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);
}
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;
}