public async Task AdvertiseAsync(RosClient client, CancellationToken token)
{
token.ThrowIfCancellationRequested();
string fullService = service[0] == '/' ? service : $"{client?.CallerId}/{service}";
if (client != null)
{
for (int t = 0; t < NumRetries; t++)
{
try
{
await client.AdvertiseServiceAsync <T>(fullService, CallbackImpl, token);
break;
}
catch (RoslibException e)
{
Core.Logger.Error($"Failed to advertise service (try {t}): ", e);
await Task.Delay(WaitBetweenRetriesInMs, token);
}
}
}
}
static async Task MainImpl(string[] args)
{
Console.WriteLine("** Starting Iviz.ModelService...");
Uri?masterUri = RosClient.EnvironmentMasterUri;
if (masterUri is null)
{
Console.Error.WriteLine("EE Fatal error: Failed to determine master uri. " +
"Try setting ROS_MASTER_URI to the address of the master.");
return;
}
Uri myUri = RosClient.TryGetCallerUriFor(masterUri) ?? RosClient.TryGetCallerUri();
await using RosClient client = await RosClient.CreateAsync(masterUri, "iviz_model_service", myUri);
bool enableFileSchema;
if (args.Length != 0 && args[0] == "--enable-file-schema")
{
enableFileSchema = true;
Console.Error.WriteLine("WW Uris starting with 'file://' are now accepted. " +
"This makes all your files available to the outside.");
}
else
{
enableFileSchema = false;
}
string?rosPackagePathExtras = null;
string?extrasPath = await GetPathExtras();
if (extrasPath != null && File.Exists(extrasPath))
{
try
{
rosPackagePathExtras = await File.ReadAllTextAsync(extrasPath);
}
catch (IOException e)
{
Console.WriteLine($"EE Extras file '{extrasPath}' could not be read: {e.Message}");
}
}
using var modelServer = new ModelServer(rosPackagePathExtras, enableFileSchema);
if (modelServer.NumPackages == 0)
{
return;
}
Console.WriteLine("** Starting service {0} [{1}]...", ModelServer.ModelServiceName,
GetModelResource.RosServiceType);
await client.AdvertiseServiceAsync <GetModelResource>(ModelServer.ModelServiceName,
modelServer.ModelCallback);
Console.WriteLine("** Starting service {0} [{1}]...", ModelServer.TextureServiceName,
GetModelTexture.RosServiceType);
await client.AdvertiseServiceAsync <GetModelTexture>(ModelServer.TextureServiceName,
modelServer.TextureCallback);
Console.WriteLine("** Starting service {0} [{1}]...", ModelServer.FileServiceName, GetFile.RosServiceType);
await client.AdvertiseServiceAsync <GetFile>(ModelServer.FileServiceName, modelServer.FileCallback);
Console.WriteLine("** Starting service {0} [{1}]...", ModelServer.SdfServiceName, GetSdf.RosServiceType);
await client.AdvertiseServiceAsync <GetSdf>(ModelServer.SdfServiceName, modelServer.SdfCallback);
Console.WriteLine("** Done.");
Console.WriteLine("** Iviz.ModelService started with " + modelServer.NumPackages + " ROS package path(s).");
Console.WriteLine("** Standing by for requests.");
await WaitForCancel();
Console.WriteLine();
}