ServiceRequestHandler.java

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/*
 * Copyright (C) 2011 Google Inc.
 * 
 * Licensed under the Apache License, Version 2.0 (the "License"); you may not
 * use this file except in compliance with the License. You may obtain a copy of
 * the License at
 * 
 * http://www.apache.org/licenses/LICENSE-2.0
 * 
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
 * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
 * License for the specific language governing permissions and limitations under
 * the License.
 */

package org.ros.internal.node.service;

import org.jboss.netty.buffer.ChannelBuffer;
import org.jboss.netty.buffer.ChannelBuffers;
import org.jboss.netty.channel.ChannelHandlerContext;
import org.jboss.netty.channel.MessageEvent;
import org.jboss.netty.channel.SimpleChannelHandler;
import org.ros.exception.ServiceException;
import org.ros.internal.message.MessageBufferPool;
import org.ros.message.MessageDeserializer;
import org.ros.message.MessageFactory;
import org.ros.message.MessageSerializer;
import org.ros.node.service.ServiceResponseBuilder;

import java.nio.ByteBuffer;
import java.nio.charset.Charset;
import java.util.concurrent.ExecutorService;

class ServiceRequestHandler<T, S> extends SimpleChannelHandler {

  private final ServiceDeclaration serviceDeclaration;
  private final ServiceResponseBuilder<T, S> responseBuilder;
  private final MessageDeserializer<T> deserializer;
  private final MessageSerializer<S> serializer;
  private final MessageFactory messageFactory;
  private final ExecutorService executorService;
  private final MessageBufferPool messageBufferPool;

  public ServiceRequestHandler(ServiceDeclaration serviceDeclaration,
      ServiceResponseBuilder<T, S> responseBuilder, MessageDeserializer<T> deserializer,
      MessageSerializer<S> serializer, MessageFactory messageFactory,
      ExecutorService executorService) {
    this.serviceDeclaration = serviceDeclaration;
    this.deserializer = deserializer;
    this.serializer = serializer;
    this.responseBuilder = responseBuilder;
    this.messageFactory = messageFactory;
    this.executorService = executorService;
    messageBufferPool = new MessageBufferPool();
  }

  private void handleRequest(ChannelBuffer requestBuffer, ChannelBuffer responseBuffer)
      throws ServiceException {
    T request = deserializer.deserialize(requestBuffer);
    S response = messageFactory.newFromType(serviceDeclaration.getType());
    responseBuilder.build(request, response);
    serializer.serialize(response, responseBuffer);
  }

  private void handleSuccess(final ChannelHandlerContext ctx, ServiceServerResponse response,
      ChannelBuffer responseBuffer) {
    response.setErrorCode(1);
    response.setMessageLength(responseBuffer.readableBytes());
    response.setMessage(responseBuffer);
    ctx.getChannel().write(response);
  }

  private void handleError(final ChannelHandlerContext ctx, ServiceServerResponse response,
      String message) {
    response.setErrorCode(0);
    ByteBuffer encodedMessage = Charset.forName("US-ASCII").encode(message);
    response.setMessageLength(encodedMessage.limit());
    response.setMessage(ChannelBuffers.wrappedBuffer(encodedMessage));
    ctx.getChannel().write(response);
  }

  @Override
  public void messageReceived(final ChannelHandlerContext ctx, MessageEvent e) throws Exception {
    // Although the ChannelHandlerContext is explicitly documented as being safe
    // to keep for later use, the MessageEvent is not. So, we make a defensive
    // copy of the ChannelBuffer.
    final ChannelBuffer requestBuffer = ((ChannelBuffer) e.getMessage()).copy();
    executorService.execute(new Runnable() {
      @Override
      public void run() {
        ServiceServerResponse response = new ServiceServerResponse();
        ChannelBuffer responseBuffer = messageBufferPool.acquire();
        boolean success;
        try {
          handleRequest(requestBuffer, responseBuffer);
          success = true;
        } catch (ServiceException ex) {
          handleError(ctx, response, ex.getMessage());
          success = false;
        }
        if (success) {
          handleSuccess(ctx, response, responseBuffer);
        }
        messageBufferPool.release(responseBuffer);
      }
    });
    super.messageReceived(ctx, e);
  }
}