void foreign_unadvertise()
{
XmlRpc::XmlRpcClient *client = g_xmlrpc_manager->getXMLRPCClient(g_host, g_port, "/");
XmlRpc::XmlRpcValue args, result;
args[0] = ros::this_node::getName();
args[1] = g_output_topic;
args[2] = g_xmlrpc_manager->getServerURI();
if (!client->execute("unregisterPublisher", args, result))
{
ROS_ERROR("Failed to contact foreign master at [%s:%d] to unregister [%s].", g_host.c_str(), g_port, g_output_topic.c_str());
g_error = true;
}
ros::XMLRPCManager::instance()->releaseXMLRPCClient(client);
}
int AllNet::info ()
{
int ret;
char *reply = NULL;
int reply_length = 0;
const char *_uri;
std::ostringstream os;
os << url << "/xml/json.php?mode=all&simple";
XmlRpc::XmlRpcClient httpClient (os.str ().c_str (), &_uri);
ret = httpClient.executeGet (_uri, reply, reply_length);
if (!ret)
{
logStream (MESSAGE_ERROR) << "cannot get " << url << sendLog;
return -1;
}
if (getDebug ())
logStream (MESSAGE_DEBUG) << "received:" << reply << sendLog;
// [{"id":"1","name":"Internal","unit":"\u00b0C","type":"1","value":"14.26","error":0},{"id":"104","name":"Port 1","unit":"\u00b0C","type":"1","value":"11.56","error":0}]
Json::Value root;
Json::Reader reader;
bool parsed = reader.parse (reply, root);
if (!parsed)
{
free (reply);
return -1;
}
int readed = 0;
for (int i = 0; i < (int) root.size(); i++)
{
Json::Value item = root[i];
Json::Value name = item["name"];
Json::Value val = item["value"];
if (item["error"].asInt () != 0)
continue;
if (name.asString () == "Internal")
{
ambient->setValueFloat (atof (val.asCString ()));
readed |= 0x01;
}
else if (name.asString () == "Port 1")
{
mirror->setValueFloat (atof (val.asCString ()));
readed |= 0x02;
}
else if (name.asString () == "Mirror Min")
{
mirrorMin->setValueFloat (atof (val.asCString ()));
}
else if (name.asString () == "Mirror Max")
{
mirrorMax->setValueFloat (atof (val.asCString ()));
}
}
free (reply);
if (readed != 0x03)
return -1;
return Sensor::info ();
}
bool execute(const std::string& method, const XmlRpc::XmlRpcValue& request, XmlRpc::XmlRpcValue& response, XmlRpc::XmlRpcValue& payload, bool wait_for_master)
{
ros::WallTime start_time = ros::WallTime::now();
std::string master_host = getHost();
uint32_t master_port = getPort();
XmlRpc::XmlRpcClient *c = XMLRPCManager::instance()->getXMLRPCClient(master_host, master_port, "/");
bool printed = false;
bool slept = false;
bool ok = true;
do
{
bool b = false;
{
#if defined(__APPLE__)
boost::mutex::scoped_lock lock(g_xmlrpc_call_mutex);
#endif
b = c->execute(method.c_str(), request, response);
}
ok = !ros::isShuttingDown() && !XMLRPCManager::instance()->isShuttingDown();
if (!b && ok)
{
if (!printed && wait_for_master)
{
ROS_ERROR("[%s] Failed to contact master at [%s:%d]. %s", method.c_str(), master_host.c_str(), master_port, wait_for_master ? "Retrying..." : "");
printed = true;
}
if (!wait_for_master)
{
XMLRPCManager::instance()->releaseXMLRPCClient(c);
return false;
}
if (!g_retry_timeout.isZero() && (ros::WallTime::now() - start_time) >= g_retry_timeout)
{
ROS_ERROR("[%s] Timed out trying to connect to the master after [%f] seconds", method.c_str(), g_retry_timeout.toSec());
XMLRPCManager::instance()->releaseXMLRPCClient(c);
return false;
}
ros::WallDuration(0.05).sleep();
slept = true;
}
else
{
if (!XMLRPCManager::instance()->validateXmlrpcResponse(method, response, payload))
{
XMLRPCManager::instance()->releaseXMLRPCClient(c);
return false;
}
break;
}
ok = !ros::isShuttingDown() && !XMLRPCManager::instance()->isShuttingDown();
} while(ok);
if (ok && slept)
{
ROS_INFO("Connected to master at [%s:%d]", master_host.c_str(), master_port);
}
XMLRPCManager::instance()->releaseXMLRPCClient(c);
return true;
}
