public bool handleHeader(Header header)
{
if (!header.Values.Contains("md5sum") || !header.Values.Contains("service") || !header.Values.Contains("callerid"))
{
string bbq = "Bogus tcpros header. did not have required elements: md5sum, service, callerid";
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["client_callerid"];
if (header.Values.Contains("persistent") && ((string)header.Values["persistent"] == "1" || (string)header.Values["persistent"] == "true"))
{
persistent = true;
}
ROS.Debug("Service client [{0}] wants service [{1}] with md5sum [{2}]", client_callerid, service, md5sum);
IServicePublication isp = ServiceManager.Instance.lookupServicePublication(service);
if (isp == null)
{
string bbq = string.Format("received a tcpros connection for a nonexistent service [{0}]", service);
ROS.Error(bbq);
connection.sendHeaderError(ref bbq);
return(false);
}
if (isp.md5sum != md5sum && md5sum != "*" && isp.md5sum != "*")
{
string bbq = "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 = "received a tcpros connection for a nonexistent service [" + service + "]";
ROS.Error(bbq);
connection.sendHeaderError(ref bbq);
return(false);
}
parent = isp;
IDictionary m = new Hashtable();
m["request_type"] = isp.req_datatype;
m["response_type"] = isp.res_datatype;
m["type"] = isp.datatype;
m["md5sum"] = isp.md5sum;
m["callerid"] = this_node.Name;
connection.writeHeader(m, onHeaderWritten);
isp.addServiceClientLink(this);
return(true);
}
public virtual CallResult call()
{
ROS.Debug("CALLED PEERCONNDISCONNCALLBACK");
SingleSubscriberPublisher pub = new SingleSubscriberPublisher(sub_link);
callback(pub);
return(CallResult.Success);
}
private void onConnectionDropped(Connection connection, Connection.DropReason dr)
{
if (connection != this.connection)
{
throw new Exception("WRONG CONNECTION ZOMG!");
}
ROS.Debug("Service client from [{0}] for [{1}] dropped", connection.RemoteString, name);
clearCalls();
ServiceManager.Instance.removeServiceServerLink(this);
}
