public ParameterServer(int portNumber)
{
_channel = new HttpServerChannel("param", portNumber, new XmlRpcServerFormatterSinkProvider());
var tmp = new Uri(_channel.GetChannelUri());
ParameterServerUri = new Uri("http://" + Ros.HostName + ":" + tmp.Port + "/param");
ChannelServices.RegisterChannel(_channel, false);
RemotingServices.Marshal(this, "param");
}
public MasterServer(int portNumber)
{
_channel = new HttpServerChannel("master", portNumber, new XmlRpcServerFormatterSinkProvider());
var tmp = new Uri(_channel.GetChannelUri());
MasterUri = new Uri("http://" + Ros.HostName + ":" + tmp.Port);
ChannelServices.RegisterChannel(_channel, false);
RemotingServices.Marshal(this, "/");
_parameterServer = new ParameterServer(MasterUri);
_logger.Info(m => m("MasterServer launched {0}", MasterUri.ToString()));
}
internal SlaveServer(string nodeId, int portNumber, TopicContainer topicContainer)
{
NodeId = nodeId;
_logger = RosOutLogManager.GetCurrentNodeLogger(NodeId);
_topicContainer = topicContainer;
_tcpRosListener = new Dictionary<string, TcpRosListener>();
string slaveName = "slave" + Guid.NewGuid().ToString("N");
_channel = new HttpServerChannel(slaveName, portNumber, new XmlRpcServerFormatterSinkProvider());
var tmp = new Uri(_channel.GetChannelUri());
SlaveUri = new Uri("http://" + Ros.HostName + ":" + tmp.Port + "/" + slaveName);
ChannelServices.RegisterChannel(_channel, false);
RemotingServices.Marshal(this, slaveName); //Marshalするときの名前に/を入れるとだめ。
}
