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);
}
Пример #2
0
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;
}