Actually no, the technology hasn't existed at all, that could sustain people on Mars indefinitely with supplies every two years. You should look up how much material the astronaut were able to carry to the Moon. Actually, the technology that would allow people to simply survive the *transit* to Mars with any reasonable chance of success does not even exist yet. It would essentially require building the Mars rocket in high orbit, and this is like scaling the international space station size, complexity and cost by a factor of 20-50x. I'll let you do the math.
If you prefer, we think it is theoretically doable without breaking the laws of physics, but it is not doable financially. Think of all the fuss ITER is causing even though is it chump change with respect to the size of the financial world, all the while with enormous expected return.