internal bool advertiseService <MReq, MRes>(AdvertiseServiceOptions <MReq, MRes> ops) where MReq : IRosMessage, new() where MRes : IRosMessage, new()
{
lock (shutting_down_mutex)
{
if (shutting_down)
{
return(false);
}
}
lock (service_publications_mutex)
{
if (isServiceAdvertised(ops.service))
{
EDB.WriteLine("Tried to advertise a service that is already advertised in this node [{0}]", ops.service);
return(false);
}
if (ops.helper == null)
{
ops.helper = new ServiceCallbackHelper <MReq, MRes>(ops.srv_func);
}
ServicePublication <MReq, MRes> pub = new ServicePublication <MReq, MRes>(ops.service, ops.md5sum, ops.datatype, ops.req_datatype, ops.res_datatype, ops.helper, ops.callback_queue, ops.tracked_object);
service_publications.Add(pub);
}
XmlRpcValue args = new XmlRpcValue(), result = new XmlRpcValue(), payload = new XmlRpcValue();
args.Set(0, this_node.Name);
args.Set(1, ops.service);
args.Set(2, string.Format("rosrpc://{0}:{1}", network.host, connection_manager.TCPPort));
args.Set(3, xmlrpc_manager.uri);
master.execute("registerService", args, ref result, ref payload, true);
return(true);
}
/// <summary>
/// Advertises a ServiceServer with specified OPTIONS
/// </summary>
/// <typeparam name="MReq">Request sub-srv type</typeparam>
/// <typeparam name="MRes">Response sub-srv type</typeparam>
/// <param name="ops">isn't it obvious?</param>
/// <returns>The ServiceServer that will call the ServiceFunction on behalf of ServiceClients</returns>
public ServiceServer advertiseService <MReq, MRes>(AdvertiseServiceOptions <MReq, MRes> ops)
where MReq : IRosMessage, new()
where MRes : IRosMessage, new()
{
ops.service = resolveName(ops.service);
if (ops.callback_queue == null)
{
ops.callback_queue = Callback ?? ROS.GlobalCallbackQueue;
}
if (ServiceManager.Instance.advertiseService(ops))
{
ServiceServer srv = new ServiceServer(ops.service, this);
lock (collection.mutex)
{
collection.serviceservers.Add(srv);
}
return(srv);
}
throw new Exception("Something ain't right with this advertisement.");
}