private async Task ProcessCall(CallInfo call)
{
RosMessage request = call.Request;
// serialize and send request
request.Serialized = request.Serialize();
await connection.WriteBlock(BitConverter.GetBytes(request.Serialized.Length), 0, 4, cancel).ConfigureAwait(false);
await connection.WriteBlock(request.Serialized, 0, request.Serialized.Length, cancel).ConfigureAwait(false);
// read response header
var receiveBuffer = await connection.ReadBlock(5, cancel).ConfigureAwait(false);
bool success = receiveBuffer[0] != 0;
int responseLength = BitConverter.ToInt32(receiveBuffer, 1);
if (responseLength < 0 || responseLength > Connection.MESSAGE_SIZE_LIMIT)
{
var errorMessage = $"Message length exceeds limit of {Connection.MESSAGE_SIZE_LIMIT}. Dropping connection.";
ROS.Error()(errorMessage);
throw new ConnectionError(errorMessage);
}
if (responseLength > 0)
{
logger.LogDebug($"Reading message with length of {responseLength}.");
receiveBuffer = await connection.ReadBlock(responseLength, cancel).ConfigureAwait(false);
}
else
{
receiveBuffer = new byte[0];
}
if (success)
{
call.Response.Serialized = receiveBuffer;
call.Tcs.TrySetResult(true);
}
else
{
if (receiveBuffer.Length > 0)
{
// call failed with reason
call.Tcs.TrySetException(new Exception(Encoding.UTF8.GetString(receiveBuffer)));
}
call.Tcs.TrySetResult(false);
}
}
public virtual async Task ProcessResponse(RosMessage msg, bool success)
{
byte[] buf;
if (success)
{
msg.Serialized = msg.Serialize();
buf = new byte[msg.Serialized.Length + 1 + 4];
buf[0] = (byte)(success ? 0x01 : 0x00);
msg.Serialized.CopyTo(buf, 5);
Array.Copy(BitConverter.GetBytes(msg.Serialized.Length), 0, buf, 1, 4);
}
else
{
buf = new byte[1 + 4];
buf[0] = (byte)(success ? 0x01 : 0x00);
Array.Copy(BitConverter.GetBytes(0), 0, buf, 1, 4);
}
await connection.WriteBlock(buf, 0, buf.Length, cancel);
}
public virtual void processResponse(RosMessage msg, bool success)
{
byte[] buf;
if (success)
{
msg.Serialized = msg.Serialize();
buf = new byte[msg.Serialized.Length + 1 + 4];
buf[0] = (byte)(success ? 0x01 : 0x00);
msg.Serialized.CopyTo(buf, 5);
Array.Copy(BitConverter.GetBytes(msg.Serialized.Length), 0, buf, 1, 4);
}
else
{
buf = new byte[1 + 4];
buf[0] = (byte)(success ? 0x01 : 0x00);
Array.Copy(BitConverter.GetBytes(0), 0, buf, 1, 4);
}
connection.write(buf, buf.Length, onResponseWritten);
}