public rcl_client_base(rcl_node_t _node, rosidl_service_type_support_t _typesupport, string _service_name, rcl_client_options_t _options)
{
this.native_node = _node;
this.service_name = _service_name;
this.options = _options;
this.typesupport = _typesupport;
}
public rcl_client(rcl_node_t _node, rosidl_service_type_support_t _typesupport, string _service_name, rcl_client_options_t _options)
{
this.native_node = _node;
this.service_name = _service_name;
this.options = _options;
this.typesupport = _typesupport;
native_handle = rcl_get_zero_initialized_client();
rcl_client_init(ref native_handle, ref native_node, ref typesupport, service_name, ref options);
}
public Client(Node _Node, string _ServiceName, rmw_qos_profile_t _QOS)
{
QOSProfile = _QOS;
RosNode = _Node;
ServiceName = _ServiceName;
Type ServiceType = typeof(T);
Type wrapperType = typeof(T);
foreach (var item in wrapperType.GetMethods())
{
if (item.IsStatic)
{
if (item.Name.Contains("GetMessageType"))
{
ServiceType = (Type)item.Invoke(null, null);
}
}
}
bool foundMethod = false;
foreach (var item in ServiceType.GetMethods())
{
if (item.IsStatic)
{
if (item.Name.Contains("rosidl_typesupport_introspection_c__get_service_type_support_handle__"))
{
foundMethod = true;
TypeSupport = (rosidl_service_type_support_t)Marshal.PtrToStructure((IntPtr)item.Invoke(null, null), typeof(rosidl_service_type_support_t));
}
}
}
if (!foundMethod)
{
throw new MissingMethodException("Could not find typesupprt method");
}
if (TypeSupport.data == IntPtr.Zero)
{
throw new Exception("Couldn't get typesupport");
}
ClientOptions = rcl_client.get_default_options();
ClientOptions.qos = QOSProfile;
InternalClient = new rcl_client(RosNode.NativeNode, TypeSupport, ServiceName, ClientOptions);
}
extern static int rcl_client_init(ref rcl_client_t client, ref rcl_node_t node, ref rosidl_service_type_support_t type_support, string service_name, ref rcl_client_options_t options);
public rcl_client_linux(rcl_node_t _node, rosidl_service_type_support_t _typesupport, string _service_name, rcl_client_options_t _options) : base(_node, _typesupport, _service_name, _options)
{
native_handle = rcl_get_zero_initialized_client();
rcl_client_init(ref native_handle, ref native_node, ref typesupport, service_name, ref options);
}
public rcl_client(rcl_node_t _node, rosidl_service_type_support_t _typesupport, string _service_name, rcl_client_options_t _options)
{
if (Environment.OSVersion.Platform == PlatformID.Win32NT)
{
//TODO codepath for windows
}
else if (Environment.OSVersion.Platform == PlatformID.Unix)
{
Impl = new rcl_client_linux(_node, _typesupport, _service_name, _options);
}
else
{
throw new Exception("Operating system: " + Environment.OSVersion.Platform.ToString() + " not supported");
}
}
