/// <summary>
/// Asynchronous version by TAP (Task-based Asynchronous Pattern)
/// </summary>
static void AsyncMainTAP()
{
Ros.InitNodeAsync("/Talker")
.ContinueWith(node =>
{
return node.Result.PublisherAsync<RosSharp.std_msgs.String>("/chatter");
})
.Unwrap()
.ContinueWith(publisher =>
{
int i = 0;
while (true)
{
var data = new RosSharp.std_msgs.String() { data = "test : " + i++ };
Console.WriteLine("data = {0}", data.data);
publisher.Result.OnNext(data);
Thread.Sleep(TimeSpan.FromSeconds(1));
}
})
.ContinueWith(res =>
{
Console.WriteLine(res.Exception.InnerException.Message);
}, TaskContinuationOptions.OnlyOnFaulted);
}
/// <summary>
/// Asynchronous version by TAP (Task-based Asynchronous Pattern)
/// </summary>
static void AsyncMainTAP()
{
Ros.InitNodeAsync("/Talker")
.ContinueWith(node =>
{
return(node.Result.PublisherAsync <RosSharp.std_msgs.String>("/chatter"));
})
.Unwrap()
.ContinueWith(publisher =>
{
int i = 0;
while (true)
{
var data = new RosSharp.std_msgs.String()
{
data = "test : " + i++
};
Console.WriteLine("data = {0}", data.data);
publisher.Result.OnNext(data);
Thread.Sleep(TimeSpan.FromSeconds(1));
}
})
.ContinueWith(res =>
{
Console.WriteLine(res.Exception.InnerException.Message);
}, TaskContinuationOptions.OnlyOnFaulted);
}
/// <summary>
/// Synchronous version
/// </summary>
static void SyncMain()
{
try
{
var node = Ros.InitNodeAsync("/Talker").Result;
var publisher = node.PublisherAsync<RosSharp.std_msgs.String>("/chatter").Result;
int i = 0;
while (true)
{
var data = new RosSharp.std_msgs.String() { data = "test : " + i++ };
Console.WriteLine("data = {0}", data.data);
publisher.OnNext(data);
Thread.Sleep(TimeSpan.FromSeconds(1));
}
}
catch (Exception ex)
{
Console.WriteLine(ex.Message);
}
}
/// <summary>
/// Synchronous version
/// </summary>
static void SyncMain()
{
try
{
var node = Ros.InitNodeAsync("/Talker").Result;
var publisher = node.PublisherAsync <RosSharp.std_msgs.String>("/chatter").Result;
int i = 0;
while (true)
{
var data = new RosSharp.std_msgs.String()
{
data = "test : " + i++
};
Console.WriteLine("data = {0}", data.data);
publisher.OnNext(data);
Thread.Sleep(TimeSpan.FromSeconds(1));
}
}
catch (Exception ex)
{
Console.WriteLine(ex.Message);
}
}
// ================================================================================================
/// <summary>
/// 送信
/// </summary>
public void Publish()
{
try
{
// ロータリーエンコーダ パルス値
if (null != pubRE)
{
var data = new RosSharp.geometry_msgs.Twist() { linear = new Vector3() { x = reRpulse, y = reLpulse, z = 0.0 } };
//Console.WriteLine("data = {0}", data.data);
pubRE.OnNext(data);
}
// ロータリーエンコーダ プロット値
if (null != pubPlot)
{
var data = new RosSharp.geometry_msgs.Twist() { linear = new Vector3() { x = rePlotX, y = rePlotY, z = 0.0 }, angular = new Vector3() { x = reAng, y = 0, z = 0 } };
//Console.WriteLine("data = {0}", data.data);
pubPlot.OnNext(data);
}
// 地磁気
if (null != pubCompus)
{
var data = new RosSharp.geometry_msgs.Twist() { linear = new Vector3() { x = 0.0, y = 0.0, z = compusDir } };
//Console.WriteLine("data = {0}", data.data);
pubCompus.OnNext(data);
}
// ＧＰＳ
if (null != pubGPS)
{
var data = new RosSharp.geometry_msgs.Twist() { linear = new Vector3() { x = gpsGrandX, y = gpsGrandY, z = 0.0 } };
//Console.WriteLine("data = {0}", data.data);
pubGPS.OnNext(data);
}
// URG
if (null != pubUrg)
{
//var data = new RosSharp.sensor_msgs.LaserScan(); // { linear = new Vector3() { x = gpsGrandX, y = gpsGrandY, z = 0.0 } };
//Console.WriteLine("data = {0}", data.data);
var data = MakeLaserScanData();
pubUrg.OnNext(data);
}
if (null != pubClock)
{
var data = new RosSharp.rosgraph_msgs.Clock() { clock = DateTime.Now };
pubClock.OnNext(data);
}
// LED
if (null!= pubBenzLED)
{
var data = new RosSharp.std_msgs.String() { data = ledCommand };
pubBenzLED.OnNext(data);
}
}
catch (Exception ex)
{
Console.WriteLine(ex.Message);
}
}
