/// <summary>
/// Waits for the ActionServer to connect to this client. Spins the callbacks.
/// <seealso cref="WaitForActionServerToStart"/>
/// </summary>
public bool WaitForActionServerToStartSpinning(TimeSpan?timeout, SingleThreadSpinner spinner)
{
var tic = DateTime.UtcNow;
while (ROS.OK)
{
if (IsServerConnected())
{
return(true);
}
if (timeout != null)
{
var toc = DateTime.UtcNow;
if (toc - tic > timeout)
{
return(false);
}
}
spinner.SpinOnce();
Thread.Sleep(1);
}
return(false);
}
/// <summary>
/// Waits for the ActionServer to connect to this client. Spins the callbacks.
/// <seealso cref="WaitForActionServerToStart"/>
/// </summary>
public bool WaitForActionServerToStartSpinning(TimeSpan?timeout, SingleThreadSpinner spinner)
{
var tic = DateTime.UtcNow;
while (ROS.OK)
{
if (IsServerConnected())
{
return(true);
}
if (timeout != null)
{
var toc = DateTime.UtcNow;
TimeSpan elapsed = toc - tic;
if (elapsed > timeout)
{
break;
}
}
spinner.SpinOnce();
Thread.Sleep(1);
}
return(CheckActionServerStatusAndLog());
}
private static void Main(string[] args)
{
Trace.Listeners.Add(new TextWriterTraceListener(Console.Out));
ROS.Init(args, "Talker");
var spinner = new SingleThreadSpinner();
NodeHandle node = new NodeHandle();
Publisher <std_msgs.String> Talker = node.Advertise <std_msgs.String>("/chatter", 1);
int count = 0;
while (ROS.OK && !Console.KeyAvailable)
{
Console.WriteLine("publishing message");
ROS.Info()("Publishing a chatter message: \"Blah blah blah " + count + "\"");
String pow = new String("Blah blah blah " + (count++));
Talker.Publish(pow);
spinner.SpinOnce();
Thread.Sleep(1000);
}
ROS.Shutdown();
}
private void Start(int numberOfRuns)
{
NodeHandle clientNodeHandle = new NodeHandle();
spinner = new SingleThreadSpinner(ROS.GlobalCallbackQueue);
/*TestParams.Add(new TestParameters("Reject Goal", GoalStatus.REJECTED, 0, false, null));
* TestParams.Add(new TestParameters("Cancel not yet accepted goal", GoalStatus.RECALLED, 0, true, null));
* TestParams.Add(new TestParameters("Cancel accepted goal", GoalStatus.PREEMPTED, 0, true, null));
* TestParams.Add(new TestParameters("Abort Goal", GoalStatus.ABORTED, 100, false, null));*/
TestParams.Add(new TestParameters("Get Result 123", GoalStatus.SUCCEEDED, 100, false, 123));
var successfulTestCount = 0;
var failedTestCount = 0;
Console.WriteLine("Create client");
actionClient = new ActionClient <Messages.actionlib.TestGoal, Messages.actionlib.TestResult,
Messages.actionlib.TestFeedback>("test_action", clientNodeHandle, 120);
Console.WriteLine("Wait for client and server to negotiate connection");
bool started = actionClient.WaitForActionServerToStartSpinning(new TimeSpan(0, 0, 3), spinner);
var sw = Stopwatch.StartNew();
DateTime?firstFail = null;
var startTime = DateTime.Now;
for (int i = 0; i < numberOfRuns; i++)
{
bool testError = false;
if (started)
{
Console.WriteLine("Server connected, start tests");
foreach (var parameter in TestParams)
{
if (!TestCase(parameter.Name, parameter.ExpectedState, parameter.ExpectedFeedback,
parameter.CancelGoal, parameter.ExpectedGoal))
{
testError = true;
if (firstFail == null)
{
firstFail = DateTime.Now;
}
break;
}
}
}
else
{
ROS.Error()("Could not connect to server");
testError = true;
}
if (testError)
{
ROS.Error()("Errors ocured during testing!");
failedTestCount++;
}
else
{
successfulTestCount++;
ROS.Info()("Testbed completed successfully");
}
}
Console.WriteLine("-----------");
Console.WriteLine($"Test took {sw.Elapsed} StartTime: {startTime} Goals/s {numberOfRuns / sw.Elapsed.TotalSeconds}");
Console.WriteLine($"Successful: {successfulTestCount} Failed: {failedTestCount} FirstFail: {firstFail}");
Console.WriteLine("All done, press any key to exit");
Console.WriteLine("-----------");
while (!Console.KeyAvailable)
{
Thread.Sleep(1);
}
Console.WriteLine("Shutdown client");
actionClient.Shutdown();
clientNodeHandle.shutdown();
}
