Task IParameter.InitializeAsync(string nodeId, string paramName, Uri slaveUri, ParameterServerClient client)
{
NodeId = nodeId;
_logger = RosOutLogManager.GetCurrentNodeLogger(NodeId);
Name = paramName;
_slaveUri = slaveUri;
_parameterServerClient = client;
return(_parameterServerClient.HasParamAsync(NodeId, Name)
.ContinueWith(task =>
{
if (task.Result)
{
return _parameterServerClient.GetParamAsync(NodeId, Name);
}
else
{
return _parameterServerClient.SetParamAsync(NodeId, Name, new XmlRpcStruct());
}
})
.Unwrap());
}
public Task SetAsync(TParam value)
{
return(_parameterServerClient.SetParamAsync(NodeId, Name, _converter.ConvertFrom(value)));
}
public void SetParam_Success()
{
var result = new object[3]
{
1,
"Parameter [/rosversion]",
"1.6.5"
};
MXmlRpcClientProtocol.AllInstances.UrlSetString = (t1, t2) => { };
MParameterServerProxy.AllInstances.BeginSetParamStringStringObjectAsyncCallbackObject = (t1, t2, t3, t4, t5, t6) => { t5(null); return null; };
MParameterServerProxy.AllInstances.EndSetParamIAsyncResult= (t1, t2) => result;
var client = new ParameterServerClient(new Uri("http://localhost"));
client.SetParamAsync("test", "/test_param", 1234).Wait();
}