/usr/include/ros/xmlrpc_manager.h is in libroscpp-dev 1.11.16-3.
This file is owned by root:root, with mode 0o644.
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* Copyright (C) 2009, Willow Garage, Inc.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions are met:
* * Redistributions of source code must retain the above copyright notice,
* this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in the
* documentation and/or other materials provided with the distribution.
* * Neither the names of Willow Garage, Inc. nor the names of its
* contributors may be used to endorse or promote products derived from
* this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
* ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
* LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
* CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
* SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
* INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
* CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
* ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*/
#ifndef ROSCPP_XMLRPC_MANAGER_H
#define ROSCPP_XMLRPC_MANAGER_H
#include <string>
#include <set>
#include <boost/function.hpp>
#include <boost/thread/mutex.hpp>
#include <boost/thread/thread.hpp>
#include <boost/enable_shared_from_this.hpp>
#include "common.h"
#include "xmlrpcpp/XmlRpc.h"
#include <ros/time.h>
namespace ros
{
/**
* \brief internal
*/
namespace xmlrpc
{
XmlRpc::XmlRpcValue responseStr(int code, const std::string& msg, const std::string& response);
XmlRpc::XmlRpcValue responseInt(int code, const std::string& msg, int response);
XmlRpc::XmlRpcValue responseBool(int code, const std::string& msg, bool response);
}
class XMLRPCCallWrapper;
typedef boost::shared_ptr<XMLRPCCallWrapper> XMLRPCCallWrapperPtr;
class ROSCPP_DECL ASyncXMLRPCConnection : public boost::enable_shared_from_this<ASyncXMLRPCConnection>
{
public:
virtual ~ASyncXMLRPCConnection() {}
virtual void addToDispatch(XmlRpc::XmlRpcDispatch* disp) = 0;
virtual void removeFromDispatch(XmlRpc::XmlRpcDispatch* disp) = 0;
virtual bool check() = 0;
};
typedef boost::shared_ptr<ASyncXMLRPCConnection> ASyncXMLRPCConnectionPtr;
typedef std::set<ASyncXMLRPCConnectionPtr> S_ASyncXMLRPCConnection;
class ROSCPP_DECL CachedXmlRpcClient
{
public:
CachedXmlRpcClient(XmlRpc::XmlRpcClient *c)
: in_use_(false)
, client_(c)
{
}
bool in_use_;
ros::WallTime last_use_time_; // for reaping
XmlRpc::XmlRpcClient* client_;
static const ros::WallDuration s_zombie_time_; // how long before it is toasted
};
class XMLRPCManager;
typedef boost::shared_ptr<XMLRPCManager> XMLRPCManagerPtr;
typedef boost::function<void(XmlRpc::XmlRpcValue&, XmlRpc::XmlRpcValue&)> XMLRPCFunc;
class ROSCPP_DECL XMLRPCManager
{
public:
static const XMLRPCManagerPtr& instance();
XMLRPCManager();
~XMLRPCManager();
/** @brief Validate an XML/RPC response
*
* @param method The RPC method that was invoked.
* @param response The resonse that was received.
* @param payload The payload that was received.
*
* @return true if validation succeeds, false otherwise.
*
* @todo Consider making this private.
*/
bool validateXmlrpcResponse(const std::string& method,
XmlRpc::XmlRpcValue &response, XmlRpc::XmlRpcValue &payload);
/**
* @brief Get the xmlrpc server URI of this node
*/
inline const std::string& getServerURI() const { return uri_; }
inline uint32_t getServerPort() const { return port_; }
XmlRpc::XmlRpcClient* getXMLRPCClient(const std::string& host, const int port, const std::string& uri);
void releaseXMLRPCClient(XmlRpc::XmlRpcClient* c);
void addASyncConnection(const ASyncXMLRPCConnectionPtr& conn);
void removeASyncConnection(const ASyncXMLRPCConnectionPtr& conn);
bool bind(const std::string& function_name, const XMLRPCFunc& cb);
void unbind(const std::string& function_name);
void start();
void shutdown();
bool isShuttingDown() { return shutting_down_; }
private:
void serverThreadFunc();
std::string uri_;
int port_;
boost::thread server_thread_;
#if defined(__APPLE__)
// OSX has problems with lots of concurrent xmlrpc calls
boost::mutex xmlrpc_call_mutex_;
#endif
XmlRpc::XmlRpcServer server_;
typedef std::vector<CachedXmlRpcClient> V_CachedXmlRpcClient;
V_CachedXmlRpcClient clients_;
boost::mutex clients_mutex_;
bool shutting_down_;
ros::WallDuration master_retry_timeout_;
S_ASyncXMLRPCConnection added_connections_;
boost::mutex added_connections_mutex_;
S_ASyncXMLRPCConnection removed_connections_;
boost::mutex removed_connections_mutex_;
S_ASyncXMLRPCConnection connections_;
struct FunctionInfo
{
std::string name;
XMLRPCFunc function;
XMLRPCCallWrapperPtr wrapper;
};
typedef std::map<std::string, FunctionInfo> M_StringToFuncInfo;
boost::mutex functions_mutex_;
M_StringToFuncInfo functions_;
volatile bool unbind_requested_;
};
}
#endif
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