public void init(string service, ServiceFunction <MReq, MRes> callback)
{
this.service = service;
srv_func = callback;
helper = new ServiceCallbackHelper <MReq, MRes>(callback);
req_datatype = new MReq().msgtype.ToString().Replace("__", "/").Replace("/Request", "__Request");
res_datatype = new MRes().msgtype.ToString().Replace("__", "/").Replace("/Response", "__Response");
srvtype = (SrvTypes)Enum.Parse(typeof(SrvTypes), req_datatype.Replace("__Request", "").Replace("/", "__"));
datatype = srvtype.ToString().Replace("__", "/");
md5sum = IRosService.generate(srvtype).MD5Sum;
}
public ServiceCallback(ServicePublication <MReq, MRes> sp, ServiceCallbackHelper <MReq, MRes> _helper, byte[] buf, int num_bytes, IServiceClientLink link, bool has_tracked_object, object tracked_object)
{
isp = sp;
if (isp != null && _helper != null)
{
isp.helper = _helper;
}
buffer = buf;
_numBytes = num_bytes;
this.link = link;
_hasTrackedObject = has_tracked_object;
_trackedObject = tracked_object;
}
//internal ftw?
public ServicePublication(string name, string md5Sum, string datatype, string reqDatatype, string resDatatype, ServiceCallbackHelper <MReq, MRes> helper, CallbackQueueInterface callback, object trackedObject)
{
if (name == null)
{
throw new Exception("NULL NAME?!");
}
// TODO: Complete member initialization
this.name = name;
md5sum = md5Sum;
this.datatype = datatype;
req_datatype = reqDatatype;
res_datatype = resDatatype;
this.helper = helper;
this.callback = callback;
tracked_object = trackedObject;
if (trackedObject != null)
{
has_tracked_object = true;
}
}
public ServiceCallback(ServiceCallbackHelper <MReq, MRes> _helper, byte[] buf, int num_bytes, IServiceClientLink link, bool has_tracked_object, object tracked_object)
: this(null, _helper, buf, num_bytes, link, has_tracked_object, tracked_object)
{
}
