|
public initialize ( |
||
| trans | ||
| is_server | bool | |
| header_func | HeaderReceivedFunc | |
| return | void | |
private void onRetryTimer(object o)
{
#if DEBUG
EDB.WriteLine("TransportPublisherLink: onRetryTimer");
#endif
if (dropping)
{
return;
}
if (needs_retry && DateTime.Now.Subtract(next_retry).TotalMilliseconds < 0)
{
retry_period =
TimeSpan.FromSeconds((retry_period.TotalSeconds > 20) ? 20 : (2 * retry_period.TotalSeconds));
needs_retry = false;
TcpTransport old_transport = connection.transport;
string host = old_transport.connected_host;
int port = old_transport.connected_port;
TcpTransport transport = new TcpTransport();
if (transport.connect(host, port))
{
Connection conn = new Connection();
conn.initialize(transport, false, null);
initialize(conn);
ConnectionManager.Instance.addConnection(conn);
}
}
}
public void tcpRosAcceptConnection(TcpTransport transport)
{
Connection conn = new Connection();
addConnection(conn);
conn.initialize(transport, true, onConnectionHeaderReceived);
}
internal ServiceServerLink <S> createServiceServerLink <S>(string service, bool persistent, string request_md5sum, string response_md5sum, IDictionary header_values)
where S : IRosService, new()
{
lock (shutting_down_mutex)
{
if (shutting_down)
{
return(null);
}
}
int serv_port = -1;
string serv_host = "";
if (!lookupService(service, ref serv_host, ref serv_port))
{
return(null);
}
TcpTransport transport = new TcpTransport(poll_manager.poll_set);
if (transport.connect(serv_host, serv_port))
{
Connection connection = new Connection();
connection_manager.addConnection(connection);
ServiceServerLink <S> client = new ServiceServerLink <S>(service, persistent, request_md5sum, response_md5sum, header_values);
lock (service_server_links_mutex)
service_server_links.Add(client);
connection.initialize(transport, false, null);
client.initialize(connection);
return(client);
}
return(null);
}
public void pendingConnectionDone(PendingConnection conn, IntPtr res)
{
XmlRpcValue result = XmlRpcValue.LookUp(res);
lock (shutdown_mutex)
{
if (shutting_down || _dropped)
{
return;
}
}
XmlRpcValue proto = new XmlRpcValue();
if (!XmlRpcManager.Instance.validateXmlrpcResponse("requestTopic", result, ref proto))
{
conn.failures++;
EDB.WriteLine("Negotiating for " + conn.parent.name + " has failed " + conn.failures + " times");
return;
}
lock (pending_connections_mutex)
{
pending_connections.Remove(conn);
}
string peer_host = conn.client.Host;
int peer_port = conn.client.Port;
string xmlrpc_uri = "http://" + peer_host + ":" + peer_port + "/";
if (proto.Size == 0)
{
#if DEBUG
EDB.WriteLine("Couldn't agree on any common protocols with [" + xmlrpc_uri + "] for topic [" + name +
"]");
#endif
return;
}
if (proto.Type != TypeEnum.TypeArray)
{
EDB.WriteLine("Available protocol info returned from " + xmlrpc_uri + " is not a list.");
return;
}
string proto_name = proto[0].Get <string>();
if (proto_name == "UDPROS")
{
EDB.WriteLine("OWNED! Only tcpros is supported right now.");
}
else if (proto_name == "TCPROS")
{
if (proto.Size != 3 || proto[1].Type != TypeEnum.TypeString || proto[2].Type != TypeEnum.TypeInt)
{
EDB.WriteLine("publisher implements TCPROS... BADLY! parameters aren't string,int");
return;
}
string pub_host = proto[1].Get <string>();
int pub_port = proto[2].Get <int>();
#if DEBUG
EDB.WriteLine("Connecting via tcpros to topic [" + name + "] at host [" + pub_host + ":" + pub_port +
"]");
#endif
TcpTransport transport = new TcpTransport(PollManager.Instance.poll_set)
{
_topic = name
};
if (transport.connect(pub_host, pub_port))
{
Connection connection = new Connection();
TransportPublisherLink pub_link = new TransportPublisherLink(this, xmlrpc_uri);
connection.initialize(transport, false, null);
pub_link.initialize(connection);
ConnectionManager.Instance.addConnection(connection);
lock (publisher_links_mutex)
{
addPublisherLink(pub_link);
}
#if DEBUG
EDB.WriteLine("Connected to publisher of topic [" + name + "] at [" + pub_host + ":" + pub_port +
"]");
#endif
}
else
{
EDB.WriteLine("Failed to connect to publisher of topic [" + name + "] at [" + pub_host + ":" +
pub_port + "]");
}
}
else
{
EDB.WriteLine("Your xmlrpc server be talking jibber jabber, foo");
}
}