internal static void Init(ILoggerFactory loggerFactory, IManagedConnection connection, RpcAdapter rpcAdapter, IWorldViewClient worldViewClient, IRosClientLibrary rosClient)
{
StaticModules.rpcAdapter = rpcAdapter;
StaticModules.connection = connection;
StaticModules.worldViewClient = worldViewClient;
StaticModules.rosClient = rosClient;
rosClient.OnRosMasterConnected += RosClient_OnRosMasterConnected;
rosClient.OnRosMasterDisconnected += RosClient_OnRosMasterDisconnected;
worldViewService = rpcAdapter.CreateProxy <IWorldViewService>(new Jid("api@rosvita"));
}
public WeissWsgServices(IRosClientLibrary rosClient, WeissWsgPropertiesModel properties)
{
this.rosClient = rosClient;
this.properties = properties;
lock (gate)
{
if (rosClient.Ok)
{
Initialize();
}
rosClient.OnRosMasterConnected += RosClientOnRosMasterConnected;
rosClient.OnRosMasterDisconnected += RosClientOnRosMasterDisconnected;
}
}
internal static void Init(ILoggerFactory loggerFactory, IRosClientLibrary rosClient)
{
StaticModules.rosClient = rosClient;
}