/// <summary>
/// Retrieve a value for an existing parameter, if it exists
/// </summary>
/// <param name="parms"></param>
/// <param name="result"></param>
public void getParam([In][Out] IntPtr parms, [In][Out] IntPtr result)
{
XmlRpcValue res = XmlRpcValue.Create(ref result), parm = XmlRpcValue.Create(ref parms);
res.Set(0, 1);
res.Set(1, "getParam");
String caller_id = parm[0].GetString();
String topic = parm[1].GetString();
// value = new XmlRpcValue();
XmlRpcValue value = handler.getParam(caller_id, topic);
//value
// String vi = v.getString();
if (value == null)
{
res.Set(0, 0);
res.Set(1, "Parameter " + topic + " is not set");
value = new XmlRpcValue("");
}
res.Set(2, value);
//XmlRpcValue parm2 = new XmlRpcValue(), result2 = new XmlRpcValue();
//parm2.Set(0, this_node.Name);
//parm2.Set(1, mapped_key);
//bool ret = master.execute("getParam", parm2, ref result2, ref v, false);
}
public void getParamNames([In][Out] IntPtr parms, [In][Out] IntPtr result)
{
XmlRpcValue res = XmlRpcValue.Create(ref result), parm = XmlRpcValue.Create(ref parms);
res.Set(0, 1);
res.Set(1, "getParamNames");
String caller_id = parm[0].GetString();
List <String> list = handler.getParamNames(caller_id);
XmlRpcValue response = new XmlRpcValue();
int index = 0;
foreach (String s in list)
{
response.Set(index++, s);
}
res.Set(2, response);
//throw new Exception("NOT IMPLEMENTED YET!");
//XmlRpcValue parm = new XmlRpcValue(), result = new XmlRpcValue(), payload = new XmlRpcValue();
//parm.Set(0, this_node.Name);
//parm.Set(1, mapped_key);
//if (!master.execute("deleteParam", parm, ref result, ref payload, false))
// return false;
//return true;
}
public XMLRPCFunc tobind <A, B, C, D>(Func <A, B, C, D, XmlRpcValue> act)
{
return((IntPtr parms, IntPtr result) =>
{
XmlRpcValue res = XmlRpcValue.Create(ref result), parm = XmlRpcValue.Create(ref parms);
XmlRpcValue rtn = act(parm[0].Get <A>(), parm[1].Get <B>(), parm[2].Get <C>(), parm[3].Get <D>());
res.Set(0, rtn[0]);
res.Set(1, rtn[1]);
res.Set(2, rtn[2]);
});
}
public void getPublicationsCallback([In][Out] IntPtr parms, [In][Out] IntPtr result)
{
XmlRpcValue res = XmlRpcValue.Create(ref result);
res.Set(0, 1);
res.Set(1, "publications");
XmlRpcValue response = new XmlRpcValue();
getPublications(ref response);
res.Set(2, response);
}
public XMLRPCFunc tobind(Func <XmlRpcValue> act)
{
return((IntPtr parms, IntPtr result) =>
{
XmlRpcValue res = XmlRpcValue.Create(ref result);
XmlRpcValue rtn = act();
res.Set(0, rtn[0]);
res.Set(1, rtn[1]);
res.Set(2, rtn[2]);
});
}
/// <summary>
/// Check whether a parameter exists
/// </summary>
/// <param name="parms"></param>
/// <param name="result"></param>
public void hasParam([In][Out] IntPtr parms, [In][Out] IntPtr result)
{
XmlRpcValue res = XmlRpcValue.Create(ref result), parm = XmlRpcValue.Create(ref parms);
res.Set(0, 1);
res.Set(1, "hasParam");
String caller_id = parm[0].GetString();
String topic = parm[1].GetString();
res.Set(2, handler.hasParam(caller_id, topic));
}
public void getBusInfoCallback([In][Out] IntPtr parms, [In][Out] IntPtr result)
{
XmlRpcValue res = XmlRpcValue.Create(ref result);
res.Set(0, 1);
res.Set(1, "");
XmlRpcValue response = new XmlRpcValue();
IntPtr resp = response.instance;
getBusInfo(resp);
res.Set(2, response);
}
/// <summary>
/// Register a new subscriber
/// </summary>
/// <param name="parms"></param>
/// <param name="result"></param>
public void registerSubscriber([In][Out] IntPtr parms, [In][Out] IntPtr result)
{
XmlRpcValue res = XmlRpcValue.Create(ref result), parm = XmlRpcValue.Create(ref parms);
String caller_id = parm[0].GetString();
String topic = parm[1].GetString();
String type = parm[2].GetString();
String caller_api = parm[3].GetString(); //hostname
handler.registerSubscriber(caller_id, topic, type, caller_api);
res.Set(0, 1);
res.Set(1, "GOOD JOB!");
res.Set(2, new XmlRpcValue(""));
//string uri = XmlRpcManager.Instance.uri;
//XmlRpcValue args = new XmlRpcValue(this_node.Name, s.name, datatype, uri);
//XmlRpcValue result = new XmlRpcValue();
//XmlRpcValue payload = new XmlRpcValue();
//if (!master.execute("registerSubscriber", args, ref result, ref payload, true))
// return false;
//List<string> pub_uris = new List<string>();
//for (int i = 0; i < payload.Size; i++)
//{
// XmlRpcValue asshole = payload[i];
// string pubed = asshole.Get<string>();
// if (pubed != uri && !pub_uris.Contains(pubed))
// {
// pub_uris.Add(pubed);
// }
//}
//bool self_subscribed = false;
//Publication pub = null;
//string sub_md5sum = s.md5sum;
//lock (advertised_topics_mutex)
//{
// foreach (Publication p in advertised_topics)
// {
// pub = p;
// string pub_md5sum = pub.Md5sum;
// if (pub.Name == s.name && md5sumsMatch(pub_md5sum, sub_md5sum) && !pub.Dropped)
// {
// self_subscribed = true;
// break;
// }
// }
//}
//s.pubUpdate(pub_uris);
//if (self_subscribed)
// s.addLocalConnection(pub);
//return true;
}
public void requestTopicCallback([In][Out] IntPtr parms, [In][Out] IntPtr result)
{
XmlRpcValue res = XmlRpcValue.Create(ref result), parm = XmlRpcValue.Create(ref parms);
result = res.instance;
if (!requestTopic(parm[1].Get <string>(), parm[2], ref res))
{
const string last_error = "Unknown error";
XmlRpcManager.Instance.responseInt(0, last_error, 0)(result);
}
}
/// <summary>
/// Set a new parameter
/// </summary>
/// <param name="parms"></param>
/// <param name="result"></param>
public void setParam([In][Out] IntPtr parms, [In][Out] IntPtr result)
{
XmlRpcValue res = XmlRpcValue.Create(ref result), parm = XmlRpcValue.Create(ref parms);
res.Set(0, 1);
res.Set(1, "setParam");
String caller_api = parm[0].GetString();
String topic = parm[1].GetString();
XmlRpcValue value = parm[2];
handler.setParam(caller_api, topic, value);
res.Set(2, "parameter " + topic + " set");
}
/// <summary>
/// Returns list of all, publishers, subscribers, and services
/// </summary>
/// <param name="parms"></param>
/// <param name="result"></param>
public void getSystemState([In][Out] IntPtr parms, [In][Out] IntPtr result)
{
XmlRpcValue res = XmlRpcValue.Create(ref result), parm = XmlRpcValue.Create(ref parms);
res.Set(0, 1);
res.Set(1, "getSystemState");
List <List <List <String> > > systemstatelist = handler.getSystemState("");//parm.GetString()
XmlRpcValue listoftypes = new XmlRpcValue();
XmlRpcValue listofvalues = new XmlRpcValue();
int index = 0;
foreach (List <List <String> > types in systemstatelist) //publisher, subscriber, services
{
int bullshitindex = 0;
XmlRpcValue typelist;
XmlRpcValue bullshit = new XmlRpcValue();
if (types.Count > 0)
{
foreach (List <String> l in types)
{
int typeindex = 0;
typelist = new XmlRpcValue();
//XmlRpcValue value = new XmlRpcValue();
typelist.Set(typeindex++, l[0]);
XmlRpcValue payload = new XmlRpcValue();
for (int i = 1; i < l.Count; i++)
{
payload.Set(i - 1, l[i]);
}
typelist.Set(typeindex++, payload);
//typelist.Set(typeindex++, value);
bullshit.Set(bullshitindex++, typelist);
}
}
else
{
typelist = new XmlRpcValue();
bullshit.Set(bullshitindex++, typelist);
}
listoftypes.Set(index++, bullshit);
}
res.Set(2, listoftypes);
}
public void lookupNode([In][Out] IntPtr parms, [In][Out] IntPtr result)
{
XmlRpcValue res = XmlRpcValue.Create(ref result), parm = XmlRpcValue.Create(ref parms);
String topic = parm[0].GetString();
String caller_id = parm[1].GetString();
String api = handler.lookupNode(caller_id, topic);
// if(api == "")
// res.Set(0, 0);
// else
res.Set(0, 1);
res.Set(1, "lookupNode");
res.Set(2, api);
}
/// <summary>
/// Unregister an existing publisher
/// </summary>
/// <param name="parms"></param>
/// <param name="result"></param>
public void unregisterPublisher([In][Out] IntPtr parms, [In][Out] IntPtr result)
{
XmlRpcValue res = XmlRpcValue.Create(ref result), parm = XmlRpcValue.Create(ref parms);
String caller_id = parm[0].GetString();
String topic = parm[1].GetString();
String caller_api = parm[2].GetString();
Console.WriteLine("UNPUBLISHING: " + caller_id + " : " + caller_api);
int ret = handler.unregisterPublisher(caller_id, topic, caller_api);
res.Set(0, ret);
res.Set(1, "unregistered " + caller_id + "as provder of " + topic);
}
/// <summary>
/// Register a new publisher to a topic
/// </summary>
/// <param name="parms"></param>
/// <param name="result"></param>
public void registerPublisher([In][Out] IntPtr parms, [In][Out] IntPtr result)
{
XmlRpcValue res = XmlRpcValue.Create(ref result), parm = XmlRpcValue.Create(ref parms);
String caller_id = parm[0].GetString();
String topic = parm[1].GetString();
String type = parm[2].GetString();
String caller_api = parm[3].GetString(); //hostname
Console.WriteLine("PUBLISHING: " + caller_id + " : " + caller_api);
handler.registerPublisher(caller_id, topic, type, caller_api);
res.Set(0, 1);
res.Set(1, "GOOD JOB!");
res.Set(2, new XmlRpcValue(""));
}
public void pubUpdateCallback([In][Out] IntPtr parms, [In][Out] IntPtr result)
{
XmlRpcValue parm = XmlRpcValue.Create(ref parms);
List <string> pubs = new List <string>();
for (int idx = 0; idx < parm[2].Size; idx++)
{
pubs.Add(parm[2][idx].Get <string>());
}
if (pubUpdate(parm[1].Get <string>(), pubs))
{
XmlRpcManager.Instance.responseInt(1, "", 0)(result);
}
else
{
EDB.WriteLine("Unknown Error");
XmlRpcManager.Instance.responseInt(0, "Unknown Error or something", 0)(result);
}
}
/// <summary>
/// Get a list of all published topics
/// </summary>
/// <param name="parms"></param>
/// <param name="result"></param>
public void getPublishedTopics([In][Out] IntPtr parms, [In][Out] IntPtr result)
{
XmlRpcValue res = XmlRpcValue.Create(ref result), parm = XmlRpcValue.Create(ref parms);
List <List <String> > publishedtopics = handler.getPublishedTopics("", "");
res.Set(0, 1);
res.Set(1, "current system state");
XmlRpcValue listofvalues = new XmlRpcValue();
int index = 0;
foreach (List <String> l in publishedtopics)
{
XmlRpcValue value = new XmlRpcValue();
value.Set(0, l[0]); //Topic Name
value.Set(1, l[1]); // Topic type
listofvalues.Set(index, value);
index++;
}
res.Set(2, listofvalues);
}
/// <summary>
/// Returns list of all publications
/// </summary>
/// <param name="parms"></param>
/// <param name="result"></param>
public void getPublications([In][Out] IntPtr parms, [In][Out] IntPtr result)
{
XmlRpcValue res = XmlRpcValue.Create(ref result);
res.Set(0, 1); //length
res.Set(1, "publications"); //response too
XmlRpcValue response = new XmlRpcValue(); //guts, new value here
//response.Size = 0;
List <List <String> > current = handler.getPublishedTopics("", "");
for (int i = 0; i < current.Count; i += 2)
{
XmlRpcValue pub = new XmlRpcValue();
pub.Set(0, current[0]);
current.RemoveAt(0);
pub.Set(1, current[0]);
current.RemoveAt(0);
response.Set(i, pub);
}
res.Set(2, response);
}
/// <summary>
/// Unregister an existing subscriber
/// </summary>
/// <param name="parms"></param>
/// <param name="result"></param>
public void unregisterSubscriber([In][Out] IntPtr parms, [In][Out] IntPtr result)
{
XmlRpcValue res = XmlRpcValue.Create(ref result), parm = XmlRpcValue.Create(ref parms);
String caller_id = parm[0].GetString();
String topic = parm[1].GetString();
String caller_api = parm[2].GetString();
Console.WriteLine("UNSUBSCRIBING: " + caller_id + " : " + caller_api);
int ret = handler.unregisterSubscriber(caller_id, topic, caller_api);
res.Set(0, ret);
res.Set(1, "unregistered " + caller_id + "as provder of " + topic);
//throw new Exception("NOT IMPLEMENTED YET!");
//XmlRpcValue args = new XmlRpcValue(this_node.Name, topic, XmlRpcManager.Instance.uri),
// result = new XmlRpcValue(),
// payload = new XmlRpcValue();
//master.execute("unregisterSubscriber", args, ref result, ref payload, false);
//return true;
}
public void getTopicTypes([In][Out] IntPtr parms, [In][Out] IntPtr result)
{
XmlRpcValue res = XmlRpcValue.Create(ref result), parm = XmlRpcValue.Create(ref parms);
String topic = parm[0].GetString();
String caller_id = parm[1].GetString();
Dictionary <String, String> types = handler.getTopicTypes(topic);
XmlRpcValue value = new XmlRpcValue();
int index = 0;
foreach (KeyValuePair <String, String> pair in types)
{
XmlRpcValue payload = new XmlRpcValue();
payload.Set(0, pair.Key);
payload.Set(1, pair.Value);
value.Set(index, payload);
}
res.Set(0, 1);
res.Set(1, "getTopicTypes");
res.Set(2, value);
}
/// <summary>
/// No clue.
/// </summary>
/// <param name="parms"></param>
/// <param name="result"></param>
public void requestTopic([In][Out] IntPtr parms, [In][Out] IntPtr result)
{
throw new Exception("NOT IMPLEMENTED YET!");
XmlRpcValue res = XmlRpcValue.Create(ref result), parm = XmlRpcValue.Create(ref parms);
}
