self.assert_(t.read_buff is None)
self.assert_(t.write_buff is None)
self.assert_(t.protocol is None)
def inbound_handler(sock, addr): print "%s connected." % (str(addr)) t = TCPROSTransport(TestServerProtocol(), "testservice") t.set_socket(sock, "client") t.write_header() t.read_header() inputs.append(sock)
def service_connection_handler(sock, client_addr, header):
"""
Process incoming service connection. For use with
TCPROSServer. Reads in service name from handshake and creates the
appropriate service handler for the connection.
@param sock: socket connection
@type sock: socket
@param client_addr: client address
@type client_addr: (str, int)
@param header: key/value pairs from handshake header
@type header: dict
@return: error string or None
@rtype: str
"""
for required in ['service', 'md5sum', 'callerid']:
if not required in header:
return "Missing required '%s' field"%required
else:
logger.debug("connection from %s:%s", client_addr[0], client_addr[1])
service_name = header['service']
#TODO: make service manager configurable. I think the right
#thing to do is to make these singletons private members of a
#Node instance and enable rospy to have multiple node
#instances.
sm = get_service_manager()
md5sum = header['md5sum']
service = sm.get_service(service_name)
if not service:
return "[%s] is not a provider of [%s]"%(rospy.names.get_caller_id(), service_name)
elif md5sum != rospy.names.SERVICE_ANYTYPE and md5sum != service.service_class._md5sum:
return "request from [%s]: md5sums do not match: [%s] vs. [%s]"%(header['callerid'], md5sum, service.service_class._md5sum)
else:
transport = TCPROSTransport(service.protocol, service_name, header=header)
transport.set_socket(sock, header['callerid'])
transport.write_header()
# using threadpool reduced performance by an order of
# magnitude, need to investigate better
t = threading.Thread(target=service.handle, args=(transport, header))
t.setDaemon(True)
t.start()
def service_connection_handler(self, sock, client_addr, header):
"""
@param sock: socket connection
@type sock: socket
@param client_addr: client address
@type client_addr: (str, int)
@param header: key/value pairs from handshake header
@type header: dict
@return: error string or None
@rtype: str
"""
# This is a cturtle hack. rospy's service_connection_handler
# is wired to the ServiceManager singleton. If we replace the
# singleton with something more configurable, then we simply
# have to run our own ServiceManager to handle the forwarding
# behavior.
for required in ['service', 'md5sum', 'callerid']:
if not required in header:
return "Missing required '%s' field" % required
else:
#logger.debug("connection from %s:%s", client_addr[0], client_addr[1])
service_name = header['service']
sm = self.service_manager
md5sum = header['md5sum']
service = sm.get_service(service_name)
if not service:
return "[%s] is not a provider of [%s]" % (
rospy.names.get_caller_id(), service_name)
elif md5sum != rospy.names.SERVICE_ANYTYPE and md5sum != service.service_class._md5sum:
return "request from [%s]: md5sums do not match: [%s] vs. [%s]" % (
header['callerid'], md5sum, service.service_class._md5sum)
else:
transport = TCPROSTransport(service.protocol,
service_name,
header=header)
transport.set_socket(sock, header['callerid'])
transport.write_header()
thread.start_new_thread(service.handle, (transport, header))
def service_connection_handler(self, sock, client_addr, header):
"""
@param sock: socket connection
@type sock: socket
@param client_addr: client address
@type client_addr: (str, int)
@param header: key/value pairs from handshake header
@type header: dict
@return: error string or None
@rtype: str
"""
# This is a cturtle hack. rospy's service_connection_handler
# is wired to the ServiceManager singleton. If we replace the
# singleton with something more configurable, then we simply
# have to run our own ServiceManager to handle the forwarding
# behavior.
for required in ['service', 'md5sum', 'callerid']:
if not required in header:
return "Missing required '%s' field"%required
else:
#logger.debug("connection from %s:%s", client_addr[0], client_addr[1])
service_name = header['service']
sm = self.service_manager
md5sum = header['md5sum']
service = sm.get_service(service_name)
if not service:
return "[%s] is not a provider of [%s]"%(rospy.names.get_caller_id(), service_name)
elif md5sum != rospy.names.SERVICE_ANYTYPE and md5sum != service.service_class._md5sum:
return "request from [%s]: md5sums do not match: [%s] vs. [%s]"%(header['callerid'], md5sum, service.service_class._md5sum)
else:
transport = TCPROSTransport(service.protocol, service_name, header=header)
transport.set_socket(sock, header['callerid'])
transport.write_header()
thread.start_new_thread(service.handle, (transport, header))
t.write_header()
t.read_header()
inputs.append(sock)
if __name__ == '__main__':
s = TCPServer(inbound_handler, PORT)
s.start()
while True:
inputready,outputready,exceptready = select.select(inputs, [], [], 1)
for s in inputready:
# s is really just a python socket, but let's use
# ROS to parse the message and write a response
t = TCPROSTransport(TestServerProtocol(), "testservice")
t.set_socket(s, "client")
try:
data = t.receive_once()
# Echo all messages
seq = 0
for msg in data:
msg.data = "This is a reply of the message '%s'." % (msg.data)
t.send_message(msg, seq)
seq += 1
print "Echoed data"
except rospy.exceptions.TransportTerminated:
print "Closing connection"
s.close()
inputs.remove(s)
