public ServiceReceiver(RosSocket rosSocket, string service, Tin parameter, object handlerParameter)
{
Service = service;
ServiceParameter = parameter;
HandlerParameter = handlerParameter;
rosSocket.CallService <Tin, Tout>(Service, Receive, ServiceParameter);
}
public ServiceReceiver(RosSocket rosSocket, string service, object parameter, object handlerParameter, Type responseType)
{
ServiceName = service;
ServiceParameter = parameter;
HandlerParameter = handlerParameter;
rosSocket.CallService(ServiceName, responseType, receive, ServiceParameter);
}
public void sendPTPCommand(MessageTypes.Dobot.SetPTPCmdRequest request)
{
RosSocket rosSocket = this.rosConnector.RosSocket;
markerHandler.clearMarkers();
Debug.Log($"SendPTPCommand({request.ptpMode},{request.x},{request.y},{request.z},{request.r},{request.isQueued})");
rosSocket.CallService <MessageTypes.Dobot.SetPTPCmdRequest, MessageTypes.Dobot.SetPTPCmdResponse>(serviceName, responseHandler, request);
}
public bool Import(int maxTimeOut = int.MaxValue)
{
rosSocket.CallService("/rosapi/get_param", typeof(ParamValueString), receiveRobotName, new ParamName("/robot/name"));
ServiceReceiver robotDescriptionReceiver = new ServiceReceiver(rosSocket, "/rosapi/get_param", new ParamName("/robot_description"), "\\robot_description.urdf", typeof(ParamValueString));
robotDescriptionReceiver.ReceiveEventHandler += receiveRobotDescription;
return(WaitHandle.WaitAll(Status.Values.ToArray(), maxTimeOut));
}
public void moveRail(int x)
{
//MessageTypes.Dobot.SetPTPLParamsRequest request=new MessageTypes.Dobot.SetPTPLParamsRequest(0.5f,0.5f,false);
MessageTypes.Dobot.SetPTPWithLCmdRequest request = new MessageTypes.Dobot.SetPTPWithLCmdRequest(1, 217, 25, 175, 22, x, false);
RosSocket.CallService <MessageTypes.Dobot.SetPTPWithLCmdRequest, MessageTypes.Dobot.SetPTPWithLCmdResponse>
(ServiceEndpoint, handlerSetPTPWithLCmd, request);
}
public void GetCurrentParams()
{
RosSocket.CallService <MessageTypes.Gazebo.
GetPhysicsPropertiesRequest, MessageTypes.Gazebo.
GetPhysicsPropertiesResponse>("/gazebo/get_physics_properties", physiscsCallback,
new MessageTypes.Gazebo.GetPhysicsPropertiesRequest());
// end here as the response and the actual update will be ahandled by the callback
}
public bool Import(int maxTimeOut = int.MaxValue)
{
rosSocket.CallService <rosapi.GetParamRequest, rosapi.GetParamResponse>("/rosapi/get_param",
ReceiveRobotName,
new rosapi.GetParamRequest("/robot/name", "default"));
var robotDescriptionReceiver = new ServiceReceiver <rosapi.GetParamRequest, rosapi.GetParamResponse>(rosSocket, "/rosapi/get_param",
new rosapi.GetParamRequest("/robot_description", "default"),
Path.DirectorySeparatorChar + "robot_description.urdf");
robotDescriptionReceiver.ReceiveEventHandler += ReceiveRobotDescription;
return(WaitHandle.WaitAll(Status.Values.ToArray(), maxTimeOut));
}
public void CallServiceCloseHand(bool hand)
{
RosSocket.CallService <HandsControlRequest, HandsControlResponse>("nao_hands_control/close_hand", ServiceCallHandler, new HandsControlRequest(hand));
}
