/// <summary>
/// Finishes intialization This is called by the first NodeHandle when it initializes
/// </summary>
internal static void Start()
{
lock (startMutex)
{
if (started)
{
return;
}
RaiseRosStarting();
ServiceManager.Reset();
XmlRpcManager.Reset();
TopicManager.Reset();
ConnectionManager.Reset();
XmlRpcManager.Instance.Bind("shutdown", ShutdownCallback);
TopicManager.Instance.Start();
ServiceManager.Instance.Start();
ConnectionManager.Instance.Start();
XmlRpcManager.Instance.Start();
shuttingDown = false;
started = true;
_ok = true;
RaiseRosStarted();
}
}
/// <summary>
/// Internal ROS deinitialization method. Called by checkForShutdown.
/// </summary>
private static void _shutdown()
{
if (started)
{
logger.LogInformation("ROS is shutting down.");
RaiseRosShuttingDown();
SimTime.Terminate();
RosOutAppender.Terminate();
GlobalNodeHandle.Shutdown().Wait();
GlobalCallbackQueue.Disable();
GlobalCallbackQueue.Clear();
XmlRpcManager.Instance.Unbind("shutdown");
Param.Terminate();
TopicManager.Terminate();
ServiceManager.Terminate();
XmlRpcManager.Terminate();
ConnectionManager.Terminate();
lock (startMutex)
{
started = false;
ResetStaticMembers();
}
RaiseRosShutDown();
}
}
public void Start()
{
shuttingDown = false;
pollManager = PollManager.Instance;
connectionManager = ConnectionManager.Instance;
xmlrpcManager = XmlRpcManager.Instance;
}
private void RequestTopicCallback(XmlRpcValue parm, XmlRpcValue res)
{
string topic = parm[1].GetString();
if (!RequestTopic(topic, parm[2], ref res))
{
const string error = "Unknown error while handling XmlRpc call to requestTopic";
this.logger.LogError(error);
XmlRpcManager.ResponseInt(0, error, 0)(res);
}
}
private void requestTopicCallback(XmlRpcValue parm, XmlRpcValue res)
{
//XmlRpcValue res = XmlRpcValue.Create(ref result)
// , parm = XmlRpcValue.Create(ref parms);
//result = res.instance;
if (!requestTopic(parm[1].GetString(), parm[2], ref res))
{
string error = $"[{ThisNode.Name}] Unknown error while handling XmlRpc call to requestTopic";
ROS.Error()(error);
XmlRpcManager.ResponseInt(0, error, 0)(res);
}
}
private void RequestTopicCallback(XmlRpcValue parm, XmlRpcValue res)
{
//XmlRpcValue res = XmlRpcValue.Create(ref result)
// , parm = XmlRpcValue.Create(ref parms);
//result = res.instance;
if (!RequestTopic(parm[1].GetString(), parm[2], ref res))
{
const string error = "Unknown error while handling XmlRpc call to requestTopic";
this.logger.LogError(error);
XmlRpcManager.ResponseInt(0, error, 0)(res);
}
}
/// <summary>
/// This is called when rosnode kill is invoked
/// </summary>
/// <param name="p"> pointer to unmanaged XmlRpcValue containing params </param>
/// <param name="r"> pointer to unmanaged XmlRpcValue that will contain return value </param>
private static void ShutdownCallback(XmlRpcValue parms, XmlRpcValue r)
{
int num_params = 0;
if (parms.Type == XmlRpcType.Array)
{
num_params = parms.Count;
}
if (num_params > 1)
{
string reason = parms[1].GetString();
logger.LogInformation("Shutdown request received.");
logger.LogInformation("Reason given for shutdown: [" + reason + "]");
Shutdown();
}
XmlRpcManager.ResponseInt(1, "", 0)(r);
}
private void publisherUpdateCallback(XmlRpcValue parm, XmlRpcValue result)
{
var pubs = new List <string>();
for (int idx = 0; idx < parm[2].Count; idx++)
{
pubs.Add(parm[2][idx].GetString());
}
if (pubUpdate(parm[1].GetString(), pubs))
{
XmlRpcManager.ResponseInt(1, "", 0)(result);
}
else
{
string error = $"[{ThisNode.Name}] Unknown error while handling XmlRpc call to pubUpdate";
ROS.Error()(error);
XmlRpcManager.ResponseInt(0, error, 0)(result);
}
}
private void PublisherUpdateCallback(XmlRpcValue parm, XmlRpcValue result)
{
var pubs = new List <string>();
for (int idx = 0; idx < parm[2].Count; idx++)
{
pubs.Add(parm[2][idx].GetString());
}
var pubUpdateTask = PubUpdate(parm[1].GetString(), pubs);
pubUpdateTask.WhenCompleted().WhenCompleted().Wait();
if (pubUpdateTask.IsCompletedSuccessfully && pubUpdateTask.Result)
{
XmlRpcManager.ResponseInt(1, "", 0)(result);
}
else
{
const string error = "Unknown error while handling XmlRpc call to pubUpdate";
this.logger.LogError(error);
XmlRpcManager.ResponseInt(0, error, 0)(result);
}
}
private void PublisherUpdateCallback(XmlRpcValue parm, XmlRpcValue result)
{
string topic = parm[1].GetString();
List <string> publicationUris = parm[2].Select(x => x.GetString()).ToList();
this.logger.LogDebug($"PublisherUpdateCallback for topic '{topic}' with URIs: {string.Join(", ", publicationUris)}");
var pubUpdateTask = PubUpdate(topic, publicationUris);
pubUpdateTask.WhenCompleted().WhenCompleted().Wait();
if (pubUpdateTask.HasCompletedSuccessfully() && pubUpdateTask.Result)
{
XmlRpcManager.ResponseInt(1, "", 0)(result);
}
else
{
const string error = "Unknown error while handling XmlRpc call to pubUpdate";
this.logger.LogError(error);
XmlRpcManager.ResponseInt(0, error, 0)(result);
}
}
public void Start()
{
connectionManager = ConnectionManager.Instance;
xmlRpcManager = XmlRpcManager.Instance;
}
