private async Task <bool> NegotiateConnection(string xmlRpcUri)
{
int protos = 0;
XmlRpcValue tcprosArray = new XmlRpcValue(), protosArray = new XmlRpcValue(), Params = new XmlRpcValue();
tcprosArray.Set(0, "TCPROS");
protosArray.Set(protos++, tcprosArray);
Params.Set(0, ThisNode.Name);
Params.Set(1, Name);
Params.Set(2, protosArray);
if (!Network.SplitUri(xmlRpcUri, out string peerHost, out int peerPort))
{
logger.LogError($"Bad XML-RPC URI: [{xmlRpcUri}]");
return(false);
}
var client = new XmlRpcClient(peerHost, peerPort);
var requestTopicTask = client.ExecuteAsync("requestTopic", Params);
logger.LogDebug($"Began asynchronous XML RPC connection to http://{peerHost}:{peerPort}/ for topic [{Name}]");
var conn = new PendingConnection(client, requestTopicTask, xmlRpcUri);
lock (pendingConnections)
{
pendingConnections.Add(conn);
}
await requestTopicTask.WhenCompleted().ConfigureAwait(false);
PendingConnectionDone(conn, requestTopicTask);
return(requestTopicTask.HasCompletedSuccessfully());
}
public bool NegotiateConnection(string xmlRpcUri)
{
int protos = 0;
XmlRpcValue tcpros_array = new XmlRpcValue(), protos_array = new XmlRpcValue(), Params = new XmlRpcValue();
tcpros_array.Set(0, "TCPROS");
protos_array.Set(protos++, tcpros_array);
Params.Set(0, ThisNode.Name);
Params.Set(1, name);
Params.Set(2, protos_array);
if (!Network.SplitUri(xmlRpcUri, out string peerHost, out int peerPort))
{
ROS.Error()($"[{ThisNode.Name}] Bad xml-rpc URI: [{xmlRpcUri}]");
return(false);
}
var client = new XmlRpcClient(peerHost, peerPort);
var requestTopicTask = client.ExecuteAsync("requestTopic", Params);
if (requestTopicTask.IsFaulted)
{
ROS.Error()($"[{ThisNode.Name}] Failed to contact publisher [{peerHost}:{peerPort}for topic [{name}]");
return(false);
}
ROS.Debug()($"[{ThisNode.Name}] Began asynchronous xmlrpc connection to http://{peerHost}:{peerPort}/ for topic [{name}]");
var conn = new PendingConnection(client, requestTopicTask, xmlRpcUri);
lock ( pendingConnections )
{
pendingConnections.Add(conn);
requestTopicTask.ContinueWith(t => PendingConnectionDone(conn, t));
}
return(true);
}
/// <summary>
/// Execute a remote procedure call on the ROS master.
/// </summary>
/// <param name="method"></param>
/// <param name="request">Full request to send to the master </param>
/// <param name="waitForMaster">If you recieve an unseccessful status code, keep retrying.</param>
/// <param name="response">Full response including status code and status message. Initially empty.</param>
/// <param name="payload">Location to store the actual data requested, if any.</param>
/// <returns></returns>
public static async Task <bool> ExecuteAsync(string method, XmlRpcValue request, XmlRpcValue response, XmlRpcValue payload, bool waitForMaster)
{
bool supprressWarning = false;
var startTime = DateTime.UtcNow;
try
{
var client = new XmlRpcClient(host, port);
while (true)
{
// check if we are shutting down
if (XmlRpcManager.Instance.IsShuttingDown)
{
return(false);
}
try
{
var result = await client.ExecuteAsync(method, request); // execute the RPC call
response.Set(result.Value);
if (result.Success)
{
// validateXmlrpcResponse logs error in case of validation error
// So we don't need any logging here.
if (XmlRpcManager.Instance.ValidateXmlRpcResponse(method, result.Value, payload))
{
return(true);
}
else
{
return(false);
}
}
else
{
if (response.IsArray && response.Count >= 2)
{
ROS.Error()($"[{ThisNode.Name}] Execute failed: return={response[0].GetInt()}, desc={response[1].GetString()}");
}
else
{
ROS.Error()($"[{ThisNode.Name}] response type: {response.Type.ToString()}");
}
}
}
catch (Exception ex)
{
// no connection to ROS Master
if (waitForMaster)
{
if (!supprressWarning)
{
ROS.Warn()($"[{ThisNode.Name}] [{method}] Could not connect to master at [{host}:{port}]. Retrying for the next {retryTimeout.TotalSeconds} seconds.");
supprressWarning = true;
}
// timeout expired, throw exception
if (retryTimeout.TotalSeconds > 0 && DateTime.UtcNow.Subtract(startTime) > retryTimeout)
{
ROS.Error()($"[{ThisNode.Name}] [{method}] Timed out trying to connect to the master [{host}:{port}] after [{retryTimeout.TotalSeconds}] seconds");
throw new RosException($"Cannot connect to ROS Master at {host}:{port}", ex);
}
}
else
{
throw new RosException($"Cannot connect to ROS Master at {host}:{port}", ex);
}
}
await Task.Delay(250);
// recreate the client and reinitiate master connection
client = new XmlRpcClient(host, port);
}
}
catch (ArgumentNullException e)
{
ROS.Error()($"[{ThisNode.Name}] {e.ToString()}");
}
ROS.Error()($"[{ThisNode.Name}] Master API call: {method} failed!\n\tRequest:\n{request}");
return(false);
}