| public Write ( IDictionary dict, byte &buffer, int &totallength ) : void | ||
| dict | IDictionary | |
| buffer | byte | |
| totallength | int | |
| return | void | |
public void writeHeader(IDictionary key_vals, WriteFinishedFunc finished_func)
{
header_written_callback = finished_func;
if (!transport.getRequiresHeader())
{
onHeaderWritten(this);
return;
}
int len = 0;
byte[] buffer = null;
header.Write(key_vals, ref buffer, ref len);
uint msg_len = (uint)len + 4;
byte[] full_msg = new byte[msg_len];
uint j = 0;
byte[] blen = Header.ByteLength(len);
for (; j < 4; j++)
{
full_msg[j] = blen[j];
}
for (uint i = 0; j < msg_len; j++)
{
i = j - 4;
full_msg[j] = buffer[i];
}
write(full_msg, msg_len, onHeaderWritten, true);
}
public static bool exists(string service_name, bool print_failure_reason)
{
string mapped_name = names.resolve(service_name);
string host = "";
int port = 0;
if (ServiceManager.Instance.lookUpService(mapped_name, ref host, ref port))
{
TcpTransport transport = new TcpTransport();
IDictionary m = new Hashtable
{
{"probe", "1"},
{"md5sum", "*"},
{"callerid", this_node.Name},
{"service", mapped_name}
};
byte[] headerbuf = null;
int size = 0;
Header h = new Header();
h.Write(m, ref headerbuf, ref size);
if (transport.connect(host, port))
{
byte[] sizebuf = BitConverter.GetBytes(size);
transport.write(sizebuf, 0, sizebuf.Length);
transport.write(headerbuf, 0, size);
return true;
}
if (print_failure_reason)
{
ROS.Info("waitForService: Service[{0}] could not connect to host [{1}:{2}], waiting...", mapped_name, host, port);
}
}
else if (print_failure_reason)
{
ROS.Info("waitForService: Service[{0}] has not been advertised, waiting...", mapped_name);
}
return false;
}
public static bool exists(string service_name, bool print_failure_reason)
{
string mapped_name = names.resolve(service_name);
string host = "";
int port = 0;
if (ServiceManager.Instance.lookUpService(mapped_name, ref host, ref port))
{
TcpTransport transport = new TcpTransport();
IDictionary m = new Hashtable
{
{ "probe", "1" },
{ "md5sum", "*" },
{ "callerid", this_node.Name },
{ "service", mapped_name }
};
byte[] headerbuf = null;
int size = 0;
Header h = new Header();
h.Write(m, ref headerbuf, ref size);
if (transport.connect(host, port))
{
byte[] sizebuf = BitConverter.GetBytes(size);
transport.write(sizebuf, 0, sizebuf.Length);
transport.write(headerbuf, 0, size);
return(true);
}
if (print_failure_reason)
{
ROS.Info("waitForService: Service[{0}] could not connect to host [{1}:{2}], waiting...", mapped_name, host, port);
}
}
else if (print_failure_reason)
{
ROS.Info("waitForService: Service[{0}] has not been advertised, waiting...", mapped_name);
}
return(false);
}
