private void toolStripButton9_Click(object sender, EventArgs e)
{
am.GoalID goalID = new am.GoalID();
goalID.id = "";
goalID.stamp = new Messages.std_msgs.Time();
goalCancelPub.publish(goalID);
}
public override void Randomize()
{
int arraylength = -1;
Random rand = new Random();
int strlength;
byte[] strbuf, myByte;
//goal_id
goal_id = new Messages.actionlib_msgs.GoalID();
goal_id.Randomize();
//status
myByte = new byte[1];
rand.NextBytes(myByte);
status = myByte[0];
//text
strlength = rand.Next(100) + 1;
strbuf = new byte[strlength];
rand.NextBytes(strbuf); //fill the whole buffer with random bytes
for (int __x__ = 0; __x__ < strlength; __x__++)
{
if (strbuf[__x__] == 0) //replace null chars with non-null random ones
{
strbuf[__x__] = (byte)(rand.Next(254) + 1);
}
}
strbuf[strlength - 1] = 0; //null terminate
text = Encoding.ASCII.GetString(strbuf);
}
/**
* \brief Cancel all goals that were stamped at and before the specified time
* \param time All goals stamped at or before `time` will be canceled
*/
public void cancelGoalsAtAndBeforeTime(Time time)
{
goalid cancel_msg = new goalid();
cancel_msg.stamp = time;
cancel_msg.id = "";
cancelPublisher.publish(cancel_msg);
}
/**
* \brief Cancel all goals currently running on the action server
*
* This preempts all goals running on the action server at the point that
* this message is serviced by the ActionServer.
*/
public void cancelAllGoals()
{
goalid cancel_msg = new goalid();
// CancelAll policy encoded by stamp=0, id=0
cancel_msg.stamp = new Time();
cancel_msg.id = "";
cancelPublisher.publish(cancel_msg);
}
public override void Randomize()
{
header = new Messages.std_msgs.Header();
header.Randomize();
goal_id = new Messages.actionlib_msgs.GoalID();
goal_id.Randomize();
goal = new LandingGoal();
goal.Randomize();
}
/**
* \brief Sends a cancel message for this specific goal to the ActionServer
*
* Also transitions the Communication State Machine to WAITING_FOR_CANCEL_ACK
*/
public void cancel()
{
if (!isActive)
{
ROS.Error("actionlib", "Trying to cancel() on an inactive ClientGoalHandle. You are incorrectly using a ClientGoalHandle");
return;
}
UnityEngine.Debug.Assert(goalManager != null);
DestructionGuard.ScopedProtector protector = new DestructionGuard.ScopedProtector(guard);
if (!protector.isProtected())
{
ROS.Error("actionlib", "This action client associated with the goal handle has already been destructed. Ignoring this call");
return;
}
lock ( lockObject )
{
switch (listHandle.GetElement().getCommState().state)
{
case CommState.StateEnum.WAITING_FOR_GOAL_ACK:
case CommState.StateEnum.PENDING:
case CommState.StateEnum.ACTIVE:
case CommState.StateEnum.WAITING_FOR_CANCEL_ACK:
break; // Continue standard processing
case CommState.StateEnum.WAITING_FOR_RESULT:
case CommState.StateEnum.RECALLING:
case CommState.StateEnum.PREEMPTING:
case CommState.StateEnum.DONE:
ROS.Debug("actionlib", "Got a cancel() request while in state [%s], so ignoring it", listHandle.GetElement().getCommState().toString());
return;
default:
ROS.Error("actionlib", "BUG: Unhandled CommState: %u", listHandle.GetElement().getCommState().state);
return;
}
}
AActionGoal actionGoal = listHandle.GetElement().getActionGoal();
Messages.actionlib_msgs.GoalID cancelMsg = new Messages.actionlib_msgs.GoalID();
cancelMsg.stamp = ROS.GetTime();
cancelMsg.id = listHandle.GetElement().getActionGoal().GoalID.id;
// cancelMsg.id = listHandle.GetElement ().getActionGoal ()->goal_id.id;
if (goalManager.cancelDelegate != null)
{
goalManager.cancelDelegate(cancelMsg);
}
listHandle.GetElement().transitionToState(this, CommState.StateEnum.WAITING_FOR_CANCEL_ACK);
}
public override void Deserialize(byte[] SERIALIZEDSTUFF, ref int currentIndex)
{
int arraylength = -1;
bool hasmetacomponents = false;
object __thing;
int piecesize = 0;
byte[] thischunk, scratch1, scratch2;
IntPtr h;
//header
header = new Header(SERIALIZEDSTUFF, ref currentIndex);
//goal_id
goal_id = new Messages.actionlib_msgs.GoalID(SERIALIZEDSTUFF, ref currentIndex);
//goal
goal = new Messages.object_recognition_msgs.ObjectRecognitionGoal(SERIALIZEDSTUFF, ref currentIndex);
}
public override void Randomize()
{
int arraylength = -1;
Random rand = new Random();
int strlength;
byte[] strbuf, myByte;
//header
header = new Header();
header.Randomize();
//goal_id
goal_id = new Messages.actionlib_msgs.GoalID();
goal_id.Randomize();
//goal
goal = new Messages.object_recognition_msgs.ObjectRecognitionGoal();
goal.Randomize();
}
public override void Randomize()
{
int arraylength = -1;
Random rand = new Random();
int strlength;
byte[] strbuf, myByte;
//header
header = new Header();
header.Randomize();
//goal_id
goal_id = new Messages.actionlib_msgs.GoalID();
goal_id.Randomize();
//goal
goal = new Messages.control_msgs.SingleJointPositionGoal();
goal.Randomize();
}
public override void Randomize()
{
int arraylength = -1;
Random rand = new Random();
int strlength;
byte[] strbuf, myByte;
//header
header = new Header();
header.Randomize();
//goal_id
goal_id = new Messages.actionlib_msgs.GoalID();
goal_id.Randomize();
//goal
goal = new Messages.tf2_msgs.LookupTransformGoal();
goal.Randomize();
}
public override void Randomize()
{
int arraylength = -1;
Random rand = new Random();
int strlength;
byte[] strbuf, myByte;
//header
header = new Header();
header.Randomize();
//goal_id
goal_id = new Messages.actionlib_msgs.GoalID();
goal_id.Randomize();
//goal
goal = new Messages.humanoid_nav_msgs.ExecFootstepsGoal();
goal.Randomize();
}
public override void Deserialize(byte[] SERIALIZEDSTUFF, ref int currentIndex)
{
int arraylength = -1;
bool hasmetacomponents = false;
object __thing;
int piecesize = 0;
byte[] thischunk, scratch1, scratch2;
IntPtr h;
//goal_id
goal_id = new Messages.actionlib_msgs.GoalID(SERIALIZEDSTUFF, ref currentIndex);
//status
status = SERIALIZEDSTUFF[currentIndex++];
//text
text = "";
piecesize = BitConverter.ToInt32(SERIALIZEDSTUFF, currentIndex);
currentIndex += 4;
text = Encoding.ASCII.GetString(SERIALIZEDSTUFF, currentIndex, piecesize);
currentIndex += piecesize;
}
public override byte[] Serialize(bool partofsomethingelse)
{
int currentIndex = 0, length = 0;
bool hasmetacomponents = false;
byte[] thischunk, scratch1, scratch2;
List <byte[]> pieces = new List <byte[]>();
GCHandle h;
//goal_id
if (goal_id == null)
{
goal_id = new Messages.actionlib_msgs.GoalID();
}
pieces.Add(goal_id.Serialize(true));
//status
pieces.Add(new[] { (byte)status });
//text
if (text == null)
{
text = "";
}
scratch1 = Encoding.ASCII.GetBytes((string)text);
thischunk = new byte[scratch1.Length + 4];
scratch2 = BitConverter.GetBytes(scratch1.Length);
Array.Copy(scratch1, 0, thischunk, 4, scratch1.Length);
Array.Copy(scratch2, thischunk, 4);
pieces.Add(thischunk);
//combine every array in pieces into one array and return it
int __a_b__f = pieces.Sum((__a_b__c) => __a_b__c.Length);
int __a_b__e = 0;
byte[] __a_b__d = new byte[__a_b__f];
foreach (var __p__ in pieces)
{
Array.Copy(__p__, 0, __a_b__d, __a_b__e, __p__.Length);
__a_b__e += __p__.Length;
}
return(__a_b__d);
}
public override byte[] Serialize(bool partofsomethingelse)
{
int currentIndex = 0, length = 0;
bool hasmetacomponents = false;
byte[] thischunk, scratch1, scratch2;
List <byte[]> pieces = new List <byte[]>();
GCHandle h;
//header
if (header == null)
{
header = new Header();
}
pieces.Add(header.Serialize(true));
//goal_id
if (goal_id == null)
{
goal_id = new Messages.actionlib_msgs.GoalID();
}
pieces.Add(goal_id.Serialize(true));
//goal
if (goal == null)
{
goal = new Messages.object_recognition_msgs.ObjectRecognitionGoal();
}
pieces.Add(goal.Serialize(true));
//combine every array in pieces into one array and return it
int __a_b__f = pieces.Sum((__a_b__c) => __a_b__c.Length);
int __a_b__e = 0;
byte[] __a_b__d = new byte[__a_b__f];
foreach (var __p__ in pieces)
{
Array.Copy(__p__, 0, __a_b__d, __a_b__e, __p__.Length);
__a_b__e += __p__.Length;
}
return(__a_b__d);
}
void sendCancelFunc(goalid cancel_msg)
{
cancelPublisher.publish(cancel_msg);
}
public override void Deserialize(byte[] SERIALIZEDSTUFF, ref int currentIndex)
{
header = new Messages.std_msgs.Header(SERIALIZEDSTUFF, ref currentIndex);
goal_id = new Messages.actionlib_msgs.GoalID(SERIALIZEDSTUFF, ref currentIndex);
goal = new LandingGoal(SERIALIZEDSTUFF, ref currentIndex);
}
