public void writeHeader(IDictionary <string, string> 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, out buffer, out len);
int msg_len = (int)len + 4;
byte[] full_msg = new byte[msg_len];
int j = 0;
byte[] blen = Header.ByteLength(len);
for ( ; j < 4; j++)
{
full_msg[j] = blen[j];
}
for (int i = 0; j < msg_len; j++)
{
i = j - 4;
full_msg[j] = buffer[i];
}
write(full_msg, msg_len, onHeaderWritten, true);
}
public static async Task <bool> Exists(string serviceName, bool logFailureReason = false)
{
string mappedName = Names.Resolve(serviceName);
string host;
int port;
try
{
(host, port) = await ServiceManager.Instance.LookupServiceAsync(mappedName);
}
catch
{
if (logFailureReason)
{
ROS.Info()("waitForService: Service[{0}] has not been advertised, waiting...", mappedName);
}
return(false);
}
using (var tcpClient = new TcpClient())
{
try
{
await tcpClient.ConnectAsync(host, port);
}
catch
{
if (logFailureReason)
{
ROS.Info()("waitForService: Service[{0}] could not connect to host [{1}:{2}], waiting...", mappedName, host, port);
}
return(false);
}
var headerFields = new Dictionary <string, string>
{
{ "probe", "1" },
{ "md5sum", "*" },
{ "callerid", ThisNode.Name },
{ "service", mappedName }
};
Header.Write(headerFields, out byte[] headerbuf, out int size);
byte[] sizebuf = BitConverter.GetBytes(size);
var stream = tcpClient.GetStream();
await stream.WriteAsync(sizebuf, 0, sizebuf.Length);
await stream.WriteAsync(headerbuf, 0, size);
}
return(true);
}
public async Task WriteHeader(IDictionary <string, string> headerValues, CancellationToken cancel)
{
Header.Write(headerValues, out byte[] headerBuffer, out int headerLength);
int messageLength = (int)headerLength + 4;
byte[] messageBuffer = new byte[messageLength];
Buffer.BlockCopy(BitConverter.GetBytes(headerLength), 0, messageBuffer, 0, 4);
Buffer.BlockCopy(headerBuffer, 0, messageBuffer, 4, headerBuffer.Length);
await Stream.WriteAsync(messageBuffer, 0, messageBuffer.Length, cancel);
}
public static bool exists(string serviceName, bool logFailureReason = false)
{
string mappedName = Names.Resolve(serviceName);
string host = "";
int port = 0;
if (ServiceManager.Instance.LookUpService(mappedName, ref host, ref port))
{
var transport = new TcpTransport();
if (transport.connect(host, port))
{
var m = new Dictionary <string, string>
{
{ "probe", "1" },
{ "md5sum", "*" },
{ "callerid", ThisNode.Name },
{ "service", mappedName }
};
var h = new Header();
h.Write(m, out byte[] headerbuf, out int size);
byte[] sizebuf = BitConverter.GetBytes(size);
transport.write(sizebuf, 0, sizebuf.Length);
transport.write(headerbuf, 0, size);
return(true);
}
if (logFailureReason)
{
ROS.Info()($"[{ThisNode.Name}] waitForService: Service[{mappedName}] could not connect to host [{host}:{port}], waiting...");
}
}
else if (logFailureReason)
{
ROS.Info()($"[{ThisNode.Name}] waitForService: Service[{mappedName}] has not been advertised, waiting...");
}
return(false);
}
