public void SetRosparam(string key, string value, ServiceResponseHandler <rosapi.SetParamResponse> handler)
{
if (connected)
{
RosSocket.CallService <rosapi.SetParamRequest, rosapi.SetParamResponse>("/rosapi/set_param", handler, new rosapi.SetParamRequest(key, value));
}
}
public void GetRosparam(string key, ServiceResponseHandler <rosapi.GetParamResponse> handler)
{
if (connected)
{
RosSocket.CallService <rosapi.GetParamRequest, rosapi.GetParamResponse>("/rosapi/get_param", handler, new rosapi.GetParamRequest(key, "{}"));
}
}
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 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 string CallService <Tin, Tout>(string service, ServiceResponseHandler <Tout> serviceResponseHandler, Tin serviceArguments) where Tin : Message where Tout : Message
{
string id = GetUnusedCounterID(ServiceConsumers, service);
Communication serviceCall;
ServiceConsumers.Add(id, new ServiceConsumer <Tin, Tout>(id, service, serviceResponseHandler, out serviceCall, serviceArguments));
Send(serviceCall);
return(id);
}
// Use this for initialization
void Start()
{
RosConnector = GameObject.Find("ROSConnector").GetComponent <ROSConnector>();
robotPoseResponseHandler = new ServiceResponseHandler <Messages.Dobot.DobotPose>(RobotPoseCallback);
counter = 0;
if (0 < PositionRefreshRate)
{
frequencyDivider = (uint)(screenRefreshRate / PositionRefreshRate);
}
else
{
frequencyDivider = 0;
}
}
public AuthorizedClient(HttpClient httpClient, ServiceResponseHandler serviceResponseHandler)
{
_httpClient = httpClient;
_serviceResponseHandler = serviceResponseHandler;
}
public AnonymousClient(HttpClient httpClient, ServiceResponseHandler serviceResponseHandler)
{
_httpClient = httpClient;
_serviceResponseHandler = serviceResponseHandler;
}
