public void SendRequest <T>(T request)
where T : MessageWrapper, new()
{
ValueType msg;
request.GetData(out msg);
int ret = rcl_send_request(ref native_handle, msg, ref last_sequence_number);
RCLReturnValues retVal = (RCLReturnValues)ret;
switch (retVal)
{
case RCLReturnValues.RCL_RET_OK:
break;
case RCLReturnValues.RCL_RET_INVALID_ARGUMENT:
throw new RCLInvalidArgumentException();
break;
case RCLReturnValues.RCL_RET_CLIENT_INVALID:
throw new RCLClientInvalidException();
break;
case RCLReturnValues.RCL_RET_ERROR:
throw new RCLErrorException();
break;
default:
break;
}
}
public override T TakeResponse <T>(ref bool success)
{
success = false;
rmw_request_id_t request_header = new rmw_request_id_t();
T response = new T();
ValueType msg;
response.GetData(out msg);
int ret = rcl_take_response(ref native_handle, ref request_header, msg);
RCLReturnValues retVal = (RCLReturnValues)ret;
switch (retVal)
{
case RCLReturnValues.RCL_RET_OK:
success = true;
response.SetData(ref msg);
break;
case RCLReturnValues.RCL_RET_INVALID_ARGUMENT:
throw new RCLInvalidArgumentException();
case RCLReturnValues.RCL_RET_CLIENT_INVALID:
throw new RCLClientInvalidException();
case RCLReturnValues.RCL_RET_ERROR:
success = false;
break;
default:
break;
}
return(response);
}
/// <summary>
/// This method gets called from the Publisher<T> class in order to publish a message. Have in mind this method does not perform any type checks
/// </summary>
/// <returns><c>true</c>, if message was published, <c>false</c> otherwise.</returns>
/// <param name="msg">Message.</param>
public override bool PublishMessage(ValueType msg)
{
int ret = rcl_publish(ref native_handle, msg);
//Handle the return types
RCLReturnValues ret_val = (RCLReturnValues)ret;
bool publish_message_success = false;
switch (ret_val)
{
case RCLReturnValues.RCL_RET_OK:
publish_message_success = true;
break;
case RCLReturnValues.RCL_RET_INVALID_ARGUMENT:
throw new RCLInvalidArgumentException();
case RCLReturnValues.RCL_RET_PUBLISHER_INVALID:
throw new RCLPublisherInvalidException();
case RCLReturnValues.RCL_RET_ERROR:
throw new RCLInvalidArgumentException();
default:
break;
}
return(publish_message_success);
}
/// <summary>
/// This method does the initilisation of the ros client lib
/// <remarks>Call this method before you do any other calls to ros
/// You can specify a custom memory allocator for ros but I wouldn't recommend doing this at the moment. </remarks>
/// </summary>
/// <param name="args">Arguments.</param>
/// <param name="custom_allocator">Custom allocator.</param>
public override void Init(String[] args, rcl_allocator_t custom_allocator)
{
if (args == null)
{
throw new ArgumentNullException();
}
RCLReturnValues retVal = (RCLReturnValues)rcl_init(args.Length, args, custom_allocator);
switch (retVal)
{
case RCLReturnValues.RCL_RET_OK:
break;
case RCLReturnValues.RCL_RET_ALREADY_INIT:
throw new RCLAlreadyInitExcption();
case RCLReturnValues.RCL_RET_BAD_ALLOC:
throw new RCLBadAllocException();
case RCLReturnValues.RCL_RET_ERROR:
throw new RCLErrorException(RCLErrorHandling.Instance.GetRMWErrorState());
default:
break;
}
}
/// <summary>
/// Implementation of IDisposable
/// </summary>
/// <param name="disposing">If set to <c>true</c> disposing.</param>
protected override void Dispose(bool disposing)
{
if (disposed)
{
return;
}
if (disposing)
{
// Free any other managed objects here.
}
// Free any unmanaged objects here.
RCLReturnValues retVal = (RCLReturnValues)rcl_shutdown();
switch (retVal)
{
case RCLReturnValues.RCL_RET_OK:
break;
case RCLReturnValues.RCL_RET_NOT_INIT:
//throw new RCLNotInitException ();
break;
case RCLReturnValues.RCL_RET_ERROR:
//throw new RCLErrorException (RCLErrorHandling.GetRMWErrorState());
break;
default:
break;
}
disposed = true;
}
public void SendResponse <T>(T response)
where T : MessageWrapper, new()
{
ValueType msg;
response.GetData(out msg);
int ret = rcl_send_response(ref native_handle, ref last_request_header, msg);
RCLReturnValues retVal = (RCLReturnValues)ret;
switch (retVal)
{
case RCLReturnValues.RCL_RET_OK:
return;
break;
case RCLReturnValues.RCL_RET_INVALID_ARGUMENT:
throw new RCLInvalidArgumentException();
break;
case RCLReturnValues.RCL_RET_SERVICE_INVALID:
throw new RCLServiceInvalidException();
break;
case RCLReturnValues.RCL_RET_ERROR:
throw new RCLErrorException();
break;
default:
break;
}
}
public rcl_service_linux(rcl_node_t _node, rosidl_service_type_support_t typesupport, string service_name, rcl_service_options_t options) : base(_node, typesupport, service_name, options)
{
native_handle = rcl_get_zero_initialized_service();
int ret = rcl_service_init(ref native_handle, ref native_node, ref typesupport, service_name, ref options);
RCLReturnValues retVal = (RCLReturnValues)ret;
switch (retVal)
{
case RCLReturnValues.RCL_RET_OK:
break;
case RCLReturnValues.RCL_RET_NODE_INVALID:
throw new RCLNodeInvalidException();
case RCLReturnValues.RCL_RET_INVALID_ARGUMENT:
throw new RCLInvalidArgumentException();
case RCLReturnValues.RCL_RET_SERVICE_INVALID:
throw new RCLServiceInvalidException();
case RCLReturnValues.RCL_RET_BAD_ALLOC:
throw new RCLBadAllocException();
case RCLReturnValues.RCL_RET_ERROR:
break;
default:
break;
}
}
public T TakeRequest <T> (ref bool success)
where T : MessageWrapper, new()
{
success = false;
last_request_header = new rmw_request_id_t();
T request = new T();
ValueType msg;
request.GetData(out msg);
int ret = rcl_take_request(ref native_handle, ref last_request_header, msg);
RCLReturnValues retVal = (RCLReturnValues)ret;
switch (retVal)
{
case RCLReturnValues.RCL_RET_OK:
success = true;
request.SetData(ref msg);
break;
case RCLReturnValues.RCL_RET_INVALID_ARGUMENT:
//throw new RCLInvalidArgumentException();
break;
case RCLReturnValues.RCL_RET_SERVICE_INVALID:
throw new RCLServiceInvalidException();
break;
case RCLReturnValues.RCL_RET_BAD_ALLOC:
throw new RCLBadAllocException();
break;
case RCLReturnValues.RCL_RET_ERROR:
success = false;
break;
default:
break;
}
return(request);
}
public RCLSubscriptonTakeFailedException()
{
RCLReturnValue = RCLReturnValues.RCL_RET_SUBSCRIPTION_TAKE_FAILED;
}
public RCLInvalidArgumentException()
{
RCLReturnValue = RCLReturnValues.RCL_RET_INVALID_ARGUMENT;
}
public RCLSubscriptonTakeFailedException(string message, Exception inner) : base(message, inner)
{
RCLReturnValue = RCLReturnValues.RCL_RET_SUBSCRIPTION_TAKE_FAILED;
}
public RCLBadAllocException()
{
RCLReturnValue = RCLReturnValues.RCL_RET_BAD_ALLOC;
}
public RCLBadAllocException(string message, Exception inner) : base(message, inner)
{
RCLReturnValue = RCLReturnValues.RCL_RET_BAD_ALLOC;
}
public RCLPublisherInvalidException(string message, Exception inner) : base(message, inner)
{
RCLReturnValue = RCLReturnValues.RCL_RET_PUBLISHER_INVALID;
}
public RCLClientInvalidException()
{
RCLReturnValue = RCLReturnValues.RCL_RET_CLIENT_INVALID;
}
public RCLPublisherInvalidException()
{
RCLReturnValue = RCLReturnValues.RCL_RET_PUBLISHER_INVALID;
}
public RCLTimeoutException(string message, Exception inner) : base(message, inner)
{
RCLReturnValue = RCLReturnValues.RCL_RET_TIMEOUT;
}
public RCLAlreadyInitExcption()
{
RCLReturnValue = RCLReturnValues.RCL_RET_ALREADY_INIT;
}
public RCLServiceInvalidException()
{
RCLReturnValue = RCLReturnValues.RCL_RET_SERVICE_INVALID;
}
public RCLNodeInvalidException(string message, Exception inner) : base(message, inner)
{
RCLReturnValue = RCLReturnValues.RCL_RET_NODE_INVALID;
}
public RCLNodeInvalidException()
{
RCLReturnValue = RCLReturnValues.RCL_RET_NODE_INVALID;
}
public RCLClientInvalidException(string message, Exception inner) : base(message, inner)
{
RCLReturnValue = RCLReturnValues.RCL_RET_CLIENT_INVALID;
}
public RCLSubscriptionInvalidException(string message, Exception inner) : base(message, inner)
{
RCLReturnValue = RCLReturnValues.RCL_RET_SUBSCRIPTION_INVALID;
}
public RCLNotInitException()
{
RCLReturnValue = RCLReturnValues.RCL_RET_NOT_INIT;
}
public RCLSubscriptionInvalidException()
{
RCLReturnValue = RCLReturnValues.RCL_RET_SUBSCRIPTION_INVALID;
}
public RCLNotInitException(string message, Exception inner) : base(message, inner)
{
RCLReturnValue = RCLReturnValues.RCL_RET_NOT_INIT;
}
public RCLAlreadyInitExcption(string message, Exception inner) : base(message, inner)
{
RCLReturnValue = RCLReturnValues.RCL_RET_ALREADY_INIT;
}
public RCLServiceInvalidException(string message, Exception inner) : base(message, inner)
{
RCLReturnValue = RCLReturnValues.RCL_RET_SERVICE_INVALID;
}
public override T TakeMessage <T>(ref bool success, ref rmw_message_info_t _message_info)
{
MessageWrapper ret_msg = new T();
ValueType msg;
ret_msg.GetData(out msg);
rmw_message_info_t message_info = _message_info;
int ret = rcl_take(ref subscription, msg, message_info);
RCLReturnValues ret_val = (RCLReturnValues)ret;
//Console.WriteLine (ret_val);
/*return RCL_RET_OK if the message was published, or
* RCL_RET_INVALID_ARGUMENT if any arguments are invalid, or
* RCL_RET_SUBSCRIPTION_INVALID if the subscription is invalid, or
* RCL_RET_BAD_ALLOC if allocating memory failed, or
* RCL_RET_SUBSCRIPTION_TAKE_FAILED if take failed but no error
* occurred in the middleware, or
* RCL_RET_ERROR if an unspecified error occurs.*/
bool take_message_success = false;
switch (ret_val)
{
case RCLReturnValues.RCL_RET_INVALID_ARGUMENT:
throw new RCLInvalidArgumentException();
case RCLReturnValues.RCL_RET_SUBSCRIPTION_INVALID:
throw new RCLSubscriptionInvalidException();
case RCLReturnValues.RCL_RET_BAD_ALLOC:
throw new RCLBadAllocException();
case RCLReturnValues.RCL_RET_SUBSCRIPTION_TAKE_FAILED:
//throw new RCLSubscriptonTakeFailedException ();
take_message_success = false;
//Marshal.FreeHGlobal (msg_ptr);
break;
case RCLReturnValues.RCL_RET_ERROR:
throw new RCLErrorException();
case RCLReturnValues.RCL_RET_OK:
{
take_message_success = true;
//Bring the data back into the message wrapper
ret_msg.SetData(ref msg);
//And do a sync for nested types. This is in my opinion a hack because I can't store references on value types in C#
ret_msg.SyncDataIn();
}
break;
default:
break;
}
success = take_message_success;
//Marshal.FreeHGlobal (message_info_ptr);
return((T)ret_msg);
}
public RCLTimeoutException()
{
RCLReturnValue = RCLReturnValues.RCL_RET_TIMEOUT;
}
