zeroconf.cpp

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/*****************************************************************************
 ** Includes
 *****************************************************************************/

#include <cstdio>
#include <ctime>
#include <avahi-common/alternative.h> // avahi_alternative_service_name
#include <avahi-common/timeval.h>
#include <avahi-common/thread-watch.h>
#include <boost/thread/thread.hpp>  // sleep
#include <zeroconf_msgs/Protocols.h>
#include <ros/ros.h>
#include "../../include/zeroconf_avahi/zeroconf.hpp"

/*****************************************************************************
 ** Namespaces
 *****************************************************************************/

namespace zeroconf_avahi
{

/*****************************************************************************
 ** Implementation
 *****************************************************************************/

Zeroconf::Zeroconf() :
    invalid_object(false), threaded_poll(NULL), client(NULL), interface(AVAHI_IF_UNSPEC), permitted_protocols(
        AVAHI_PROTO_INET) // AVAHI_PROTO_UNSPEC, AVAHI_PROTO_INET, AVAHI_PROTO_INET6
{
  int error;

  /* Allocate main loop object */
  if (!(threaded_poll = avahi_threaded_poll_new()))
  {
    ROS_ERROR("Zeroconf: failed to create an avahi threaded  poll.");
    invalid_object = true;
    return;
  }
  /* Allocate a new client */
  client = avahi_client_new(avahi_threaded_poll_get(threaded_poll), static_cast<AvahiClientFlags>(0),
                            Zeroconf::client_callback, this, &error);

  /* Check whether creating the client object succeeded */
  if (!client)
  {
    ROS_ERROR("Zeroconf: failed to create an avahi client.");
    invalid_object = true;
    return;
  }

  /* Don't start spinning until client_callback detects AVAHI_CLIENT_S_RUNNING. This may mean the user has to wait a
   * little bit before adding a service.
   */
}

Zeroconf::~Zeroconf()
{
  /*********************
   ** Listeners
   **********************/
  // note - this map will be empty if invalid_object is true
  {
    boost::mutex::scoped_lock lock(service_mutex);
    for (discovery_bimap::left_const_iterator iter = discovery_service_types.left.begin();
        iter != discovery_service_types.left.end(); ++iter)
    {
      avahi_service_browser_free(iter->first);
    }
    discovered_services.clear(); // avahi_service_resolver_free will get called on each here
    discovery_service_types.clear();
  }
  if (threaded_poll)
  {
    avahi_threaded_poll_stop(threaded_poll);
  }

  /*********************
   ** Publishers
   **********************/
  // free'ing entry groups shouldn't be necessary (don't know exactly, but haven't seen it in any of the official
  // code, so its probably done when calling avahi_client_free().
  /*********************
   ** General
   **********************/
  if (client)
  {
    avahi_client_free(client);
  }
  if (threaded_poll)
  {
    avahi_threaded_poll_free(threaded_poll);
  }
}

void Zeroconf::spin()
{
  if (!invalid_object)
  {
    ROS_DEBUG("Zeroconf: starting the threaded poll.");
    // does this have a return value I should check?
    avahi_threaded_poll_start(threaded_poll);
  }
}

bool Zeroconf::add_listener(std::string &service_type)
{
  if (invalid_object) {
    ROS_WARN_STREAM("Zeroconf : not connected to the avahi client, aborting add_listener [" << service_type << "]");
    return false;
  }

  /* Check if we're already listening for it. */
  {
    boost::mutex::scoped_lock lock(service_mutex);
    discovery_bimap::right_iterator browser_iter = discovery_service_types.right.find(service_type);
    if (browser_iter != discovery_service_types.right.end())
    {
      ROS_WARN_STREAM("Zeroconf : already listening for services of type '" << service_type << "'");
      return false;
    }
  }

  /* Create the service browser */
  AvahiServiceBrowser *service_browser = NULL;
  avahi_threaded_poll_lock(threaded_poll);
  if (!(service_browser = avahi_service_browser_new(client, interface, permitted_protocols, service_type.c_str(), NULL,
                                                    static_cast<AvahiLookupFlags>(0), Zeroconf::discovery_callback,
                                                    this)))
  {
    ROS_ERROR_STREAM(
        "Zeroconf: failed to create an avahi service browser: " << avahi_strerror(avahi_client_errno(client)));
    return false;
  }
  avahi_threaded_poll_unlock(threaded_poll);
  /* Update the internal data */
  {
    boost::mutex::scoped_lock lock(service_mutex);
    discovery_service_types.insert(discovery_bimap::value_type(service_browser, service_type));
  }
  ROS_INFO_STREAM("Zeroconf: added a listener [" << service_type << "]");
  return true;
}

bool Zeroconf::remove_listener(const std::string &service_type)
{
  AvahiServiceBrowser *service_browser = NULL;

  /* Check if we're already listening for it. */
  {
    boost::mutex::scoped_lock lock(service_mutex);
    discovery_bimap::right_iterator browser_iter = discovery_service_types.right.find(service_type);
    if (browser_iter == discovery_service_types.right.end())
    {
      ROS_WARN_STREAM("Zeroconf : not currently listening for '" << service_type << "', aborting listener removal.");
      return false;
    }
    else
    {
      ROS_INFO_STREAM("Zeroconf: removing a listener [" << service_type << "]");
      service_browser = browser_iter->second;
      // delete internal browser pointers and storage
      discovery_service_types.right.erase(browser_iter);
      // delete internally resolved list
      discovered_service_set::iterator iter = discovered_services.begin();
      while (iter != discovered_services.end())
      {
        if ((*iter)->service.type == service_type)
        {
          ROS_INFO_STREAM("Zeroconf: erasing element " << *iter);
          discovered_services.erase(iter++);
        }
        else
        {
          ROS_INFO_STREAM("Zeroconf: not erasing element " << *iter);
          ++iter;
        }
      }
    }
  }
  /* Remove the avahi browser */
  if (service_browser)
  {
    avahi_threaded_poll_lock(threaded_poll);
    avahi_service_browser_free(service_browser);
    avahi_threaded_poll_unlock(threaded_poll);
  }
  return true;
}
bool Zeroconf::add_service(PublishedService &service)
{

  avahi_threaded_poll_lock(threaded_poll);
  bool result = add_service_non_threaded(service);
  avahi_threaded_poll_unlock(threaded_poll);
  return result;
}

bool Zeroconf::add_service_non_threaded(PublishedService &service)
{
  /*
   * We may still be initialising (from constructor)...check that we're up and running."
   */
  if (avahi_client_get_state(client) != AVAHI_CLIENT_S_RUNNING)
  {
    ROS_ERROR("Zeroconf: avahi_client_state is not running (probably still registering with avahi daemon)");
    return false;
  }

  /*
   * Check we're not already publishing this exact service
   */
  {
    boost::mutex::scoped_lock lock(service_mutex);
    service_bimap::right_const_iterator iter;
    iter = committed_services.right.find(service);
    if (iter != committed_services.right.end())
    {
      ROS_WARN_STREAM(
          "Zeroconf: this node is currently already committing this service [" << service.name << "][" << service.type << "][" << service.port << "]");
      return true;
    }
    iter = established_services.right.find(service);
    if (iter != established_services.right.end())
    {
      ROS_WARN_STREAM(
          "Zeroconf: this node has already established this service [" << service.name << "][" << service.type << "][" << service.port << "]");
      return true;
    }
  }

  ROS_DEBUG_STREAM("Zeroconf: adding a new service [" << service.name << "][" << service.type << "]");
  /* If this is the first time we're called, let's create a new
   * entry group if necessary */
  AvahiEntryGroup* group = NULL;
  if (!(group = avahi_entry_group_new(client, entry_group_callback, this)))
  {
    ROS_ERROR_STREAM("Zeroconf: avahi_entry_group_new() failed: " << avahi_strerror(avahi_client_errno(client)));
    fail();
    return false;
  }

  int ret = avahi_entry_group_add_service(group, interface, permitted_protocols, static_cast<AvahiPublishFlags>(0), // AVAHI_PUBLISH_USE_MULTICAST - we don't seem to need this, but others said they have needed it.
                                          service.name.c_str(), service.type.c_str(), service.domain.c_str(), NULL, // automatically sets a hostname for us
                                          static_cast<uint16_t>(service.port), NULL); // txt description
  if (ret < 0)
  {
    avahi_entry_group_free(group);
    if (ret == AVAHI_ERR_COLLISION)
    {
      std::string old_name = service.name;
      PublishedService new_service = service;
      service.name = avahi_alternative_service_name(service.name.c_str());
      ROS_WARN_STREAM(
          "Zeroconf: local service name collision, renaming [" << service.name << "][" << new_service.name << "]");
      return add_service_non_threaded(service);
    }
    else
    {
      ROS_ERROR_STREAM(
          "Zeroconf: failed to add service [" << service.type.c_str() << "][" << avahi_strerror(ret) << "]");
      fail();
      return false;
    }
  }
  /* Commit the entry group */
  // add to the map first, just so that the callback doesn't fire before we can find it in the map
  {
    boost::mutex::scoped_lock lock(service_mutex);
    committed_services.insert(service_bimap::value_type(group, service)); // should check the return value...
  }
  if ((ret = avahi_entry_group_commit(group)) < 0)
  {
    ROS_ERROR_STREAM("Zeroconf: failed to commit entry group [" << avahi_strerror(ret) << "]");
    avahi_entry_group_free(group);
    {
      boost::mutex::scoped_lock lock(service_mutex);
      committed_services.left.erase(group);
    }
    fail();
    return false;
  }
  ROS_DEBUG("Zeroconf: service committed, waiting for callback...");
  return true;
}
bool Zeroconf::remove_service(const PublishedService &service)
{

  AvahiEntryGroup *group = NULL;
  bool erased = false;
  {
    boost::mutex::scoped_lock lock(service_mutex);
    service_bimap::right_const_iterator iter = established_services.right.find(service);
    if (iter != established_services.right.end())
    {
      group = iter->second;
      established_services.right.erase(service);
      erased = true;
      ROS_INFO_STREAM("Zeroconf: removing service [" << service.name << "][" << service.type << "]");
    }
    else
    {
      ROS_WARN_STREAM(
          "Zeroconf: couldn't remove not currently advertised service [" << service.name << "][" << service.type << "]");
    }
  }
  if (group)
  {
    avahi_threaded_poll_lock(threaded_poll);
    avahi_entry_group_reset(group);
    avahi_entry_group_free(group);
    avahi_threaded_poll_unlock(threaded_poll);
  }
  return erased;
}
void Zeroconf::list_discovered_services(const std::string &service_type,
                                        std::vector<zeroconf_msgs::DiscoveredService> &list)
{
  list.clear();
  boost::mutex::scoped_lock lock(service_mutex);
  if (service_type == "")
  {
    for (discovered_service_set::iterator iter = discovered_services.begin(); iter != discovered_services.end(); ++iter)
    {
      // ignore services that aren't currently resolved
      if (((*iter)->service.ipv4_addresses.size() != 0) || ((*iter)->service.ipv6_addresses.size() != 0))
      {
        list.push_back((*iter)->service);
      }
    }
  }
  else
  {
    for (discovered_service_set::iterator iter = discovered_services.begin(); iter != discovered_services.end(); ++iter)
    {
      if ((*iter)->service.type == service_type)
      {
        // ignore services that aren't currently resolved
        if (((*iter)->service.ipv4_addresses.size() != 0) || ((*iter)->service.ipv6_addresses.size() != 0))
        {
          list.push_back((*iter)->service);
        }
      }
    }
  }
}
void Zeroconf::list_published_services(const std::string &service_type,
                                       std::vector<zeroconf_msgs::PublishedService> &list)
{
  list.clear();
  boost::mutex::scoped_lock lock(service_mutex);
  if (service_type == "")
  {
    for (service_bimap::left_const_iterator iter = established_services.left.begin();
        iter != established_services.left.end(); ++iter)
    {
      list.push_back(iter->second);
    }
  }
  else
  {
    for (service_bimap::left_const_iterator iter = established_services.left.begin();
        iter != established_services.left.end(); ++iter)
    {
      if (iter->second.type == service_type)
      {
        list.push_back(iter->second);
      }
    }
  }
}

/*****************************************************************************
 ** Utilities
 *****************************************************************************/

int Zeroconf::ros_to_avahi_protocol(const int &protocol)
{
  switch (protocol)
  {
    case (zeroconf_msgs::Protocols::UNSPECIFIED):
    {
      return AVAHI_PROTO_UNSPEC;
    }
    case (zeroconf_msgs::Protocols::IPV4):
    {
      return AVAHI_PROTO_INET;
    }
    case (zeroconf_msgs::Protocols::IPV6):
    {
      return AVAHI_PROTO_INET6;
    }
    default:
      return AVAHI_PROTO_UNSPEC;
  }
}

std::string Zeroconf::ros_to_txt_protocol(const int &protocol)
{
  switch (protocol)
  {
    case (zeroconf_msgs::Protocols::UNSPECIFIED):
    {
      return "unspecified";
    }
    case (zeroconf_msgs::Protocols::IPV4):
    {
      return "ipv4";
    }
    case (zeroconf_msgs::Protocols::IPV6):
    {
      return "ipv6";
    }
    default:
      return "unspecified";
  }
}

int Zeroconf::avahi_to_ros_protocol(const int &protocol)
{
  switch (protocol)
  {
    case (AVAHI_PROTO_UNSPEC):
    {
      return zeroconf_msgs::Protocols::UNSPECIFIED;
    }
    case (AVAHI_PROTO_INET):
    {
      return zeroconf_msgs::Protocols::IPV4;
    }
    case (AVAHI_PROTO_INET6):
    {
      return zeroconf_msgs::Protocols::IPV6;
    }
    default:
      return zeroconf_msgs::Protocols::UNSPECIFIED;
  }
}

std::string Zeroconf::avahi_to_txt_protocol(const int &protocol)
{
  switch (protocol)
  {
    case (AVAHI_PROTO_UNSPEC):
    {
      return "unspecified";
    }
    case (AVAHI_PROTO_INET):
    {
      return "ipv4";
    }
    case (AVAHI_PROTO_INET6):
    {
      return "ipv6";
    }
    default:
      return "unspecified";
  }
}

Zeroconf::discovered_service_set::iterator Zeroconf::find_discovered_service(zeroconf_msgs::DiscoveredService &service)
{
  discovered_service_set::iterator iter = discovered_services.begin();
  while (iter != discovered_services.end())
  {
    if (((*iter)->service.name == service.name) && ((*iter)->service.type == service.type)
        && ((*iter)->service.domain == service.domain))
    {
      return iter;
    }
    else
    {
      ++iter;
    }
  }
  return discovered_services.end();
}

/*****************************************************************************
 ** Discovery Callbacks
 *****************************************************************************/
void Zeroconf::discovery_callback(AvahiServiceBrowser *browser, AvahiIfIndex interface, AvahiProtocol protocol,
                                  AvahiBrowserEvent event, const char *name, const char *type, const char *domain,
                                  AvahiLookupResultFlags flags, void* userdata)
{

  Zeroconf *zeroconf = reinterpret_cast<Zeroconf*>(userdata);
  assert(browser);

  switch (event)
  {
    case AVAHI_BROWSER_FAILURE:
      ROS_ERROR_STREAM(
          "Zeroconf: browser failure [" << avahi_strerror(avahi_client_errno(avahi_service_browser_get_client(browser))));
      avahi_threaded_poll_quit(zeroconf->threaded_poll);
      return;

    case AVAHI_BROWSER_NEW:
    {
      zeroconf_msgs::DiscoveredService service;
      service.name = name;
      service.type = type;
      service.domain = domain;

      AvahiServiceResolver* resolver = avahi_service_resolver_new(zeroconf->client, interface, protocol, name, type,
                                                                  domain, zeroconf->permitted_protocols,
                                                                  static_cast<AvahiLookupFlags>(0),
                                                                  Zeroconf::resolve_callback, zeroconf);
      if (!resolver)
      {
        ROS_ERROR_STREAM(
            "Zeroconf: avahi resolver failure (avahi daemon problem) [" << name << "][" << avahi_strerror(avahi_client_errno(zeroconf->client)) << "][" << interface << "][" << zeroconf->avahi_to_txt_protocol(protocol) << "]");
        break;
      }
      {
        boost::mutex::scoped_lock lock(zeroconf->service_mutex);
        boost::shared_ptr<DiscoveredAvahiService> new_service(
            new DiscoveredAvahiService(service, resolver, interface, zeroconf->avahi_to_ros_protocol(protocol)));
        if ((zeroconf->discovered_services.insert(new_service)).second)
        {
          ROS_INFO_STREAM(
              "Zeroconf: discovered new service [" << name << "][" << type << "][" << domain << "][" << interface << "][" << zeroconf->avahi_to_txt_protocol(protocol) << "]");
          // we signal in the resolver, not here...though this might be a bad design
          // decision if the connection is up and down alot.
          // if ( zeroconf->new_connection_signal ) {
          //     zeroconf->new_connection_signal(service);
          // }
        }
        else
        {
          ROS_ERROR_STREAM(
              "Tried to insert a new service on top of an old stored one - probably a bug in zeroconf_avahi!");
        }
      }
      break;
    }

    case AVAHI_BROWSER_REMOVE:
    {
      zeroconf_msgs::DiscoveredService service;
      service.name = name;
      service.type = type;
      service.domain = domain;
      {
        boost::mutex::scoped_lock lock(zeroconf->service_mutex);
        discovered_service_set::iterator iter = zeroconf->find_discovered_service(service);
        if (iter != zeroconf->discovered_services.end())
        {
          /*********************
           ** Update
           **********************/
          zeroconf->discovered_services.erase(iter);
          /*********************
           ** Logging
           **********************/
          ROS_INFO_STREAM(
              "Zeroconf: service was removed [" << service.name << "][" << service.type << "][" << service.domain << "][" << interface << "][" << zeroconf->ros_to_txt_protocol(zeroconf->avahi_to_ros_protocol(protocol)) << "]");
          /*********************
           ** Signal
           **********************/
          // we signal here...though this might get muddled if the connection is up/down alot
          // I haven't road tested this much yet at all.
          if (zeroconf->lost_connection_signal)
          {
            zeroconf->lost_connection_signal(service);
          }
        }
        else
        {
          ROS_ERROR_STREAM(
              "Zeroconf: attempted to remove a non-discovered service (probably a bug in zeroconf_avahi!)");
        }
      }
      break;
    }
    case AVAHI_BROWSER_ALL_FOR_NOW:
    case AVAHI_BROWSER_CACHE_EXHAUSTED:
    {
      if (event == AVAHI_BROWSER_CACHE_EXHAUSTED)
      {
        ROS_DEBUG("Zeroconf: browser event occured [cache exhausted]");
      }
      else
      {
        ROS_DEBUG("Zeroconf: browser event occured [all for now]");
      }
      break;
    }
  }
}
void Zeroconf::resolve_callback(AvahiServiceResolver *resolver, AvahiIfIndex interface, AvahiProtocol protocol,
                                AvahiResolverEvent event, const char *name, const char *type, const char *domain,
                                const char *host_name, const AvahiAddress *address, uint16_t port, AvahiStringList *txt,
                                AvahiLookupResultFlags flags, void* userdata)
{

  Zeroconf *zeroconf = reinterpret_cast<Zeroconf*>(userdata);
  assert(resolver);

  switch (event)
  {
    case AVAHI_RESOLVER_FAILURE:
    {
      zeroconf_msgs::DiscoveredService service;
      service.name = name;
      service.type = type;
      service.domain = domain;
      {
        boost::mutex::scoped_lock lock(zeroconf->service_mutex);
        discovered_service_set::iterator iter = zeroconf->find_discovered_service(service);
        if (iter != zeroconf->discovered_services.end())
        {
          /*********************
           ** Logging
           **********************/
          if ((*iter)->service.ipv4_addresses.size() != 0)
          {
            ROS_WARN_STREAM(
                "Zeroconf: timed out resolving service [" << name << "][" << type << "][" << domain << "][" << interface << "][" << zeroconf->avahi_to_txt_protocol(protocol) << "][" << (*iter)->service.ipv4_addresses[0] << ":" << (*iter)->service.port << "]");
          }
          else if ((*iter)->service.ipv6_addresses.size() != 0)
          {
            ROS_WARN_STREAM(
                "Zeroconf: timed out resolving service [" << name << "][" << type << "][" << domain << "][" << interface << "][" << zeroconf->avahi_to_txt_protocol(protocol) << "][" << (*iter)->service.ipv6_addresses[0] << ":" << (*iter)->service.port << "]");
          }
          else
          {
            ROS_WARN_STREAM(
                "Zeroconf: timed out resolving service [" << name << "][" << type << "][" << domain << "][" << interface << "][" << zeroconf->avahi_to_txt_protocol(protocol) << "]");
          }
          /*********************
           ** Update
           **********************/
          (*iter)->service.ipv4_addresses.clear();
          (*iter)->service.ipv6_addresses.clear();
          (*iter)->service.hostname = "";
          (*iter)->service.port = 0;
          // could reset all the other stuff too, but the above is important.
          /*********************
           ** Signals
           **********************/
          if (zeroconf->lost_connection_signal)
          {
            zeroconf->lost_connection_signal(service);
          }
        }
        else
        {
          ROS_ERROR_STREAM(
              "Zeroconf: timed out resolving a service that was not saved, probably a zeroconf_avahi bug!");
        }
      }
      break;
    }
    case AVAHI_RESOLVER_FOUND:
    {
      char a[AVAHI_ADDRESS_STR_MAX], *t;

      // workaround for avahi bug 1) above
      boost::this_thread::sleep(boost::posix_time::milliseconds(500));

      t = avahi_string_list_to_string(txt);
      avahi_address_snprint(a, sizeof(a), address);

      zeroconf_msgs::DiscoveredService service;
      service.name = name;
      service.type = type;
      service.domain = domain;
      bool error = false;
      switch (zeroconf->avahi_to_ros_protocol(protocol))
      {
        case (zeroconf_msgs::Protocols::IPV4):
        {
          service.ipv4_addresses.push_back(a);
          // workaround for avahi bug 2) above
          size_t found = std::string(a).find(":");
          if (found != std::string::npos)
          {
            ROS_WARN_STREAM(
                "Zeroconf: avahi is behaving badly (bug) - set an ipv6 address for an ipv4 service, recovering...");
            avahi_free(t);
            error = true;
            break;
          }
          break;
        }
        case (zeroconf_msgs::Protocols::IPV6):
        {
          service.ipv6_addresses.push_back(a);
          break;
        }
        default:
          break; // should never get here
      }
      if (error)
      {
        break;
      }

      service.hostname = host_name;
      service.port = port;
      service.description = t;
      service.cookie = avahi_string_list_get_service_cookie(txt);
      service.is_local = ((flags & AVAHI_LOOKUP_RESULT_LOCAL) == 0 ? false : true);
      service.our_own = ((flags & AVAHI_LOOKUP_RESULT_OUR_OWN) == 0 ? false : true);
      service.wide_area = ((flags & AVAHI_LOOKUP_RESULT_WIDE_AREA) == 0 ? false : true);
      service.multicast = ((flags & AVAHI_LOOKUP_RESULT_MULTICAST) == 0 ? false : true);
      service.cached = ((flags & AVAHI_LOOKUP_RESULT_CACHED) == 0 ? false : true);
      {
        boost::mutex::scoped_lock lock(zeroconf->service_mutex);
        discovered_service_set::iterator iter = zeroconf->find_discovered_service(service);
        if (iter != zeroconf->discovered_services.end())
        {
          /*********************
           ** Update service info
           **********************/
          (*iter)->service = service;
          (*iter)->protocol = zeroconf->avahi_to_ros_protocol(protocol);

          /*********************
           ** Logging
           **********************/
          ROS_INFO_STREAM(
              "Zeroconf: resolved service [" << name << "][" << type << "][" << domain << "][" << interface << "][" << zeroconf->ros_to_txt_protocol((*iter)->protocol) << "][" << a << ":" << service.port << "]");
          ROS_DEBUG_STREAM("Zeroconf: \tname: " << service.name);
          ROS_DEBUG_STREAM("Zeroconf: \ttype: " << service.type);
          ROS_DEBUG_STREAM("Zeroconf: \tdomain: " << service.domain);
          ROS_DEBUG_STREAM("Zeroconf: \tinterface: " << interface);
          ROS_DEBUG_STREAM("Zeroconf: \tprotocol: " << zeroconf->ros_to_txt_protocol((*iter)->protocol));
          ROS_DEBUG_STREAM("Zeroconf: \thostname: " << service.hostname);
          ROS_DEBUG_STREAM("Zeroconf: \taddress: " << a);
          ROS_DEBUG_STREAM("Zeroconf: \tport: " << service.port);
          ROS_DEBUG_STREAM("Zeroconf: \tdescription: " << service.description);
          ROS_DEBUG_STREAM("Zeroconf: \tcookie: " << service.cookie);
          ROS_DEBUG_STREAM("Zeroconf: \tis_local: " << (service.is_local ? 1 : 0 ));
          ROS_DEBUG_STREAM("Zeroconf: \tour_own: " << (service.our_own ? 1 : 0 ));
          ROS_DEBUG_STREAM("Zeroconf: \twide_area: " << (service.wide_area ? 1 : 0 ));
          ROS_DEBUG_STREAM("Zeroconf: \tmulticast: " << (service.multicast ? 1 : 0 ));
          /*********************
           ** Signals
           **********************/
          if (zeroconf->new_connection_signal)
          {
            zeroconf->new_connection_signal(service);
          }
        }
        else
        {
          ROS_ERROR_STREAM(
              "Zeroconf: timed out resolving a service that was not saved, probably a zeroconf_avahi bug!");
        }
      }

      avahi_free(t);
      break;
    }
  }
}

/*****************************************************************************
 ** Publisher Callback
 *****************************************************************************/
void Zeroconf::entry_group_callback(AvahiEntryGroup *g, AvahiEntryGroupState state, void *userdata)
{

  Zeroconf *zeroconf = static_cast<Zeroconf*>(userdata);
  switch (state)
  {
    case AVAHI_ENTRY_GROUP_ESTABLISHED:
    {
      PublishedService service;
      {
        boost::mutex::scoped_lock lock(zeroconf->service_mutex);
        service_bimap::left_const_iterator left = zeroconf->committed_services.left.find(g);
        if (left != zeroconf->committed_services.left.end())
        {
          service = left->second;
        }
        else
        {
          ROS_ERROR(
              "Zeroconf : should never reach here, please report a bug in zeroconf_avahi's entry_group_callback.");
          return;
        }
        zeroconf->established_services.insert(service_bimap::value_type(g, service));
        zeroconf->committed_services.left.erase(g);
      }
      ROS_INFO_STREAM(
          "Zeroconf: service successfully established [" << service.name << "][" << service.type << "][" << service.port << "]");
      break;
    }
    case AVAHI_ENTRY_GROUP_COLLISION:
    {
      /* A service name collision with a 'remote' service happened. Let's pick a new name */
      PublishedService service;
      {
        boost::mutex::scoped_lock lock(zeroconf->service_mutex);
        service_bimap::left_const_iterator left = zeroconf->committed_services.left.find(g);
        if (left != zeroconf->committed_services.left.end())
        {
          service = left->second;
        }
        else
        {
          ROS_ERROR(
              "Zeroconf : should never reach here, please report a bug in zeroconf_avahi's entry_group_callback.");
          return;
        }
        zeroconf->committed_services.left.erase(g);
      }
      std::string alternative_name = avahi_alternative_service_name(service.name.c_str());
      ROS_INFO_STREAM(
          "Zeroconf: service name collision, renaming service [" << service.name << "]" << "][" << alternative_name << "]");
      service.name = alternative_name;
      avahi_entry_group_free(g);
      /* And recreate the services - already in the poll thread, so don' tneed to lock. */
      zeroconf->add_service_non_threaded(service);
      break;
    }

    case AVAHI_ENTRY_GROUP_FAILURE:
      /* Some kind of failure happened while we were registering our services */
      // drop our committed_service here.
      ROS_DEBUG_STREAM(
          "Zeroconf: group state changed, system failure when trying to register service [" << avahi_strerror(avahi_client_errno(avahi_entry_group_get_client(g))) << "]");
      avahi_entry_group_free(g);
      zeroconf->fail();
      break;

    case AVAHI_ENTRY_GROUP_UNCOMMITED:
    {
      ROS_DEBUG_STREAM("Zeroconf: group state changed, service uncommitted");
      // This is just mid-process, no need to handle committed_services
      break;
    }
    case AVAHI_ENTRY_GROUP_REGISTERING:
    {
      // This is just mid-process, no need to handle committed_services
      PublishedService service;
      {
        boost::mutex::scoped_lock lock(zeroconf->service_mutex);
        service_bimap::left_const_iterator left = zeroconf->committed_services.left.find(g);
        if (left != zeroconf->committed_services.left.end())
        {
          service = left->second;
        }
        else
        {
          ROS_ERROR(
              "Zeroconf : should never reach here, please report a bug in zeroconf_avahi's entry_group_callback.");
          return;
        }
      }
      ROS_DEBUG_STREAM(
          "Zeroconf: group state changed, service registering [" << service.name << "][" << service.type << "]");
      break;
    }
    default:
    {
      ROS_DEBUG_STREAM("Zeroconf: group state changed, ended in an unknown state [" << state << "]");
      break;
    }
  }
}

/*****************************************************************************
 ** Daemon Callbacks
 *****************************************************************************/
void Zeroconf::client_callback(AvahiClient *c, AvahiClientState state, void *userdata)
{

  Zeroconf *zeroconf = static_cast<Zeroconf*>(userdata);
  assert(c);

  /* Called whenever the client or server state changes */

  switch (state)
  {
    case AVAHI_CLIENT_S_RUNNING:
    {
      /* The server has startup successfully and registered its host
       * name on the network, so it's time to fire up */
      ROS_DEBUG("Zeroconf: avahi client up and running.");
      zeroconf->spin();
      break;
    }
    case AVAHI_CLIENT_FAILURE:
    {
      ROS_ERROR_STREAM("Zeroconf: avahi client failure [" << avahi_strerror(avahi_client_errno(c)) << "]");
      zeroconf->fail();

      break;
    }
    case AVAHI_CLIENT_S_COLLISION:
    {
      ROS_DEBUG("Zeroconf: avahi client collision.");
      /* Let's drop our registered services. When the server is back
       * in AVAHI_SERVER_RUNNING state we will register them
       * again with the new host name. */
      break;
    }
    case AVAHI_CLIENT_S_REGISTERING:
    {
      ROS_DEBUG("Zeroconf: avahi client registering.");

      /* The server records are now being established. This
       * might be caused by a host name change. We need to wait
       * for our own records to register until the host name is
       * properly established. */

      // official example resets the entry group here
      // since we have multiple groups, handling should be a bit more
      // complicated - ToDo
      break;
    }
    case AVAHI_CLIENT_CONNECTING:
    {
      ROS_DEBUG("Zeroconf: avahi client registering.");
      break;
    }
  }
}

} // namespace zeroconf_avahi