/// <summary>
/// This function starts the XmlRpcServer used to handle inbound calls on this node
/// </summary>
/// <param name="port">The optional argument is used to force ROS to try to bind to a specific port.
/// Doing so should only be done when acting as the RosMaster.</param>
public void Start(int port = 0)
{
shuttingDown = false;
Bind("getPid", getPid);
// if port is 0, then we need to get our hostname from ROS' network init,
// and we don't know our port until we're bound and listening
bool bound = server.BindAndListen(port);
if (!bound)
{
throw new Exception("RPCServer bind failed");
}
if (port == 0)
{
this.port = server.Port; // get bind result
this.uri = $"http://{Network.host}:{this.port}/";
}
else
{
this.port = port;
this.uri = ROS.ROS_MASTER_URI; // if port is not 0 we are be the master
}
//ROS.Info()( $"[{ThisNode.Name}] XmlRpc Server listening at " + uri );
serverThread = new Thread(ServerThreadFunc)
{
IsBackground = true
};
serverThread.Start();
}
/// <summary>
/// This function starts the XmlRpcServer used to handle inbound calls on this node
/// </summary>
/// <param name="port">The optional argument is used to force ROS to try to bind to a specific port.
/// Doing so should only be done when acting as the RosMaster.</param>
public void Start(int port = 0)
{
disposed = false;
Bind("getPid", getPid);
// if port is 0, then we need to get our hostname from ROS' network init,
// and we don't know our port until we're bound and listening
bool bound = server.BindAndListen(port);
if (!bound)
{
throw new Exception("RPCServer bind failed");
}
if (port == 0)
{
this.port = server.Port; // get bind result
this.uri = "http://" + Network.Host + ":" + this.port + "/";
}
else
{
this.port = port;
this.uri = ROS.ROS_MASTER_URI; // if port is non-zero we are the master
}
logger.LogInformation("XmlRpc Server listening at " + uri);
serverThread = new Thread(ServerThreadFunc)
{
IsBackground = true
};
serverThread.Start();
}
public void Start(String hostname)
{
int what = int.Parse(hostname.Split(':')[2].TrimEnd('/'));
shutting_down = false;
port = 0;
bind("getPublications", getPublications);
bind("getSubscriptions", getSubscriptions);
bind("publisherUpdate", pubUpdate);
bind("requestTopic", requestTopic);
bind("getSystemState", getSystemState);
bind("getPublishedTopics", getPublishedTopics);
bind("registerPublisher", registerPublisher);
bind("unregisterPublisher", unregisterPublisher);
bind("registerSubscriber", registerSubscriber);
bind("unregisterSubscriber", unregisterSubscriber);
bind("hasParam", hasParam);
bind("setParam", setParam);
bind("getParam", getParam);
bind("deleteParam", deleteParam);
bind("paramUpdate", paramUpdate);
bind("subscribeParam", subscribeParam);
bind("getParamNames", getParamNames);
bind("getPid", getPid);
bind("getBusStats", getBusStatus);
bind("getBusInfo", getBusInfo);
bind("Time", getTime);
bind("Duration", getTime);
bind("get_rostime", getTime);
bind("get_time", getTime);
bind("lookupNode", lookupNode);
bind("getTopicTypes", getTopicTypes);
//SERVICE??
bool bound = server.BindAndListen(what); //use any port available
if (!bound)
{
throw new Exception("RPCServer bind failed");
}
port = server.Port;
if (port == 0)
{
throw new Exception("RPCServer's port is invalid");
}
uri = hostname;
Console.WriteLine("XmlRpc IN THE HIZI (" + uri + ") FOR SHIZI");
server_thread = new Thread(serverThreadFunc);
server_thread.IsBackground = true;
server_thread.Start();
}