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Add sessionId to serverInfo (#153)
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**Public-Facing Changes**
- Add `sessionId` to `serverInfo`

**Description**
- Simplifies passing options to the server constructor (struct instead
of individual params)
- Fixes a minor clang compilation error
- Add `sessionId` to `serverInfo`
- ROS1: Use `/run_id` parameter and `std::time(0)` if the parameter is
not set
  - ROS2: `std::time(0)`

---------

Co-authored-by: John Hurliman <jhurliman@jhurliman.org>
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@achim-k @jhurliman
achim-k and jhurliman authored Feb 8, 2023
1 parent 0354ccd commit 78cfc8e
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Showing 3 changed files with 48 additions and 49 deletions.
54 changes: 24 additions & 30 deletions foxglove_bridge_base/include/foxglove_bridge/websocket_server.hpp
View file
Original file line number Diff line number Diff line change
Expand Up @@ -187,6 +187,16 @@ class ServerInterface {
virtual void setupTlsHandler() = 0;
};

struct ServerOptions {
std::vector<std::string> capabilities;
std::vector<std::string> supportedEncodings;
std::unordered_map<std::string, std::string> metadata;
size_t sendBufferLimitBytes = DEFAULT_SEND_BUFFER_LIMIT_BYTES;
std::string certfile = "";
std::string keyfile = "";
std::string sessionId;
};

template <typename ServerConfiguration>
class Server final : public ServerInterface {
public:
Expand All @@ -196,12 +206,7 @@ class Server final : public ServerInterface {

static bool USES_TLS;

explicit Server(std::string name, LogCallback logger,
const std::vector<std::string>& capabilities,
const std::vector<std::string>& supportedEncodings = {},
const std::unordered_map<std::string, std::string>& metadata = {},
size_t send_buffer_limit_bytes = DEFAULT_SEND_BUFFER_LIMIT_BYTES,
const std::string& certfile = "", const std::string& keyfile = "");
explicit Server(std::string name, LogCallback logger, const ServerOptions& options);
virtual ~Server();

Server(const Server&) = delete;
Expand Down Expand Up @@ -255,12 +260,7 @@ class Server final : public ServerInterface {

std::string _name;
LogCallback _logger;
std::vector<std::string> _capabilities;
std::vector<std::string> _supportedEncodings;
std::unordered_map<std::string, std::string> _metadata;
size_t _send_buffer_limit_bytes;
std::string _certfile;
std::string _keyfile;
ServerOptions _options;
ServerType _server;
std::unique_ptr<std::thread> _serverThread;

Expand Down Expand Up @@ -306,19 +306,11 @@ class Server final : public ServerInterface {
};

template <typename ServerConfiguration>
inline Server<ServerConfiguration>::Server(
std::string name, LogCallback logger, const std::vector<std::string>& capabilities,
const std::vector<std::string>& supportedEncodings,
const std::unordered_map<std::string, std::string>& metadata, size_t send_buffer_limit_bytes,
const std::string& certfile, const std::string& keyfile)
inline Server<ServerConfiguration>::Server(std::string name, LogCallback logger,
const ServerOptions& options)
: _name(std::move(name))
, _logger(logger)
, _capabilities(capabilities)
, _supportedEncodings(supportedEncodings)
, _metadata(metadata)
, _send_buffer_limit_bytes(send_buffer_limit_bytes)
, _certfile(certfile)
, _keyfile(keyfile) {
, _options(options) {
// Redirect logging
_server.get_alog().set_callback(_logger);
_server.get_elog().set_callback(_logger);
Expand Down Expand Up @@ -382,9 +374,10 @@ inline void Server<ServerConfiguration>::handleConnectionOpened(ConnHandle hdl)
con->send(json({
{"op", "serverInfo"},
{"name", _name},
{"capabilities", _capabilities},
{"supportedEncodings", _supportedEncodings},
{"metadata", _metadata},
{"capabilities", _options.capabilities},
{"supportedEncodings", _options.supportedEncodings},
{"metadata", _options.metadata},
{"sessionId", _options.sessionId},
})
.dump());

Expand Down Expand Up @@ -1108,7 +1101,7 @@ inline void Server<ServerConfiguration>::sendMessage(ConnHandle clientHandle, Ch
}

const auto bufferSizeinBytes = con->get_buffered_amount();
if (bufferSizeinBytes >= _send_buffer_limit_bytes) {
if (bufferSizeinBytes >= _options.sendBufferLimitBytes) {
FOXGLOVE_DEBOUNCE(
[this]() {
_server.get_elog().write(
Expand Down Expand Up @@ -1219,7 +1212,8 @@ inline void Server<ServerConfiguration>::unsubscribeParamsWithoutSubscriptions(

template <typename ServerConfiguration>
inline bool Server<ServerConfiguration>::hasCapability(const std::string& capability) const {
return std::find(_capabilities.begin(), _capabilities.end(), capability) != _capabilities.end();
return std::find(_options.capabilities.begin(), _options.capabilities.end(), capability) !=
_options.capabilities.end();
}

template <>
Expand All @@ -1244,8 +1238,8 @@ inline void Server<WebSocketTls>::setupTlsHandler() {
try {
ctx->set_options(asio::ssl::context::default_workarounds | asio::ssl::context::no_tlsv1 |
asio::ssl::context::no_sslv2 | asio::ssl::context::no_sslv3);
ctx->use_certificate_chain_file(_certfile);
ctx->use_private_key_file(_keyfile, asio::ssl::context::pem);
ctx->use_certificate_chain_file(_options.certfile);
ctx->use_private_key_file(_options.keyfile, asio::ssl::context::pem);

// Ciphers are taken from the websocketpp example echo tls server:
// /~https://github.com/zaphoyd/websocketpp/blob/1b11fd301/examples/echo_server_tls/echo_server_tls.cpp#L119
Expand Down
23 changes: 13 additions & 10 deletions ros1_foxglove_bridge/src/ros1_foxglove_bridge_nodelet.cpp
View file
Original file line number Diff line number Diff line change
Expand Up @@ -53,6 +53,7 @@ class FoxgloveBridge : public nodelet::Nodelet {
const auto keyfile = nhp.param<std::string>("keyfile", "");
_maxUpdateMs = static_cast<size_t>(nhp.param<int>("max_update_ms", DEFAULT_MAX_UPDATE_MS));
_useSimTime = nhp.param<bool>("/use_sim_time", false);
const auto sessionId = nhp.param<std::string>("/run_id", std::to_string(std::time(nullptr)));

const auto topicWhitelistPatterns =
nhp.param<std::vector<std::string>>("topic_whitelist", {".*"});
Expand All @@ -76,29 +77,31 @@ class FoxgloveBridge : public nodelet::Nodelet {
foxglove::WebSocketUserAgent());

try {
std::vector<std::string> serverCapabilities = {
foxglove::ServerOptions serverOptions;
serverOptions.capabilities = {
foxglove::CAPABILITY_CLIENT_PUBLISH,
foxglove::CAPABILITY_PARAMETERS,
foxglove::CAPABILITY_PARAMETERS_SUBSCRIBE,
foxglove::CAPABILITY_SERVICES,
};
if (_useSimTime) {
serverCapabilities.push_back(foxglove::CAPABILITY_TIME);
serverOptions.capabilities.push_back(foxglove::CAPABILITY_TIME);
}
const std::vector<std::string> supportedEncodings = {ROS1_CHANNEL_ENCODING};
const std::unordered_map<std::string, std::string> metadata = {
{"ROS_DISTRO", std::getenv("ROS_DISTRO")}};
serverOptions.supportedEncodings = {ROS1_CHANNEL_ENCODING};
serverOptions.metadata = {{"ROS_DISTRO", std::getenv("ROS_DISTRO")}};
serverOptions.sendBufferLimitBytes = send_buffer_limit;
serverOptions.sessionId = sessionId;

const auto logHandler =
std::bind(&FoxgloveBridge::logHandler, this, std::placeholders::_1, std::placeholders::_2);
if (useTLS) {
serverOptions.certfile = certfile;
serverOptions.keyfile = keyfile;
_server = std::make_unique<foxglove::Server<foxglove::WebSocketTls>>(
"foxglove_bridge", std::move(logHandler), serverCapabilities, supportedEncodings,
metadata, send_buffer_limit, certfile, keyfile);
"foxglove_bridge", std::move(logHandler), serverOptions);
} else {
_server = std::make_unique<foxglove::Server<foxglove::WebSocketNoTls>>(
"foxglove_bridge", std::move(logHandler), serverCapabilities, supportedEncodings,
metadata, send_buffer_limit);
"foxglove_bridge", std::move(logHandler), serverOptions);
}

_server->setSubscribeHandler(std::bind(&FoxgloveBridge::subscribeHandler, this,
Expand Down Expand Up @@ -525,7 +528,7 @@ class FoxgloveBridge : public nodelet::Nodelet {

// Advertise new services
std::vector<foxglove::ServiceWithoutId> newServices;
for (const auto serviceName : serviceNames) {
for (const auto& serviceName : serviceNames) {
if (std::find_if(_advertisedServices.begin(), _advertisedServices.end(),
[&serviceName](const auto& idWithService) {
return idWithService.second.name == serviceName;
Expand Down
20 changes: 11 additions & 9 deletions ros2_foxglove_bridge/src/ros2_foxglove_bridge.cpp
View file
Original file line number Diff line number Diff line change
Expand Up @@ -57,27 +57,29 @@ class FoxgloveBridge : public rclcpp::Node {
_paramInterface = std::make_shared<ParameterInterface>(this, paramWhitelistPatterns);

const auto logHandler = std::bind(&FoxgloveBridge::logHandler, this, _1, _2);
std::vector<std::string> serverCapabilities = {
foxglove::ServerOptions serverOptions;
serverOptions.capabilities = {
foxglove::CAPABILITY_CLIENT_PUBLISH,
foxglove::CAPABILITY_PARAMETERS,
foxglove::CAPABILITY_PARAMETERS_SUBSCRIBE,
foxglove::CAPABILITY_SERVICES,
};
if (_useSimTime) {
serverCapabilities.push_back(foxglove::CAPABILITY_TIME);
serverOptions.capabilities.push_back(foxglove::CAPABILITY_TIME);
}
const std::vector<std::string> supportedEncodings = {"cdr"};
const std::unordered_map<std::string, std::string> metadata = {
{"ROS_DISTRO", std::getenv("ROS_DISTRO")}};
serverOptions.supportedEncodings = {"cdr"};
serverOptions.metadata = {{"ROS_DISTRO", std::getenv("ROS_DISTRO")}};
serverOptions.sendBufferLimitBytes = send_buffer_limit;
serverOptions.sessionId = std::to_string(std::time(nullptr));

if (useTLS) {
serverOptions.certfile = certfile;
serverOptions.keyfile = keyfile;
_server = std::make_unique<foxglove::Server<foxglove::WebSocketTls>>(
"foxglove_bridge", std::move(logHandler), serverCapabilities, supportedEncodings, metadata,
send_buffer_limit, certfile, keyfile);
"foxglove_bridge", std::move(logHandler), serverOptions);
} else {
_server = std::make_unique<foxglove::Server<foxglove::WebSocketNoTls>>(
"foxglove_bridge", std::move(logHandler), serverCapabilities, supportedEncodings, metadata,
send_buffer_limit);
"foxglove_bridge", std::move(logHandler), serverOptions);
}
_server->setSubscribeHandler(std::bind(&FoxgloveBridge::subscribeHandler, this, _1, _2));
_server->setUnsubscribeHandler(std::bind(&FoxgloveBridge::unsubscribeHandler, this, _1, _2));
Expand Down

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