internal bool UnadvertiseService(string service)
{
IServicePublication pub = null;
lock (gate)
{
if (shuttingDown)
{
return(false);
}
foreach (IServicePublication sp in servicePublications)
{
if (sp.name == service)
{
pub = sp;
servicePublications.Remove(sp);
break;
}
}
}
if (pub != null)
{
UnregisterService(pub.name);
pub.Drop();
return(true);
}
return(false);
}
public bool handleHeader(Header header)
{
if (!header.Values.ContainsKey("md5sum") || !header.Values.ContainsKey("service") || !header.Values.ContainsKey("callerid"))
{
string bbq = $"[{ThisNode.Name}] Error in TcpRos header. Required elements (md5sum, service, callerid) are missing";
ROS.Error()(bbq);
connection.sendHeaderError(ref bbq);
return(false);
}
string md5sum = (string)header.Values["md5sum"];
string service = (string)header.Values["service"];
string client_callerid = (string)header.Values["callerid"];
if (header.Values.ContainsKey("persistent") && ((string)header.Values["persistent"] == "1" || (string)header.Values["persistent"] == "true"))
{
persistent = true;
}
ROS.Debug()($"[{ThisNode.Name}] Service client [{client_callerid}] wants service [{service}] with md5sum [{md5sum}]");
IServicePublication isp = ServiceManager.Instance.LookupServicePublication(service);
if (isp == null)
{
string bbq = $"[{ThisNode.Name}] Received a TcpRos connection for a nonexistent service [{service}]";
ROS.Warn()(bbq);
connection.sendHeaderError(ref bbq);
return(false);
}
if (isp.md5sum != md5sum && md5sum != "*" && isp.md5sum != "*")
{
string bbq = $"[{ThisNode.Name}] Client wants service {service} to have md5sum {md5sum} but it has {isp.md5sum}. Dropping connection";
ROS.Error()(bbq);
connection.sendHeaderError(ref bbq);
return(false);
}
if (isp.isDropped)
{
string bbq = $"[{ThisNode.Name}] Received a TcpRos connection for a nonexistent service [{service}]";
ROS.Warn()(bbq);
connection.sendHeaderError(ref bbq);
return(false);
}
parent = isp;
IDictionary <string, string> m = new Dictionary <string, string>();
m["request_type"] = isp.req_datatype;
m["response_type"] = isp.res_datatype;
m["type"] = isp.datatype;
m["md5sum"] = isp.md5sum;
m["callerid"] = ThisNode.Name;
connection.writeHeader(m, onHeaderWritten);
isp.addServiceClientLink(this);
return(true);
}
private async Task HandleHeader(Header header)
{
if (!header.Values.ContainsKey("md5sum") || !header.Values.ContainsKey("service") || !header.Values.ContainsKey("callerid"))
{
throw new RosException("Error in TcpRos header. Required elements (md5sum, service, callerid) are missing");;
}
string md5sum = header.Values["md5sum"];
string service = header.Values["service"];
string clientCallerid = header.Values["callerid"];
if (header.Values.ContainsKey("persistent") && (header.Values["persistent"] == "1" || header.Values["persistent"] == "true"))
{
persistent = true;
}
logger.LogDebug($"Service client [{clientCallerid}] wants service [{service}] with md5sum [{md5sum}]");
IServicePublication publication = ServiceManager.Instance.LookupServicePublication(service);
if (publication == null)
{
throw new RosException($"Received a TcpRos connection for a nonexistent service [{service}]");
}
if (publication.md5sum != md5sum && md5sum != "*" && publication.md5sum != "*")
{
throw new RosException($"Client wants service {service} to have md5sum {md5sum} but it has {publication.md5sum}. Dropping connection");
}
if (publication.isDropped)
{
throw new RosException($"Received a TcpRos connection for a nonexistent service [{service}]");
}
parent = publication;
IDictionary <string, string> m = new Dictionary <string, string>
{
["request_type"] = publication.req_datatype,
["response_type"] = publication.res_datatype,
["type"] = publication.dataType,
["md5sum"] = publication.md5sum,
["callerid"] = ThisNode.Name
};
await connection.WriteHeader(m, cancel);
publication.AddServiceClientLink(this);
}
