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);
}
/// <summary>
/// Determines if a server to the given client is available
/// </summary>
/// <returns><c>true</c>, if a service to the given client is avilable, <c>false</c> otherwise.</returns>
/// <param name="RosNode">Ros node.</param>
/// <param name="ServiceClient">Service client.</param>
/// <typeparam name="T">Request type</typeparam>
/// <typeparam name="U">Response type</typeparam>
public override bool ServiceServerAvailable <T, U>(Node RosNode, Client <T, U> ServiceClient)
{
byte available = 0;
rcl_node_t native_node_handle = RosNode.NativeNode;
rcl_client_t native_client_handle = ServiceClient.NativeClient;
int ret = rcl_service_server_is_available(ref native_node_handle, ref native_client_handle, ref available);
//TODO Evaluate return value
if (available > 0)
{
return(true);
}
return(false);
}
extern static IntPtr rcl_client_get_options(ref rcl_client_t client);
extern static string rcl_client_get_service_name(ref rcl_client_t client);
extern static int rcl_take_response(ref rcl_client_t client, ref rmw_request_id_t request_header, [In, Out] ValueType ros_response);
extern static int rcl_send_request(ref rcl_client_t client, [In, Out] ValueType ros_request, ref Int64 sequence_number);
extern static int rcl_client_fini(ref rcl_client_t client, ref rcl_node_t node);
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);
static extern int rcl_service_server_is_available(ref rcl_node_t node, ref rcl_client_t client, ref byte is_available);
