public Service(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 typesupport method");
}
if (TypeSupport.data == IntPtr.Zero)
{
throw new Exception("Couldn't get typesupport");
}
ServiceOptions = rcl_service.get_default_options();
ServiceOptions.qos = QOSProfile;
InternalService = new rcl_service(RosNode.NativeNode, TypeSupport, ServiceName, ServiceOptions);
}
public rcl_service(rcl_node_t _node, rosidl_service_type_support_t typesupport, string service_name, rcl_service_options_t options)
{
if (Environment.OSVersion.Platform == PlatformID.Win32NT)
{
//TODO codepath for windows
}
else if (Environment.OSVersion.Platform == PlatformID.Unix)
{
Impl = new rcl_service_linux(_node, typesupport, service_name, options);
}
else
{
throw new Exception("Operating system: " + Environment.OSVersion.Platform.ToString() + " not supported");
}
}
public rcl_service_base(rcl_node_t _node, rosidl_service_type_support_t typesupport, string service_name, rcl_service_options_t options)
{
this.native_node = _node;
this.service_options = options;
}
extern static int rcl_service_init(ref rcl_service_t service, ref rcl_node_t node, ref rosidl_service_type_support_t type_support, string topic_name, ref rcl_service_options_t options);
public rcl_service(rcl_node_t _node, rosidl_service_type_support_t typesupport, string service_name, rcl_service_options_t options)
{
native_node = _node;
native_handle = rcl_get_zero_initialized_service();
int ret = rcl_service_init(ref native_handle, ref native_node, ref typesupport, service_name, ref options);
RCLReturnValues retVal = (RCLReturnValues)ret;
switch (retVal)
{
case RCLReturnValues.RCL_RET_OK:
break;
case RCLReturnValues.RCL_RET_NODE_INVALID:
throw new RCLNodeInvalidException();
break;
case RCLReturnValues.RCL_RET_INVALID_ARGUMENT:
throw new RCLInvalidArgumentException();
break;
case RCLReturnValues.RCL_RET_SERVICE_INVALID:
throw new RCLServiceInvalidException();
break;
case RCLReturnValues.RCL_RET_BAD_ALLOC:
throw new RCLBadAllocException();
break;
case RCLReturnValues.RCL_RET_ERROR:
break;
default:
break;
}
}
