network.cpp

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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 Stanford University or 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.
 */
 
#include "config.h"
#include "ros/network.h"
#include "ros/file_log.h"
#include "ros/exceptions.h"
#include "ros/io.h"     // cross-platform headers needed
#include <ros/console.h>
#include <ros/assert.h>
#ifdef HAVE_IFADDRS_H
  #include <ifaddrs.h>
  #include <sys/socket.h>  // supports FreeBSD, which does not include this in ifaddrs.h
#endif
 
#include <boost/lexical_cast.hpp>
 
namespace ros
{
 
namespace network
{
 
std::string g_host;
uint16_t g_tcpros_server_port = 0;
 
const std::string& getHost()
{
  return g_host;
}
 
bool splitURI(const std::string& uri, std::string& host, uint32_t& port)
{
  // skip over the protocol if it's there
  if (uri.substr(0, 7) == std::string("http://"))
    host = uri.substr(7);
  else if (uri.substr(0, 9) == std::string("rosrpc://"))
    host = uri.substr(9);
  // split out the port
  std::string::size_type colon_pos = host.find_first_of(":");
  if (colon_pos == std::string::npos)
    return false;
  std::string port_str = host.substr(colon_pos+1);
  std::string::size_type slash_pos = port_str.find_first_of("/");
  if (slash_pos != std::string::npos)
    port_str = port_str.erase(slash_pos);
  port = atoi(port_str.c_str());
  host = host.erase(colon_pos);
  return true;
}
 
uint16_t getTCPROSPort()
{
  return g_tcpros_server_port;
}
 
static bool isPrivateIP(const char *ip)
{
  bool b = !strncmp("192.168", ip, 7) || !strncmp("10.", ip, 3) ||
           !strncmp("169.254", ip, 7);
  return b;
}
 
std::string determineHost()
{
  std::string ip_env;
  // First, did the user set ROS_HOSTNAME?
  if ( get_environment_variable(ip_env, "ROS_HOSTNAME")) {
    ROSCPP_LOG_DEBUG( "determineIP: using value of ROS_HOSTNAME:%s:", ip_env.c_str());
    if (ip_env.size() == 0)
    {
      ROS_WARN("invalid ROS_HOSTNAME (an empty string)");
    }
    return ip_env;
  }
 
  // Second, did the user set ROS_IP?
  if ( get_environment_variable(ip_env, "ROS_IP")) {
    ROSCPP_LOG_DEBUG( "determineIP: using value of ROS_IP:%s:", ip_env.c_str());
    if (ip_env.size() == 0)
    {
      ROS_WARN("invalid ROS_IP (an empty string)");
    }
    return ip_env;
  }
 
  // Third, try the hostname
  char host[1024];
  memset(host,0,sizeof(host));
  if(gethostname(host,sizeof(host)-1) != 0)
  {
    ROS_ERROR("determineIP: gethostname failed");
  }
  // We don't want localhost to be our ip
  else if(strlen(host) && strcmp("localhost", host))
  {
    return std::string(host);
  }
 
  // Fourth, fall back on interface search, which will yield an IP address
 
#ifdef HAVE_IFADDRS_H
  struct ifaddrs *ifa = NULL, *ifp = NULL;
  int rc;
  if ((rc = getifaddrs(&ifp)) < 0)
  {
    ROS_FATAL("error in getifaddrs: [%s]", strerror(rc));
    ROS_BREAK();
  }
  char preferred_ip[200] = {0};
  for (ifa = ifp; ifa; ifa = ifa->ifa_next)
  {
    char ip_[200];
    socklen_t salen;
    if (!ifa->ifa_addr)
      continue; // evidently this interface has no ip address
    if (ifa->ifa_addr->sa_family == AF_INET)
      salen = sizeof(struct sockaddr_in);
    else if (ifa->ifa_addr->sa_family == AF_INET6)
      salen = sizeof(struct sockaddr_in6);
    else
      continue;
    if (getnameinfo(ifa->ifa_addr, salen, ip_, sizeof(ip_), NULL, 0,
                    NI_NUMERICHOST) < 0)
    {
      ROSCPP_LOG_DEBUG( "getnameinfo couldn't get the ip of interface [%s]", ifa->ifa_name);
      continue;
    }
    //ROS_INFO( "ip of interface [%s] is [%s]", ifa->ifa_name, ip);
    // prefer non-private IPs over private IPs
    if (!strcmp("127.0.0.1", ip_) || strchr(ip_,':'))
      continue; // ignore loopback unless we have no other choice
    if (ifa->ifa_addr->sa_family == AF_INET6 && !preferred_ip[0])
      strcpy(preferred_ip, ip_);
    else if (isPrivateIP(ip_) && !preferred_ip[0])
      strcpy(preferred_ip, ip_);
    else if (!isPrivateIP(ip_) &&
             (isPrivateIP(preferred_ip) || !preferred_ip[0]))
      strcpy(preferred_ip, ip_);
  }
  freeifaddrs(ifp);
  if (!preferred_ip[0])
  {
    ROS_ERROR( "Couldn't find a preferred IP via the getifaddrs() call; I'm assuming that your IP "
        "address is 127.0.0.1.  This should work for local processes, "
        "but will almost certainly not work if you have remote processes."
        "Report to the ROS development team to seek a fix.");
    return std::string("127.0.0.1");
  }
  ROSCPP_LOG_DEBUG( "preferred IP is guessed to be %s", preferred_ip);
  return std::string(preferred_ip);
#else
  // @todo Fix IP determination in the case where getifaddrs() isn't
  // available.
  ROS_ERROR( "You don't have the getifaddrs() call; I'm assuming that your IP "
             "address is 127.0.0.1.  This should work for local processes, "
             "but will almost certainly not work if you have remote processes."
             "Report to the ROS development team to seek a fix.");
  return std::string("127.0.0.1");
#endif
}
 
void init(const M_string& remappings)
{
  M_string::const_iterator it = remappings.find("__hostname");
  if (it != remappings.end())
  {
    g_host = it->second;
  }
  else
  {
    it = remappings.find("__ip");
    if (it != remappings.end())
    {
      g_host = it->second;
    }
  }
 
  it = remappings.find("__tcpros_server_port");
  if (it != remappings.end())
  {
    try
    {
      g_tcpros_server_port = boost::lexical_cast<uint16_t>(it->second);
    }
    catch (boost::bad_lexical_cast&)
    {
      throw ros::InvalidPortException("__tcpros_server_port [" + it->second + "] was not specified as a number within the 0-65535 range");
    }
  }
 
  if (g_host.empty())
  {
    g_host = determineHost();
  }
}
 
} // namespace network
 
} // namespace ros