internal override CallResult Call()
{
if (link.connection.dropped)
{
return(CallResult.Invalid);
}
ServiceCallbackHelperParams <MReq, MRes> parms = new ServiceCallbackHelperParams <MReq, MRes>
{
request = new MReq(),
response = new MRes(),
connection_header = link.connection.header.Values
};
parms.request.Deserialize(buffer);
try
{
bool ok = isp.helper.call(parms);
link.processResponse(parms.response, ok);
}
catch (Exception e)
{
string str = $"[{ThisNode.Name}] Exception thrown while processing service call: {e}";
ROS.Error()(str);
link.processResponse(str, false);
return(CallResult.Invalid);
}
return(CallResult.Success);
}
internal bool Call(ServiceCallbackHelperParams <MReq, MRes> parms)
{
MRes response = parms.Response;
bool result = callback.Invoke(parms.Request, ref response);
parms.Response = response;
return(result);
}
public virtual MReq deserialize <MReq, MRes>(ServiceCallbackHelperParams <MReq, MRes> parms) where MReq : RosMessage where MRes : RosMessage
{
RosMessage msg = RosMessage.Generate(type);
msg.connection_header = new Dictionary <string, string>(parms.connection_header);
MReq t = (MReq)msg;
t.Deserialize(parms.response.Serialized);
return(t);
}
internal bool call(ServiceCallbackHelperParams <MReq, MRes> parms)
{
return(_callback.Invoke(parms.request, ref parms.response));
}