/tools/rosgraph/src/rosgraph/network.py

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# Revision $Id: network.py 15125 2011-10-06 02:51:15Z kwc $

"""
Network APIs for ROS-based systems, including IP address and ROS
TCP header libraries. Because ROS-based runtimes must respect the
ROS_IP and ROS_HOSTNAME environment variables, ROS-specific APIs
are necessary for correctly retrieving local IP address
information.
"""

import logging
import os
import socket
import struct
import sys
import platform

try:
    from cStringIO import StringIO #Python 2.x
    python3 = 0
except ImportError:
    from io import BytesIO #Python 3.x
    python3 = 1

try:
    import urllib.parse as urlparse
except ImportError:
    import urlparse

from .rosenv import ROS_IP, ROS_HOSTNAME, ROS_IPV6

SIOCGIFCONF = 0x8912
SIOCGIFADDR = 0x8915
if platform.system() == 'FreeBSD':
    SIOCGIFADDR = 0xc0206921
    if platform.architecture()[0] == '64bit':
        SIOCGIFCONF = 0xc0106924
    else:
        SIOCGIFCONF = 0xc0086924

logger = logging.getLogger('rosgraph.network')

def parse_http_host_and_port(url):
    """
    Convenience routine to handle parsing and validation of HTTP URL
    port due to the fact that Python only provides easy accessors in
    Python 2.5 and later. Validation checks that the protocol and host
    are set.
    
    :param url: URL to parse, ``str``
    :returns: hostname and port number in URL or 80 (default), ``(str, int)``
    :raises: :exc:`ValueError` If the url does not validate
    """
    # can't use p.port because that's only available in Python 2.5
    if not url:
        raise ValueError('not a valid URL')        
    p = urlparse.urlparse(url)
    if not p[0] or not p[1]: #protocol and host
        raise ValueError('not a valid URL')
    if ':' in p[1]:
        hostname, port = p[1].split(':')
        port = int(port)
    else: 
        hostname, port = p[1], 80
    return hostname, port
    
def _is_unix_like_platform():
    """
    :returns: true if the platform conforms to UNIX/POSIX-style APIs
    @rtype: bool
    """
    #return platform.system() in ['Linux', 'Mac OS X', 'Darwin']
    return platform.system() in ['Linux', 'FreeBSD']

def get_address_override():
    """
    :returns: ROS_IP/ROS_HOSTNAME override or None, ``str``
    :raises: :exc:`ValueError` If ROS_IP/ROS_HOSTNAME/__ip/__hostname are invalidly specified
    """
    # #998: check for command-line remappings first
    # TODO IPV6: check for compatibility
    for arg in sys.argv:
        if arg.startswith('__hostname:=') or arg.startswith('__ip:='):
            try:
                _, val = arg.split(':=')
                return val
            except: #split didn't unpack properly
                raise ValueError("invalid ROS command-line remapping argument '%s'"%arg)

    # check ROS_HOSTNAME and ROS_IP environment variables, which are
    # aliases for each other
    if ROS_HOSTNAME in os.environ:
        hostname = os.environ[ROS_HOSTNAME]
        if hostname == '':
            msg = 'invalid ROS_HOSTNAME (an empty string)'
            sys.stderr.write(msg + '\n')
            logger.warn(msg)
        else:
            parts = urlparse.urlparse(hostname)
            if parts.scheme:
                msg = 'invalid ROS_HOSTNAME (protocol ' + ('and port ' if parts.port else '') + 'should not be included)'
                sys.stderr.write(msg + '\n')
                logger.warn(msg)
            elif hostname.find(':') != -1:
                # this can not be checked with urlparse()
                # since it does not extract the port for a hostname like "foo:1234"
                msg = 'invalid ROS_HOSTNAME (port should not be included)'
                sys.stderr.write(msg + '\n')
                logger.warn(msg)
        return hostname
    elif ROS_IP in os.environ:
        ip = os.environ[ROS_IP]
        if ip == '':
            msg = 'invalid ROS_IP (an empty string)'
            sys.stderr.write(msg + '\n')
            logger.warn(msg)
        elif ip.find('://') != -1:
            msg = 'invalid ROS_IP (protocol should not be included)'
            sys.stderr.write(msg + '\n')
            logger.warn(msg)
        elif ip.find('.') != -1 and ip.rfind(':') > ip.rfind('.'):
            msg = 'invalid ROS_IP (port should not be included)'
            sys.stderr.write(msg + '\n')
            logger.warn(msg)
        elif ip.find('.') == -1 and ip.find(':') == -1:
            msg = 'invalid ROS_IP (must be a valid IPv4 or IPv6 address)'
            sys.stderr.write(msg + '\n')
            logger.warn(msg)
        return ip
    return None

def is_local_address(hostname):
    """
    :param hostname: host name/address, ``str``
    :returns True: if hostname maps to a local address, False otherwise. False conditions include invalid hostnames.
    """
    try:
        reverse_ips = [host[4][0] for host in socket.getaddrinfo(hostname, 0, 0, 0, socket.SOL_TCP)]
    except socket.error:
        return False
    local_addresses = ['localhost'] + get_local_addresses()
    # 127. check is due to #1260
    if ([ip for ip in reverse_ips if (ip.startswith('127.') or ip == '::1')] != []) or (set(reverse_ips) & set(local_addresses) != set()):
        return True
    return False
    
def get_local_address():
    """
    :returns: default local IP address (e.g. eth0). May be overriden by ROS_IP/ROS_HOSTNAME/__ip/__hostname, ``str``
    """
    override = get_address_override()
    if override:
        return override
    addrs = get_local_addresses()
    if len(addrs) == 1:
        return addrs[0]
    for addr in addrs:
        # pick first non 127/8 address
        if not addr.startswith('127.') and not addr == '::1':
            return addr
    else: # loopback
        if use_ipv6():
            return '::1'
        else:
            return '127.0.0.1'

# cache for performance reasons
_local_addrs = None
def get_local_addresses():
    """
    :returns: known local addresses. Not affected by ROS_IP/ROS_HOSTNAME, ``[str]``
    """
    # cache address data as it can be slow to calculate
    global _local_addrs
    if _local_addrs is not None:
        return _local_addrs

    local_addrs = None
    if _is_unix_like_platform():
        # unix-only branch
        v4addrs = []
        v6addrs = []
        import netifaces
        for iface in netifaces.interfaces():
            try:
                ifaddrs = netifaces.ifaddresses(iface)
            except ValueError:
                # even if interfaces() returns an interface name
                # ifaddresses() might raise a ValueError
                # https://bugs.launchpad.net/ubuntu/+source/netifaces/+bug/753009
                continue
            if socket.AF_INET in ifaddrs:
                v4addrs.extend([addr['addr'] for addr in ifaddrs[socket.AF_INET]])
            if socket.AF_INET6 in ifaddrs:
                v6addrs.extend([addr['addr'] for addr in ifaddrs[socket.AF_INET6]])
        if use_ipv6():
            local_addrs = v6addrs + v4addrs
        else:
            local_addrs = v4addrs
    else:
        # cross-platform branch, can only resolve one address
        if use_ipv6():
            local_addrs = [host[4][0] for host in socket.getaddrinfo(socket.gethostname(), 0, 0, 0, socket.SOL_TCP)]
        else:
            local_addrs = [host[4][0] for host in socket.getaddrinfo(socket.gethostname(), 0, socket.AF_INET, 0, socket.SOL_TCP)]
    _local_addrs = local_addrs
    return local_addrs

def use_ipv6():
    return ROS_IPV6 in os.environ and os.environ[ROS_IPV6] == 'on'

def get_bind_address(address=None):
    """
    :param address: (optional) address to compare against, ``str``
    :returns: address TCP/IP sockets should use for binding. This is
      generally 0.0.0.0, but if \a address or ROS_IP/ROS_HOSTNAME is set
      to localhost it will return 127.0.0.1, ``str``
    """
    if address is None:
        address = get_address_override()
    if address and (address == 'localhost' or address.startswith('127.') or address == '::1' ):
        #localhost or 127/8
        if use_ipv6():
            return '::1'
        else:
            return '127.0.0.1' #loopback
    else:
        if use_ipv6():
            return '::'
        else:
            return '0.0.0.0'

# #528: semi-complicated logic for determining XML-RPC URI
def get_host_name():
    """
    Determine host-name for use in host-name-based addressing (e.g. XML-RPC URIs):
     - if ROS_IP/ROS_HOSTNAME is set, use that address
     - if the hostname returns a non-localhost value, use that
     - use whatever L{get_local_address()} returns
    """
    hostname = get_address_override()
    if not hostname:
        try:
            hostname = socket.gethostname()
        except:
            pass
        if not hostname or hostname == 'localhost' or hostname.startswith('127.'):
            hostname = get_local_address()
    return hostname

def create_local_xmlrpc_uri(port):
    """
    Determine the XMLRPC URI for local servers. This handles the search
    logic of checking ROS environment variables, the known hostname,
    and local interface IP addresses to determine the best possible
    URI.
    
    :param port: port that server is running on, ``int``
    :returns: XMLRPC URI, ``str``
    """
    #TODO: merge logic in rosgraph.xmlrpc with this routine
    # in the future we may not want to be locked to http protocol nor root path
    return 'http://%s:%s/'%(get_host_name(), port)


## handshake utils ###########################################

class ROSHandshakeException(Exception):
    """
    Exception to represent errors decoding handshake
    """
    pass

def decode_ros_handshake_header(header_str):
    """
    Decode serialized ROS handshake header into a Python dictionary

    header is a list of string key=value pairs, each prefixed by a
    4-byte length field. It is preceeded by a 4-byte length field for
    the entire header.
    
    :param header_str: encoded header string. May contain extra data at the end, ``str``
    :returns: key value pairs encoded in \a header_str, ``{str: str}``
    """
    (size, ) = struct.unpack('<I', header_str[0:4])
    size += 4 # add in 4 to include size of size field
    header_len = len(header_str)
    if size > header_len:
        raise ROSHandshakeException("Incomplete header. Expected %s bytes but only have %s"%((size+4), header_len))

    d = {}
    start = 4
    while start < size:
        (field_size, ) = struct.unpack('<I', header_str[start:start+4])
        if field_size == 0:
            raise ROSHandshakeException("Invalid 0-length handshake header field")
        start += field_size + 4
        if start > size:
            raise ROSHandshakeException("Invalid line length in handshake header: %s"%size)
        line = header_str[start-field_size:start]
        
        #python3 compatibility
        if python3 == 1:
            line = line.decode()
        
        idx = line.find("=")
        if idx < 0:
            raise ROSHandshakeException("Invalid line in handshake header: [%s]"%line)
        key = line[:idx]
        value = line[idx+1:]
        d[key.strip()] = value
    return d
    
def read_ros_handshake_header(sock, b, buff_size):
    """
    Read in tcpros header off the socket \a sock using buffer \a b.
    
    :param sock: socket must be in blocking mode, ``socket``
    :param b: buffer to use, ``StringIO`` for Python2, ``BytesIO`` for Python 3
    :param buff_size: incoming buffer size to use, ``int``
    :returns: key value pairs encoded in handshake, ``{str: str}``
    :raises: :exc:`ROSHandshakeException` If header format does not match expected
    """
    header_str = None
    while not header_str:
        d = sock.recv(buff_size)
        if not d:
            raise ROSHandshakeException("connection from sender terminated before handshake header received. %s bytes were received. Please check sender for additional details."%b.tell())
        b.write(d)
        btell = b.tell()
        if btell > 4:
            # most likely we will get the full header in the first recv, so
            # not worth tiny optimizations possible here
            bval = b.getvalue()
            (size,) = struct.unpack('<I', bval[0:4])
            if btell - 4 >= size:
                header_str = bval
                    
                # memmove the remnants of the buffer back to the start
                leftovers = bval[size+4:]
                b.truncate(len(leftovers))
                b.seek(0)
                b.write(leftovers)
                header_recvd = True
                    
    # process the header
    return decode_ros_handshake_header(bval)

def encode_ros_handshake_header(header):
    """
    Encode ROS handshake header as a byte string. Each header
    field is a string key value pair. The encoded header is
    prefixed by a length field, as is each field key/value pair.
    key/value pairs a separated by a '=' equals sign.

    FORMAT: (4-byte length + [4-byte field length + field=value ]*)

    :param header: header field keys/values, ``dict``
    :returns: header encoded as byte string, ``str``
    """    
    fields = ["%s=%s"%(k,v) for k,v in header.items()]
    
    # in the usual configuration, the error 'TypeError: can't concat bytes to str' appears:
    if python3 == 0:
        #python 2
        s = ''.join(["%s%s"%(struct.pack('<I', len(f)), f) for f in fields])
        return struct.pack('<I', len(s)) + s
    else:
        #python 3 
        s = b''.join([(struct.pack('<I', len(f)) + f.encode("utf-8")) for f in fields])
        return struct.pack('<I', len(s)) + s
                                        
def write_ros_handshake_header(sock, header):
    """
    Write ROS handshake header header to socket sock

    :param sock: socket to write to (must be in blocking mode), ``socket.socket``
    :param header: header field keys/values, ``{str : str}``
    :returns: Number of bytes sent (for statistics), ``int``
    """
    s = encode_ros_handshake_header(header)
    sock.sendall(s)
    return len(s) #STATS