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);
}
internal void removeServiceServerLink <S>(ServiceServerLink <S> issl)
where S : IRosService, new()
{
removeServiceServerLink((IServiceServerLink)issl);
}
internal void removeServiceServerLink <M, T>(ServiceServerLink <M, T> issl)
where M : IRosMessage, new()
where T : IRosMessage, new()
{
removeServiceServerLink((IServiceServerLink)issl);
}