public static bool waitForService(string service_name, TimeSpan ts)
{
string mapped_name = names.resolve(service_name);
DateTime start_time = DateTime.Now;
bool printed = false;
while (ROS.ok)
{
if (exists(service_name, !printed))
{
break;
}
printed = true;
if (ts >= TimeSpan.Zero)
{
if (DateTime.Now.Subtract(start_time) > ts)
{
return(false);
}
}
Thread.Sleep(ROS.WallDuration);
}
if (printed && ROS.ok)
{
ROS.Info("waitForService: Service[{0}] is now available.", mapped_name);
}
return(true);
}
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);
}
