private async Task <IServiceServerLink> CreateServiceServerLinkAsync(
string service,
bool persistent,
string requestMd5Sum,
string responseMd5Sum,
IDictionary <string, string> headerValues,
Action <ServiceServerLink> initialize
)
{
(string host, int port) = await LookupServiceAsync(service).ConfigureAwait(false);
var client = new TcpClient();
await client.ConnectAsync(host, port).ConfigureAwait(false);
client.NoDelay = true;
var connection = new Connection(client);
var link = new ServiceServerLink(connection, service, persistent, requestMd5Sum, responseMd5Sum, headerValues);
initialize(link);
lock (gate)
{
serviceServerLinksAsync.Add(link);
}
return(link);
}
internal ServiceServerLink <M, T> CreateServiceServerLink <M, T>(string service, bool persistent, string request_md5sum,
string response_md5sum, IDictionary <string, string> header_values)
where M : RosMessage, new()
where T : RosMessage, new()
{
lock ( shuttingDownMutex )
{
if (shuttingDown)
{
return(null);
}
}
int serv_port = -1;
string serv_host = "";
if (!LookupService(service, ref serv_host, ref serv_port))
{
return(null);
}
TcpTransport transport = new TcpTransport(pollManager.poll_set);
if (transport.connect(serv_host, serv_port))
{
Connection connection = new Connection();
connectionManager.AddConnection(connection);
ServiceServerLink <M, T> client = new ServiceServerLink <M, T>(service, persistent, request_md5sum, response_md5sum, header_values);
lock (serviceServerLinksMutex)
serviceServerLinks.Add(client);
connection.initialize(transport, false, null);
client.initialize(connection);
return(client);
}
return(null);
}
internal void RemoveServiceServerLink <S>(ServiceServerLink <S> issl)
where S : RosService, new()
{
RemoveServiceServerLink((IServiceServerLink)issl);
}
internal void RemoveServiceServerLink <M, T>(ServiceServerLink <M, T> issl)
where M : RosMessage, new()
where T : RosMessage, new()
{
RemoveServiceServerLink((IServiceServerLink)issl);
}