service_client.go

package goroslib

import (
	"context"
	"errors"
	"fmt"
	"net"
	"reflect"
	"sync"
	"time"

	"github.com/bluenviron/goroslib/v2/pkg/msgproc"
	"github.com/bluenviron/goroslib/v2/pkg/protocommon"
	"github.com/bluenviron/goroslib/v2/pkg/prototcp"
	"github.com/bluenviron/goroslib/v2/pkg/serviceproc"
)

// ServiceClientConf is the configuration of a ServiceClient.
type ServiceClientConf struct {
	// parent node.
	Node *Node

	// name of the service from which providers will be obtained.
	Name string

	// an instance of the service type.
	Srv interface{}

	// (optional) enable keep-alive packets, that are
	// useful when there's a firewall between nodes.
	EnableKeepAlive bool
}

// ServiceClient is a ROS service client, an entity that can send requests to
// service providers and receive responses.
type ServiceClient struct {
	conf   ServiceClientConf
	srvReq interface{}
	srvRes interface{}
	srvMD5 string
	mutex  sync.Mutex
	nconn  net.Conn
	tconn  *prototcp.Conn
}

// NewServiceClient allocates a ServiceClient. See ServiceClientConf for the options.
func NewServiceClient(conf ServiceClientConf) (*ServiceClient, error) {
	if conf.Node == nil {
		return nil, fmt.Errorf("Node is empty")
	}

	if conf.Name == "" {
		return nil, fmt.Errorf("Name is empty")
	}

	if conf.Srv == nil {
		return nil, fmt.Errorf("Srv is empty")
	}

	if reflect.TypeOf(conf.Srv).Kind() != reflect.Ptr {
		return nil, fmt.Errorf("Srv is not a pointer")
	}

	srvElem := reflect.ValueOf(conf.Srv).Elem().Interface()

	srvReq, srvRes, err := serviceproc.RequestResponse(srvElem)
	if err != nil {
		return nil, err
	}

	srvMD5, err := serviceproc.MD5(srvElem)
	if err != nil {
		return nil, err
	}

	conf.Name = conf.Node.applyCliRemapping(conf.Name)

	sc := &ServiceClient{
		conf:   conf,
		srvReq: srvReq,
		srvRes: srvRes,
		srvMD5: srvMD5,
	}

	sc.conf.Node.Log(LogLevelDebug, "service client '%s' created",
		sc.conf.Node.absoluteTopicName(conf.Name))

	return sc, nil
}

// Close closes a ServiceClient and shuts down all its operations.
func (sc *ServiceClient) Close() {
	if sc.nconn != nil {
		sc.nconn.Close()
	}

	sc.conf.Node.Log(LogLevelDebug, "service client '%s' destroyed",
		sc.conf.Node.absoluteTopicName(sc.conf.Name))
}

// Call sends a request to a service provider and reads a response.
func (sc *ServiceClient) Call(req interface{}, res interface{}) error {
	return sc.CallContext(context.Background(), req, res)
}

// CallContext sends a request to a service provider and reads a response.
// It allows to set a context that can be used to terminate the function.
func (sc *ServiceClient) CallContext(ctx context.Context, req interface{}, res interface{}) error {
	if !haveSameMD5(reflect.ValueOf(req).Elem().Interface(), sc.srvReq) {
		panic("wrong req")
	}
	if !haveSameMD5(reflect.ValueOf(res).Elem().Interface(), sc.srvRes) {
		panic("wrong res")
	}

	sc.mutex.Lock()
	err := sc.callContextInner(ctx, req, res)
	sc.mutex.Unlock()

	return err
}

func (sc *ServiceClient) callContextInner(ctx context.Context, req interface{}, res interface{}) error {
	connCreatedInThisCall := false

	if sc.nconn == nil {
		err := sc.createConn(ctx)
		if err != nil {
			return err
		}
		connCreatedInThisCall = true
	}

	state, err := sc.writeMessageReadResponse(ctx, req, res)
	if err != nil {
		sc.nconn.Close()
		sc.nconn = nil
		sc.tconn = nil

		// if the connection was created previously, it could be damaged or
		// linked to an invalid provider.
		// do another try.
		if !connCreatedInThisCall {
			return sc.callContextInner(ctx, req, res)
		}

		return err
	}

	if !state {
		sc.nconn.Close()
		sc.nconn = nil
		sc.tconn = nil

		return fmt.Errorf("service returned a failure state")
	}

	return nil
}

func (sc *ServiceClient) writeMessageReadResponse(ctx context.Context, req interface{}, res interface{}) (bool, error) {
	funcDone := make(chan struct{})
	go func() {
		select {
		case <-ctx.Done():
			sc.nconn.Close()

		case <-funcDone:
			return
		}
	}()
	defer close(funcDone)

	sc.nconn.SetWriteDeadline(time.Now().Add(sc.conf.Node.conf.WriteTimeout))
	err := sc.tconn.WriteMessage(req)
	if err != nil {
		return false, err
	}

	sc.nconn.SetReadDeadline(time.Now().Add(sc.conf.Node.conf.ReadTimeout))
	return sc.tconn.ReadServiceResponse(res)
}

func (sc *ServiceClient) createConn(ctx context.Context) error {
	ur, err := sc.conf.Node.apiMasterClient.LookupService(
		sc.conf.Node.absoluteTopicName(sc.conf.Name))
	if err != nil {
		return fmt.Errorf("lookupService: %w", err)
	}

	address, err := urlToAddress(ur)
	if err != nil {
		return err
	}

	ctx2, ctx2Cancel := context.WithTimeout(ctx, sc.conf.Node.conf.ReadTimeout)
	defer ctx2Cancel()

	nconn, err := (&net.Dialer{}).DialContext(ctx2, "tcp", address)
	if err != nil {
		return err
	}
	tconn := prototcp.NewConn(nconn)

	if sc.conf.EnableKeepAlive {
		nconn.(*net.TCPConn).SetKeepAlive(true)
		nconn.(*net.TCPConn).SetKeepAlivePeriod(60 * time.Second)
	}

	nconn.SetWriteDeadline(time.Now().Add(sc.conf.Node.conf.WriteTimeout))
	err = tconn.WriteHeader(&prototcp.HeaderServiceClient{
		Callerid:   sc.conf.Node.absoluteName(),
		Md5sum:     sc.srvMD5,
		Persistent: 1,
		Service:    sc.conf.Node.absoluteTopicName(sc.conf.Name),
	})
	if err != nil {
		nconn.Close()
		return err
	}

	nconn.SetReadDeadline(time.Now().Add(sc.conf.Node.conf.ReadTimeout))
	raw, err := tconn.ReadHeaderRaw()
	if err != nil {
		nconn.Close()
		return err
	}

	if strErr, ok := raw["error"]; ok {
		nconn.Close()
		return errors.New(strErr)
	}

	var outHeader prototcp.HeaderServiceProvider
	err = protocommon.HeaderDecode(raw, &outHeader)
	if err != nil {
		nconn.Close()
		return err
	}

	if outHeader.Md5sum != sc.srvMD5 {
		nconn.Close()
		return fmt.Errorf("wrong message checksum: expected %s, got %s",
			sc.srvMD5, outHeader.Md5sum)
	}

	sc.nconn = nconn
	sc.tconn = tconn

	return nil
}

func haveSameMD5(a interface{}, b interface{}) bool {
	// if input types are the same, skip MD5 computation in order to improve performance
	if reflect.TypeOf(a) == reflect.TypeOf(b) {
		return true
	}

	ac, _ := msgproc.MD5(a)
	bc, _ := msgproc.MD5(b)
	return ac == bc
}