| public write ( byte buffer, int pos, int size ) : int | ||
| buffer | byte | |
| pos | int | |
| size | int | |
| Résultat | int | |
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;
}
private void writeTransport()
{
if (dropped || writing)
{
return;
}
lock (write_mutex)
{
writing = true;
bool can_write_more = true;
while (write_callback != null && can_write_more && !dropped)
{
uint to_write = write_size - write_sent;
int bytes_sent = transport.write(write_buffer, write_sent, to_write);
if (bytes_sent <= 0)
{
writing = false;
return;
}
write_sent += (uint)bytes_sent;
if (bytes_sent < write_size - write_sent)
{
can_write_more = false;
}
if (write_sent == write_size && !dropped)
{
WriteFinishedFunc callback;
lock (write_callback_mutex)
{
callback = write_callback;
write_callback = null;
write_buffer = null;
write_sent = 0;
write_size = 0;
}
callback(this);
}
}
writing = false;
}
}
private void writeTransport()
{
lock (writing)
{
if (dropped)
{
return;
}
ScopedTimer.Ping();
bool can_write_more = true;
while (write_callback != null && can_write_more && !dropped)
{
int to_write = write_size - write_sent;
int bytes_sent = transport.write(write_buffer, write_sent, to_write);
if (bytes_sent <= 0)
{
return;
}
write_sent += (int)bytes_sent;
if (bytes_sent < write_size - write_sent)
{
can_write_more = false;
}
if (write_sent == write_size && !dropped)
{
lock (write_callback_mutex)
{
WriteFinishedFunc callback = write_callback;
write_callback = null;
write_buffer = null;
write_sent = 0;
write_size = 0;
if (!callback(this))
{
Console.WriteLine("Failed to invoke " + callback.Method.Name);
}
}
}
}
}
}
