service.cpp
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00001 /*
00002  * Copyright (C) 2008, Morgan Quigley and Willow Garage, Inc.
00003  *
00004  * Redistribution and use in source and binary forms, with or without
00005  * modification, are permitted provided that the following conditions are met:
00006  *   * Redistributions of source code must retain the above copyright notice,
00007  *     this list of conditions and the following disclaimer.
00008  *   * Redistributions in binary form must reproduce the above copyright
00009  *     notice, this list of conditions and the following disclaimer in the
00010  *     documentation and/or other materials provided with the distribution.
00011  *   * Neither the names of Stanford University or Willow Garage, Inc. nor the names of its
00012  *     contributors may be used to endorse or promote products derived from
00013  *     this software without specific prior written permission.
00014  *
00015  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00016  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00017  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
00018  * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
00019  * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
00020  * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
00021  * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
00022  * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
00023  * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
00024  * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00025  * POSSIBILITY OF SUCH DAMAGE.
00026  */
00027 
00028 #include "ros/service.h"
00029 #include "ros/connection.h"
00030 #include "ros/service_server_link.h"
00031 #include "ros/service_manager.h"
00032 #include "ros/transport/transport_tcp.h"
00033 #include "ros/poll_manager.h"
00034 #include "ros/init.h"
00035 #include "ros/names.h"
00036 #include "ros/this_node.h"
00037 #include "ros/header.h"
00038 
00039 using namespace ros;
00040 
00041 bool service::exists(const std::string& service_name, bool print_failure_reason)
00042 {
00043   std::string mapped_name = names::resolve(service_name);
00044 
00045   std::string host;
00046   uint32_t port;
00047 
00048   if (ServiceManager::instance()->lookupService(mapped_name, host, port))
00049   {
00050     TransportTCPPtr transport(boost::make_shared<TransportTCP>(static_cast<ros::PollSet*>(NULL), TransportTCP::SYNCHRONOUS));
00051 
00052     if (transport->connect(host, port))
00053     {
00054       M_string m;
00055       m["probe"] = "1";
00056       m["md5sum"] = "*";
00057       m["callerid"] = this_node::getName();
00058       m["service"] = mapped_name;
00059       boost::shared_array<uint8_t> buffer;
00060       uint32_t size = 0;;
00061       Header::write(m, buffer, size);
00062       transport->write((uint8_t*)&size, sizeof(size));
00063       transport->write(buffer.get(), size);
00064       transport->close();
00065 
00066       return true;
00067     }
00068     else
00069     {
00070       if (print_failure_reason)
00071       {
00072         ROS_INFO("waitForService: Service [%s] could not connect to host [%s:%d], waiting...", mapped_name.c_str(), host.c_str(), port);
00073       }
00074     }
00075   }
00076   else
00077   {
00078     if (print_failure_reason)
00079     {
00080       ROS_INFO("waitForService: Service [%s] has not been advertised, waiting...", mapped_name.c_str());
00081     }
00082   }
00083 
00084   return false;
00085 }
00086 
00087 bool service::waitForService(const std::string& service_name, ros::Duration timeout)
00088 {
00089   std::string mapped_name = names::resolve(service_name);
00090 
00091   Time start_time = Time::now();
00092 
00093   bool printed = false;
00094   bool result = false;
00095   while (ros::ok())
00096   {
00097     if (exists(service_name, !printed))
00098     {
00099       result = true;
00100       break;
00101     }
00102     else
00103     {
00104       printed = true;
00105 
00106       if (timeout >= Duration(0))
00107       {
00108         Time current_time = Time::now();
00109 
00110         if ((current_time - start_time) >= timeout)
00111         {
00112           return false;
00113         }
00114       }
00115 
00116       Duration(0.02).sleep();
00117     }
00118   }
00119 
00120   if (printed && ros::ok())
00121   {
00122     ROS_INFO("waitForService: Service [%s] is now available.", mapped_name.c_str());
00123   }
00124 
00125   return result;
00126 }
00127 
00128 bool service::waitForService(const std::string& service_name, int32_t timeout)
00129 {
00130   return waitForService(service_name, ros::Duration(timeout / 1000.0));
00131 }


roscpp
Author(s): Morgan Quigley, Josh Faust, Brian Gerkey, Troy Straszheim
autogenerated on Tue Mar 7 2017 04:01:03