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Fix ros::service::exists() to set the TCP connection it's using to synchronous (#2737) 

Add probe header to ros::service::exists() to prevent rospy from complaining about a failed inbound connection (#802)
This commit is contained in:
Josh Faust 2010-05-25 23:21:38 +00:00
parent 3c7c2628c8
commit 305f327590
1 changed files with 12 additions and 1 deletions
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13
core/roscpp/src/libros/service.cpp
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@ -34,6 +34,7 @@
#include "ros/init.h"
#include "ros/names.h"
#include "ros/this_node.h"
#include "ros/header.h"
using namespace ros;
@ -46,10 +47,20 @@ bool service::exists(const std::string& service_name, bool print_failure_reason)
if (ServiceManager::instance()->lookupService(mapped_name, host, port))
{
TransportTCPPtr transport(new TransportTCP(&PollManager::instance()->getPollSet()));
TransportTCPPtr transport(new TransportTCP(0, TransportTCP::SYNCHRONOUS));
if (transport->connect(host, port))
{
M_string m;
m["probe"] = "1";
m["md5sum"] = "*";
m["callerid"] = this_node::getName();
m["service"] = mapped_name;
boost::shared_array<uint8_t> buffer;
uint32_t size = 0;;
Header::write(m, buffer, size);
transport->write((uint8_t*)&size, sizeof(size));
transport->write(buffer.get(), size);
transport->close();
return true;