private DefaultServiceClient(
GraphName nodeName,
ServiceDeclaration serviceDeclaration,
MessageFactory messageFactory,
ScheduledExecutorService executorService)
throws IOException {
this.serviceDeclaration = serviceDeclaration;
this.messageFactory = messageFactory;
messageBufferPool = new MessageBufferPool();
responseListeners = new LinkedList<ServiceResponseListener<S>>();
connectionHeader = new ConnectionHeader();
connectionHeader.addField(ConnectionHeaderFields.CALLER_ID, nodeName.toString());
// TODO(damonkohler): Support non-persistent connections.
connectionHeader.addField(ConnectionHeaderFields.PERSISTENT, "1");
connectionHeader.merge(serviceDeclaration.toConnectionHeader());
tcpClientManager = TcpClientManager.getInstance(executorService);
ServiceClientHandshakeHandler<T, S> serviceClientHandshakeHandler =
new ServiceClientHandshakeHandler<T, S>(
connectionHeader, responseListeners, executorService);
handshakeLatch = new HandshakeLatch();
serviceClientHandshakeHandler.addListener(handshakeLatch);
tcpClientManager.addNamedChannelHandler(serviceClientHandshakeHandler);
}
@Override
public void connect(InetSocketAddress inetSocketAddress) throws Exception {
assert (inetSocketAddress != null) : "Address must be specified.";
// assert(inetSocketAddress.getScheme().equals("rosrpc")) : "Invalid service URI.";
assert (tcpClient == null) : "Already connected once.";
handshakeLatch.reset();
try {
tcpClient = tcpClientManager.connect(toString(), inetSocketAddress);
} catch (IOException e1) {
throw new RosRuntimeException(
"TcpClient failed to connect to remote " + toString() + " " + inetSocketAddress, e1);
}
try {
if (!handshakeLatch.await(1, TimeUnit.SECONDS)) {
throw new RosRuntimeException(handshakeLatch.getErrorMessage());
}
} catch (InterruptedException e) {
throw new RosRuntimeException("Handshake timed out.");
}
}
@Override
public void shutdown() {
assert (tcpClient != null) : "Not connected.";
tcpClientManager.shutdown();
}