public void ServiceCallTest()
{
RosSocket.CallService <rosapi.GetParamRequest, rosapi.GetParamResponse>("/rosapi/get_param", ServiceCallHandler, new rosapi.GetParamRequest("/rosdistro", "default"));
OnServiceReceived.WaitOne();
OnServiceReceived.Reset();
Assert.IsTrue(true);
}
private string CallStringService(string topic)
{
Console.WriteLine("Calling service " + topic);
var t = new ServiceResponseHandler <RosSharp.RosBridgeClient.MessageTypes.Std.String>((o) => { Console.WriteLine(o.data); });
return(rosSocket.CallService <RosSharp.RosBridgeClient.MessageTypes.Std.String, RosSharp.RosBridgeClient.MessageTypes.Std.String>(topic, t, null));
}
public static void Main(string[] args)
{
//RosSocket rosSocket = new RosSocket(new RosBridgeClient.Protocols.WebSocketSharpProtocol(uri));
RosSocket rosSocket = new RosSocket(new RosBridgeClient.Protocols.WebSocketNetProtocol(uri));
// Publication:
std_msgs.String message = new std_msgs.String("publication test message data");
string publication_id = rosSocket.Advertise <std_msgs.String>("publication_test");
rosSocket.Publish(publication_id, message);
// Subscription:
string subscription_id = rosSocket.Subscribe <std_msgs.String>("/subscription_test", SubscriptionHandler);
subscription_id = rosSocket.Subscribe <std_msgs.String>("/subscription_test", SubscriptionHandler);
// Service Call:
rosSocket.CallService <rosapi.GetParamRequest, rosapi.GetParamResponse>("/rosapi/get_param", ServiceCallHandler, new rosapi.GetParamRequest("/rosdistro", "default"));
// Service Response:
string service_id = rosSocket.AdvertiseService <std_srvs.TriggerRequest, std_srvs.TriggerResponse>("/service_response_test", ServiceResponseHandler);
Console.WriteLine("Press any key to unsubscribe...");
Console.ReadKey(true);
rosSocket.Unadvertise(publication_id);
rosSocket.Unsubscribe(subscription_id);
rosSocket.UnadvertiseService(service_id);
Console.WriteLine("Press any key to close...");
Console.ReadKey(true);
rosSocket.Close();
}
public void addDetectedObject()
{
AddDetectedObjectRequest adr = new AddDetectedObjectRequest();
RosSocket.CallService <AddDetectedObjectRequest, AddDetectedObjectResponse>(this.ServiceEndpoint, responseHandler, adr);
Debug.Log($"sent AddDetectedObjectRequest to {ServiceEndpoint}");
}
public ServiceReceiver(RosSocket rosSocket, string service, object parameter, object handlerParameter, Type responseType)
{
ServiceName = service;
ServiceParameter = parameter;
HandlerParameter = handlerParameter;
rosSocket.CallService(ServiceName, responseType, receive, ServiceParameter);
}
public void deleteModels(List <string> modelNames)
{
foreach (String modelName in modelNames)
{
Debug.Log($"Sending Request to delete Model {modelName} via {ServiceEndpoint}");
string responseValue = RosSocket.CallService <DeleteModelRequest, DeleteModelResponse>(ServiceEndpoint, serviceResponseHandler, new DeleteModelRequest(modelName));
}
}
public void AsaRosWrapperFindAnchorServiceCall(string anchorId)
{
var t = new ServiceResponseHandler <RosSharp.RosBridgeClient.MessageTypes.Std.String>((o) => { Debug.Log(o.data); });
rosSocket.CallService("/asa_ros/find_anchor", t,
new FindAnchorMsg(anchorId)
);
}
public bool Import(int maxTimeOut = int.MaxValue)
{
rosSocket.CallService("/rosapi/get_param", typeof(ParamValueString), receiveRobotName, new ParamName("/robot/name"));
ServiceReceiver robotDescriptionReceiver = new ServiceReceiver(rosSocket, "/rosapi/get_param", new ParamName("/robot_description"), Path.DirectorySeparatorChar + "robot_description.urdf", typeof(ParamValueString));
robotDescriptionReceiver.ReceiveEventHandler += receiveRobotDescription;
return(WaitHandle.WaitAll(Status.Values.ToArray(), maxTimeOut));
}
private void SendFileToRos(string rosPackagePath, byte[] fileContents)
{
RosSocket.CallService <file_server.SaveBinaryFileRequest, file_server.SaveBinaryFileResponse>(
"/file_server/save_file",
SaveFileResponseHandler,
new file_server.SaveBinaryFileRequest(rosPackagePath, fileContents));
FilesBeingProcessed.Add(rosPackagePath, false);
}
public string getStringParam(string paramName)
{
rosSocket.CallService <rosapi.GetParamRequest, rosapi.GetParamResponse>(
"/rosapi/get_param",
handleStringParam,
new rosapi.GetParamRequest(paramName, "default")
);
return(stringParamTempValue);
}
public override void Transfer()
{
//Publish robot name param
RosSocket.CallService <rosapi.SetParamRequest, rosapi.SetParamResponse>("/rosapi/set_param",
SetRobotNameHandler,
new rosapi.SetParamRequest("/robot/name", JsonConvert.SerializeObject(RobotName)));
PublishRobotDescription();
PublishResourceFiles();
}
public override void Transfer()
{
RosSocket.CallService <rosapi.GetParamRequest, rosapi.GetParamResponse>("/rosapi/get_param",
ReceiveRobotName,
new rosapi.GetParamRequest("/robot/name", "default"));
var robotDescriptionReceiver = new ServiceReceiver <rosapi.GetParamRequest, rosapi.GetParamResponse>(RosSocket, "/rosapi/get_param",
new rosapi.GetParamRequest(urdfParameter, "default"),
Path.DirectorySeparatorChar + urdfParameter + ".urdf");
robotDescriptionReceiver.ReceiveEventHandler += ReceiveRobotDescription;
}
public void setEndEffectorSuctionCup(bool enabled)
{
byte enableCtrl = Convert.ToByte(enabled);
byte suck = Convert.ToByte(enabled);
bool isQueued = true;
SetEndEffectorSuctionCupRequest request = new SetEndEffectorSuctionCupRequest(enableCtrl, suck, isQueued);
string responseValue = RosSocket.CallService <SetEndEffectorSuctionCupRequest, SetEndEffectorSuctionCupResponse>(ServiceEndpoint, serviceResponseHandler, request);
if (enabled)
{
flickering_enabled = true;
StartCoroutine(Flicker(Sucker));
}
else
{
flickering_enabled = false;
}
}
private void PublishRobotDescription()
{
XDocument urdfXDoc = XDocument.Load(urdfFilePath);
FixPackagePaths(urdfXDoc);
//Publish /robot_description param
RosSocket.CallService <rosapi.SetParamRequest, rosapi.SetParamResponse>("/rosapi/set_param",
SetRobotDescriptionHandler,
new rosapi.SetParamRequest("/robot_description", JsonConvert.SerializeObject(urdfXDoc.ToString())));
//Send URDF file to ROS package
string urdfPackagePath = "package://" + rosPackage + "/" + Path.GetFileName(urdfFilePath);
string urdfFileContents = "<?xml version='1.0' encoding='utf-8'?>\n" + urdfXDoc.ToString();
byte[] urdfBytes = System.Text.Encoding.UTF8.GetBytes(urdfFileContents);
SendFileToRos(urdfPackagePath, urdfBytes);
}
public void transferParam(string endpoint, string paramName, string paramValue)
{
RosSocket.CallService <SetParamRequest, SetParamResponse>(endpoint, SetParamHandler, new SetParamRequest(paramName, JsonConvert.SerializeObject(paramValue)));
}
public ServiceReceiver(RosSocket rosSocket, string service, Tin parameter, object handlerParameter)
{
ServiceParameter = parameter;
HandlerParameter = handlerParameter;
rosSocket.CallService <Tin, Tout>(service, Receive, ServiceParameter);
}
public void getParam(string endpoint, string paramName)
{
string responseValue = RosSocket.CallService <GetParamRequest, GetParamResponse>(endpoint, GetParamHandler, new GetParamRequest(paramName, JsonConvert.SerializeObject("")));
}
public void enableStiffness()
{
socket.CallService <enableStiffnessRequest, enableStiffnessResponse>("/body_stiffness/enable", ServiceCallHandler, new enableStiffnessRequest());
stiffness = true;
speech.say("stiffnes Enabled");
}
