internal bool AdvertiseService <MReq, MRes>(AdvertiseServiceOptions <MReq, MRes> ops) where MReq : RosMessage, new() where MRes : RosMessage, new()
{
lock (gate)
{
if (shuttingDown)
{
return(false);
}
if (IsServiceAdvertised(ops.Service))
{
logger.LogWarning($"Tried to advertise a service that is already advertised in this node [{ops.Service}].");
return(false);
}
if (ops.Helper == null)
{
ops.Helper = new ServiceCallbackHelper <MReq, MRes>(ops.ServiceCallback);
}
ServicePublication <MReq, MRes> pub = new ServicePublication <MReq, MRes>(ops.Service, ops.Md5Sum, ops.DataType, ops.RequestDataType, ops.ResponseDataType, ops.Helper, ops.CallbackQueue);
servicePublications.Add(pub);
}
XmlRpcValue args = new XmlRpcValue(), result = new XmlRpcValue(), payload = new XmlRpcValue();
args.Set(0, ThisNode.Name);
args.Set(1, ops.Service);
args.Set(2, string.Format("rosrpc://{0}:{1}", Network.Host, connectionManager.TCPPort));
args.Set(3, xmlRpcManager.Uri);
if (!Master.Execute("registerService", args, result, payload, true))
{
throw new RosException($"RPC \"registerService\" for service '{ops.Service}' failed.");
}
return(true);
}
/// <summary>
/// Advertises a ServiceServer with specified OPTIONS
/// </summary>
/// <typeparam name="MReq">Request sub-srv type</typeparam>
/// <typeparam name="MRes">Response sub-srv type</typeparam>
/// <param name="ops">isn't it obvious?</param>
/// <returns>The ServiceServer that will call the ServiceFunction on behalf of ServiceClients</returns>
public ServiceServer AdvertiseService <MReq, MRes>(AdvertiseServiceOptions <MReq, MRes> ops)
where MReq : RosMessage, new()
where MRes : RosMessage, new()
{
ops.service = ResolveName(ops.service);
if (ops.callback_queue == null)
{
ops.callback_queue = Callback;
}
if (ServiceManager.Instance.AdvertiseService(ops))
{
ServiceServer srv = new ServiceServer(ops.service, this);
lock (gate)
{
collection.ServiceServers.Add(srv);
}
return(srv);
}
throw new InvalidOperationException("Could not advertise service");
}
internal bool AdvertiseService <MReq, MRes>(AdvertiseServiceOptions <MReq, MRes> ops) where MReq : RosMessage, new() where MRes : RosMessage, new()
{
lock ( shuttingDownMutex )
{
if (shuttingDown)
{
return(false);
}
}
lock ( servicePublicationsMutex )
{
if (IsServiceAdvertised(ops.service))
{
ROS.Warn()($"[{ThisNode.Name}] Tried to advertise a service that is already advertised in this node [{ops.service}]");
return(false);
}
if (ops.helper == null)
{
ops.helper = new ServiceCallbackHelper <MReq, MRes>(ops.srv_func);
}
ServicePublication <MReq, MRes> pub = new ServicePublication <MReq, MRes>(ops.service, ops.md5sum, ops.datatype, ops.req_datatype, ops.res_datatype, ops.helper, ops.callback_queue, ops.tracked_object);
servicePublications.Add(pub);
}
XmlRpcValue args = new XmlRpcValue(), result = new XmlRpcValue(), payload = new XmlRpcValue();
args.Set(0, ThisNode.Name);
args.Set(1, ops.service);
args.Set(2, string.Format("rosrpc://{0}:{1}", Network.host, connectionManager.TCPPort));
args.Set(3, xmlrpcManager.Uri);
if (!Master.execute("registerService", args, result, payload, true))
{
throw new RosException("RPC \"registerService\" for service " + ops.service + " failed.");
}
return(true);
}
