internal static XmlRpcClient clientForNode(string nodename)
{
var args = new XmlRpcValue(ThisNode.Name, nodename);
var resp = new XmlRpcValue();
var payl = new XmlRpcValue();
if (!execute("lookupNode", args, resp, payl, true))
{
return(null);
}
if (!XmlRpcManager.Instance.ValidateXmlRpcResponse("lookupNode", resp, payl))
{
return(null);
}
string nodeUri = payl.GetString();
if (!Network.SplitUri(nodeUri, out string nodeHost, out int nodePort) || nodeHost == null || nodePort <= 0)
{
return(null);
}
return(new XmlRpcClient(nodeHost, nodePort));
}
internal static CachedXmlRpcClient clientForNode(string nodename)
{
XmlRpcValue args = new XmlRpcValue();
args.Set(0, this_node.Name);
args.Set(1, nodename);
XmlRpcValue resp = new XmlRpcValue();
XmlRpcValue payl = new XmlRpcValue();
if (!execute("lookupNode", args, ref resp, ref payl, true))
{
return(null);
}
if (!XmlRpcManager.Instance.validateXmlrpcResponse("lookupNode", resp, ref payl))
{
return(null);
}
string nodeuri = payl.GetString();
string nodehost = null;
int nodeport = 0;
if (!network.splitURI(nodeuri, ref nodehost, ref nodeport) || nodehost == null || nodeport <= 0)
{
return(null);
}
return(XmlRpcManager.Instance.getXMLRPCClient(nodehost, nodeport, nodeuri));
}
internal async Task <(string host, int port)> LookupServiceAsync(string name)
{
XmlRpcValue args = new XmlRpcValue(), result = new XmlRpcValue(), payload = new XmlRpcValue();
args.Set(0, ThisNode.Name);
args.Set(1, name);
if (!await Master.ExecuteAsync("lookupService", args, result, payload, false).ConfigureAwait(false))
{
throw new Exception($"The Service '{name}' is not available at ROS master.");
}
string uri = payload.GetString();
if (string.IsNullOrWhiteSpace(uri))
{
throw new Exception("An Empty server URI was returned from ROS master.");
}
if (!Network.SplitUri(uri, out string host, out int port))
{
throw new Exception($"Bad service URI received: '{uri}]");
}
return(host, port);
}
internal bool LookupService(string name, ref string serviceHost, ref int servicePort)
{
XmlRpcValue args = new XmlRpcValue(), result = new XmlRpcValue(), payload = new XmlRpcValue();
args.Set(0, ThisNode.Name);
args.Set(1, name);
if (!Master.Execute("lookupService", args, result, payload, false))
{
logger.LogWarning("Service [{0}]: Not available at ROS master", name);
return(false);
}
string serviceUri = payload.GetString();
if (serviceUri.Length == 0)
{
logger.LogError("Service [{0}]: Empty server URI returned from master", name);
return(false);
}
if (!Network.SplitUri(serviceUri, out serviceHost, out servicePort))
{
logger.LogError("Service [{0}]: Bad service uri [{0}]", name, serviceUri);
return(false);
}
return(true);
}
internal bool LookupService(string name, ref string serv_host, ref int serv_port)
{
XmlRpcValue args = new XmlRpcValue(), result = new XmlRpcValue(), payload = new XmlRpcValue();
args.Set(0, ThisNode.Name);
args.Set(1, name);
if (!Master.execute("lookupService", args, result, payload, false))
{
ROS.Warn()($"[{ThisNode.Name}] Service [{name}]: Not available at ROS master");
return(false);
}
string serv_uri = payload.GetString();
if (serv_uri.Length == 0)
{
ROS.Error()($"[{ThisNode.Name}] Service [{name}]: Empty server URI returned from master");
return(false);
}
if (!Network.SplitUri(serv_uri, out serv_host, out serv_port))
{
ROS.Error()($"[{ThisNode.Name}] Service [{name}]: Bad service uri [{serv_uri}]");
return(false);
}
return(true);
}
internal bool lookupService(string name, ref string serv_host, ref int serv_port)
{
XmlRpcValue args = new XmlRpcValue(), result = new XmlRpcValue(), payload = new XmlRpcValue();
args.Set(0, this_node.Name);
args.Set(1, name);
if (!master.execute("lookupService", args, ref result, ref payload, false))
{
EDB.WriteLine("lookupService: Service unknown.");
return(false);
}
string serv_uri = payload.GetString();
if (serv_uri.Length == 0)
{
EDB.WriteLine("lookupService: Empty server URI returned from master");
return(false);
}
if (!network.splitURI(serv_uri, ref serv_host, ref serv_port))
{
EDB.WriteLine("lookupService: Bad service uri [{0}]", serv_uri);
return(false);
}
return(true);
}
public void set_param(String key, XmlRpcValue value, Func <Dictionary <String, Tuple <String, XmlRpcValue> >, int> notify_task = null)
{
if (key == "/") //create root
{
parameters = new Param(value);
}
else //add branch
{
String[] namespaces = key.Split('/');
String value_key = namespaces.Last();
namespaces = namespaces.Take(namespaces.Length - 1).ToArray();
Dictionary <String, Param> d = parameters;
foreach (String ns in namespaces) //descend tree to the node we are setting
{
if (ns != "")
{
if (!d.ContainsKey(ns))
{
Param new_parameters = new Param();
d.Add(ns, new_parameters);
d = new_parameters;
}
else
{
var val = d[ns];
if (val.isNotANamespace)
{
d[ns] = val = new Param();
}
d = val;
}
}
}
if (value.Type == XmlRpcValue.ValueType.TypeString)
{
d[value_key] = new Param(value.GetString());
}
else if (value.Type == XmlRpcValue.ValueType.TypeInt)
{
d[value_key] = new Param(value.GetInt());
}
else if (value.Type == XmlRpcValue.ValueType.TypeDouble)
{
d[value_key] = new Param(value.GetDouble());
}
else
{
d[value_key] = new Param(value);
}
}
if (notify_task != null)
{
//Boolean updates = compute_param_updates(reg_manager.param_subscribers, key, value)
//if(updates)
//notify_task(updates);
// TODO : ADD NOTIFY TASK DEALY
}
}
internal async Task <bool> RegisterSubscriber(Subscription s, string datatype)
{
string uri = XmlRpcManager.Instance.Uri;
var args = new XmlRpcValue(ThisNode.Name, s.Name, datatype, uri);
var result = new XmlRpcValue();
var payload = new XmlRpcValue();
if (!await Master.ExecuteAsync("registerSubscriber", args, result, payload, true))
{
logger.LogError("RPC \"registerSubscriber\" for service " + s.Name + " failed.");
return(false);
}
var pub_uris = new List <string>();
for (int i = 0; i < payload.Count; i++)
{
XmlRpcValue load = payload[i];
string pubed = load.GetString();
if (pubed != uri && !pub_uris.Contains(pubed))
{
pub_uris.Add(pubed);
}
}
bool self_subscribed = false;
Publication pub = null;
string sub_md5sum = s.Md5Sum;
lock (gate)
{
foreach (Publication p in advertisedTopics)
{
pub = p;
string pub_md5sum = pub.Md5Sum;
if (pub.Name == s.Name && Md5SumsMatch(pub_md5sum, sub_md5sum) && !pub.Dropped)
{
self_subscribed = true;
break;
}
}
}
await s.PubUpdate(pub_uris);
if (self_subscribed)
{
s.AddLocalConnection(pub);
}
return(true);
}
private static bool SafeGetDefault <T>(string key, out T dest, T def = default(T), bool useCache = false)
{
try
{
XmlRpcValue v = GetParam(key, useCache);
if (v == null || !v.IsEmpty)
{
if (def == null)
{
dest = default(T);
return(false);
}
dest = def;
return(true);
}
if (typeof(T) == typeof(int))
{
dest = (T)(object)v.GetInt();
}
else if (typeof(T) == typeof(string))
{
dest = (T)(object)v.GetString();
}
else if (typeof(T) == typeof(bool))
{
dest = (T)(object)v.GetBool();
}
else if (typeof(T) == typeof(int))
{
dest = (T)(object)v.GetInt();
}
else if (typeof(T) == typeof(XmlRpcValue))
{
dest = (T)(object)v;
}
else
{
// unsupported type
dest = default(T);
return(false);
}
return(true);
}
catch
{
dest = default(T);
return(false);
}
}
public bool registerSubscriber(Subscription s, string datatype)
{
string uri = XmlRpcManager.Instance.Uri;
var args = new XmlRpcValue(ThisNode.Name, s.name, datatype, uri);
var result = new XmlRpcValue();
var payload = new XmlRpcValue();
if (!Master.execute("registerSubscriber", args, result, payload, true))
{
ROS.Error()($"[{ThisNode.Name}] RPC \"registerSubscriber\" for service {s.name} failed.");
return(false);
}
var pub_uris = new List <string>();
for (int i = 0; i < payload.Count; i++)
{
XmlRpcValue load = payload[i];
string pubed = load.GetString();
if (pubed != uri && !pub_uris.Contains(pubed))
{
pub_uris.Add(pubed);
}
}
bool self_subscribed = false;
Publication pub = null;
string sub_md5sum = s.md5sum;
lock ( advertisedTopicsMutex )
{
foreach (Publication p in advertisedTopics)
{
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);
}
internal static CachedXmlRpcClient clientForNode(string nodename)
{
XmlRpcValue args = new XmlRpcValue();
args.Set(0, this_node.Name);
args.Set(1, nodename);
XmlRpcValue resp = new XmlRpcValue();
XmlRpcValue payl = new XmlRpcValue();
if (!execute("lookupNode", args, resp, payl, true))
return null;
if (!XmlRpcManager.Instance.validateXmlrpcResponse("lookupNode", resp, payl))
return null;
string nodeuri = payl.GetString();
string nodehost = null;
int nodeport = 0;
if (!network.splitURI(nodeuri, ref nodehost, ref nodeport) || nodehost == null || nodeport <= 0)
return null;
return XmlRpcManager.Instance.getXMLRPCClient(nodehost, nodeport, nodeuri);
}
