private void Window_Loaded(object sender, RoutedEventArgs e)
{
ROS.ROS_MASTER_URI = "http://10.0.2.88:11311";
ROS.ROS_HOSTNAME = "10.0.2.152";
ROS.Init(new string[0], NODE_NAME);
nodeHandle = new NodeHandle();
//server = nodeHandle.advertiseService<Messages.roscpp_tutorials.TwoInts, Messages.roscpp_tutorials.TwoInts.Request, Messages.roscpp_tutorials.TwoInts.Response>("/add_two_ints", addition);
client = nodeHandle.serviceClient <Messages.roscpp_tutorials.TwoInts.Request, Messages.roscpp_tutorials.TwoInts.Response>("/add_two_ints");
new Thread(new ThreadStart(() =>
{
Random r = new Random();
while (!ROS.shutting_down)
{
TwoInts.Request req = new TwoInts.Request()
{
a = r.Next(100), b = r.Next(100)
};
TwoInts.Response resp = new TwoInts.Response();
if (client.call(req, ref resp))
{
Dispatcher.Invoke(new Action(() =>
{
math.Content = "" + req.a + " + " + req.b + " = " + resp.sum;
}));
}
Thread.Sleep(500);
}
})).Start();
}
private void Window_Loaded(object sender, RoutedEventArgs e)
{
ROS.Init(new string[0], NODE_NAME+DateTime.Now.Ticks);
nodeHandle = new NodeHandle();
new Thread(new ThreadStart(() =>
{
Random r = new Random();
while (ROS.ok)
{
TwoInts.Request req = new TwoInts.Request() { a = r.Next(100), b = r.Next(100) };
TwoInts.Response resp = new TwoInts.Response();
DateTime before = DateTime.Now;
bool res = nodeHandle.serviceClient<TwoInts.Request, TwoInts.Response>("/add_two_ints").call(req, ref resp);
TimeSpan dif = DateTime.Now.Subtract(before);
Dispatcher.Invoke(new Action(() =>
{
string str = "";
if (res)
str = "" + req.a + " + " + req.b + " = " + resp.sum + "\n";
else
str = "call failed after\n";
str += Math.Round(dif.TotalMilliseconds,2) + " ms";
math.Content = str;
}));
Thread.Sleep(500);
}
})).Start();
}
private void Window_Loaded(object sender, RoutedEventArgs e)
{
ROS.ROS_MASTER_URI = "http://10.0.2.88:11311";
ROS.ROS_HOSTNAME = "10.0.2.152";
ROS.Init(new string[0], NODE_NAME);
nodeHandle = new NodeHandle();
//server = nodeHandle.advertiseService<Messages.roscpp_tutorials.TwoInts, Messages.roscpp_tutorials.TwoInts.Request, Messages.roscpp_tutorials.TwoInts.Response>("/add_two_ints", addition);
client = nodeHandle.serviceClient<Messages.roscpp_tutorials.TwoInts.Request, Messages.roscpp_tutorials.TwoInts.Response>("/add_two_ints");
new Thread(new ThreadStart(() =>
{
Random r = new Random();
while (!ROS.shutting_down)
{
TwoInts.Request req = new TwoInts.Request() { a = r.Next(100), b = r.Next(100) };
TwoInts.Response resp = new TwoInts.Response();
if (client.call(req, ref resp))
Dispatcher.Invoke(new Action(() =>
{
math.Content = "" + req.a + " + " + req.b + " = " + resp.sum;
}));
Thread.Sleep(500);
}
})).Start();
}
private static bool addition(TwoInts.Request req, ref TwoInts.Response resp)
{
Logger.LogInformation("[ServiceServerSample] addition callback");
resp.sum = req.a + req.b;
Logger.LogInformation(req.ToString());
Logger.LogInformation(resp.sum.ToString());
return(true);
}
private static bool addition(TwoInts.Request req, ref TwoInts.Response resp)
{
ROS.Info()("[ServiceServerSample] addition callback");
resp.sum = req.a + req.b;
ROS.Info()(req.ToString());
ROS.Info()(resp.sum.ToString());
return(true);
}
static void Main(string[] args)
{
string NODE_NAME = "ServiceClientTest";
try
{
ROS.Init(ref args, NODE_NAME + DateTime.Now.Ticks);
var spinner = new AsyncSpinner();
spinner.Start();
}
catch (RosException e)
{
ROS.Critical()("ROS.Init failed, shutting down: {0}", e.Message);
ROS.shutdown();
ROS.waitForShutdown();
return;
}
try
{
var nodeHandle = new NodeHandle();
while (ROS.ok)
{
Random r = new Random();
TwoInts.Request req = new TwoInts.Request()
{
a = r.Next(100), b = r.Next(100)
};
TwoInts.Response resp = new TwoInts.Response();
DateTime before = DateTime.Now;
bool res = nodeHandle.serviceClient <TwoInts.Request, TwoInts.Response>("/add_two_ints").call(req, ref resp);
TimeSpan dif = DateTime.Now.Subtract(before);
string str = "";
if (res)
{
str = "" + req.a + " + " + req.b + " = " + resp.sum + "\n";
}
else
{
str = "call failed after ";
}
str += Math.Round(dif.TotalMilliseconds, 2) + " ms";
ROS.Info()(str);
Thread.Sleep(1000);
}
}
catch (RosException e)
{
ROS.Critical()("Shutting down: {0}", e.Message);
}
ROS.shutdown();
ROS.waitForShutdown();
}
private bool addition(TwoInts.Request req, ref TwoInts.Response resp)
{
resp.sum = req.a + req.b;
long sum = resp.sum;
//Dispatcher.BeginInvoke(new Action(() =>
//{
// math.Content = "" + req.a + " + " + req.b + " = ??\n" + sum;
//}));
return(true);
}
private void Window_Loaded(object sender, RoutedEventArgs e)
{
ROS.Init(new string[0], NODE_NAME + DateTime.Now.Ticks);
nodeHandle = new NodeHandle();
new Thread(new ThreadStart(() =>
{
Random r = new Random();
while (ROS.ok)
{
TwoInts.Request req = new TwoInts.Request()
{
a = r.Next(100), b = r.Next(100)
};
TwoInts.Response resp = new TwoInts.Response();
DateTime before = DateTime.Now;
bool res = nodeHandle.serviceClient <TwoInts.Request, TwoInts.Response>("/add_two_ints").call(req, ref resp);
TimeSpan dif = DateTime.Now.Subtract(before);
Dispatcher.Invoke(new Action(() =>
{
string str = "";
if (res)
{
str = "" + req.a + " + " + req.b + " = " + resp.sum + "\n";
}
else
{
str = "call failed after\n";
}
str += Math.Round(dif.TotalMilliseconds, 2) + " ms";
math.Content = str;
}));
Thread.Sleep(500);
}
})).Start();
}
static void Main(string[] args)
{
string NODE_NAME = "ServiceClientTest";
var loggerFactory = new LoggerFactory();
loggerFactory.AddProvider(
new ConsoleLoggerProvider(
(string text, LogLevel logLevel) => { return(logLevel >= LogLevel.Debug); }, true)
);
Logger = ApplicationLogging.CreateLogger(nameof(Main));
ROS.SetLoggerFactory(loggerFactory);
try
{
ROS.Init(new string[0], NODE_NAME + DateTime.Now.Ticks);
}
catch (RosException e)
{
Logger.LogCritical("ROS.Init failed, shutting down: {0}", e.Message);
ROS.shutdown();
ROS.waitForShutdown();
return;
}
try
{
var nodeHandle = new NodeHandle();
while (ROS.ok)
{
Random r = new Random();
TwoInts.Request req = new TwoInts.Request()
{
a = r.Next(100), b = r.Next(100)
};
TwoInts.Response resp = new TwoInts.Response();
DateTime before = DateTime.Now;
bool res = nodeHandle.serviceClient <TwoInts.Request, TwoInts.Response>("/add_two_ints").call(req, ref resp);
TimeSpan dif = DateTime.Now.Subtract(before);
string str = "";
if (res)
{
str = "" + req.a + " + " + req.b + " = " + resp.sum + "\n";
}
else
{
str = "call failed after ";
}
str += Math.Round(dif.TotalMilliseconds, 2) + " ms";
Logger.LogInformation(str);
Thread.Sleep(1000);
}
}
catch (RosException e)
{
Logger.LogCritical("Shutting down: {0}", e.Message);
}
ROS.shutdown();
ROS.waitForShutdown();
}
