protected async Task Init()
{
if (persistent)
{
serverLink = await CreateLink().ConfigureAwait(false);
}
}
protected async Task <bool> PreCall(string serviceMd5Sum)
{
if (disposed)
{
throw new ObjectDisposedException("ServiceClient instance was disposed");
}
if (serviceMd5Sum != md5sum)
{
throw new Exception($"Call to service '{serviceName}' with md5sum '{serviceMd5Sum}' does not match the md5sum that was specified when the handle was created ('{md5sum}').");
}
if (serverLink != null && !serverLink.IsValid)
{
if (persistent)
{
logger.LogWarning("Persistent service client's server link has been dropped. Trying to reconnect to proceed with this call.");
}
ServiceManager.Instance.RemoveServiceServerLinkAsync(serverLink);
serverLink.Dispose();
serverLink = null;
}
if (serverLink == null)
{
serverLink = await CreateLink().ConfigureAwait(false);
}
return(true);
}
protected bool precall(string service_md5sum)
{
if (service_md5sum != md5sum)
{
ROS.Error()($"[{ThisNode.Name}] Call to service [{service} with md5sum [{service_md5sum} does not match md5sum when the handle was created([{md5sum}])");
return(false);
}
if (server_link != null && server_link.connection.dropped)
{
if (persistent)
{
ROS.Warn()($"[{ThisNode.Name}] Persistent service client's server link has been dropped. Trying to reconnect to proceed with this call");
}
server_link = null;
}
if (is_shutdown && persistent)
{
ROS.Warn()($"[{ThisNode.Name}] Persistent service client is self-resurrecting");
}
is_shutdown = false;
if (persistent && server_link == null || !persistent)
{
server_link = linkmaker();
}
return(true);
}
internal void RemoveServiceServerLinkAsync(IServiceServerLink link)
{
lock (gate)
{
serviceServerLinksAsync.Remove(link);
}
link.Dispose();
}
public void shutdown()
{
if (!is_shutdown)
{
is_shutdown = true;
if (!persistent && server_link != null)
{
ServiceManager.Instance.RemoveServiceServerLink(server_link);
server_link = null;
}
}
}
internal void RemoveServiceServerLink(IServiceServerLink issl)
{
if (shuttingDown)
{
return;
}
lock ( serviceServerLinksMutex )
{
if (serviceServerLinks.Contains(issl))
{
serviceServerLinks.Remove(issl);
}
}
}
public void Dispose()
{
if (disposed)
{
return;
}
disposed = true;
if (serverLink != null)
{
ServiceManager.Instance.RemoveServiceServerLinkAsync(serverLink);
serverLink.Dispose();
serverLink = null;
}
}
