private static void serverGoalCallback(ServerGoalHandle <TestGoal, TestResult, TestFeedback> sgoalHandle,
ActionServer <TestGoal, TestResult, TestFeedback> actionServer,
ActionClient <TestGoal, TestResult, TestFeedback> actionClient)
{
// got goal to reach from clientsample
Console.WriteLine($"Goal registered callback. Goal: {sgoalHandle.Goal.goal}");
var goal = new Messages.actionlib.TestGoal();
Console.WriteLine($"Send goal {goal.goal} from client");
var cts = new CancellationTokenSource();
actionClient.SendGoalAsync(goal,
(cgoalHandle) =>
{
if (cgoalHandle.State == CommunicationState.DONE)
{
int g = cgoalHandle.Goal.Goal.goal;
var result = cgoalHandle.Result;
if (result != null)
{
Console.WriteLine($"Got Result for goal {g}: {cgoalHandle.Result.result}");
var aresult = new Messages.actionlib.TestResult
{
result = 999
};
sgoalHandle.SetGoalStatus(Messages.actionlib_msgs.GoalStatus.SUCCEEDED, "done");
actionServer.PublishResult(sgoalHandle.GoalStatus, result);
}
else
{
Console.WriteLine($"Result for goal {g} is NULL!");
}
}
},
(cgoalHandle, feedback) =>
{
Console.WriteLine($"Feedback: {feedback}");
var fb = new Messages.actionlib.TestFeedback
{
feedback = feedback.Feedback.feedback
};
sgoalHandle.PublishFeedback(fb);
},
cts.Token
).GetAwaiter().GetResult();
}
static void Main(string[] args)
{
#if (DEBUG)
Environment.SetEnvironmentVariable("ROS_MASTER_URI", "http://192.168.200.32:11311/");
#endif
Console.WriteLine("Start ROS");
ROS.Init(ref args, "ActionServer");
var asyncSpinner = new AsyncSpinner();
asyncSpinner.Start();
NodeHandle serverNodeHandle = new NodeHandle();
Console.WriteLine("Create server");
var actionServer = new ActionServer <Messages.actionlib.TestGoal, Messages.actionlib.TestResult,
Messages.actionlib.TestFeedback>(serverNodeHandle, "test_action");
Console.WriteLine("Start Server");
actionServer.Start();
actionServer.RegisterGoalCallback((goalHandle) =>
{
Console.WriteLine($"Goal registered callback. Goal: {goalHandle.Goal.goal}");
var fb = new Messages.actionlib.TestFeedback();
fb.feedback = 10;
goalHandle.PublishFeedback(fb);
Thread.Sleep(100);
var result = new Messages.actionlib.TestResult();
result.result = 123;
goalHandle.SetGoalStatus(Messages.actionlib_msgs.GoalStatus.SUCCEEDED, "done");
actionServer.PublishResult(goalHandle.GoalStatus, result);
});
while (!Console.KeyAvailable)
{
Thread.Sleep(1);
}
actionServer.Shutdown();
serverNodeHandle.shutdown();
ROS.shutdown();
}
static void Main(string[] args)
{
Console.WriteLine("Start ROS");
ROS.Init(new string[0], "ActionServer");
var asyncSpinner = new AsyncSpinner();
asyncSpinner.Start();
NodeHandle serverNodeHandle = new NodeHandle();
Console.WriteLine("Create server");
var actionServer = new ActionServer <Messages.actionlib.TestGoal, Messages.actionlib.TestResult,
Messages.actionlib.TestFeedback>(serverNodeHandle, "test_action");
Console.WriteLine("Start Server");
actionServer.Start();
actionServer.RegisterGoalCallback((goalHandle) =>
{
Console.WriteLine($"Goal registered callback. Goal: {goalHandle.Goal.goal}");
var fb = new Messages.actionlib.TestFeedback();
fb.feedback = 10;
goalHandle.PublishFeedback(fb);
Thread.Sleep(100);
var result = new Messages.actionlib.TestResult();
result.result = 123;
goalHandle.SetGoalStatus(Messages.actionlib_msgs.GoalStatus.SUCCEEDED, "done");
actionServer.PublishResult(goalHandle.GoalStatus, result);
});
while (!Console.KeyAvailable)
{
Thread.Sleep(1);
}
actionServer.Shutdown();
serverNodeHandle.Shutdown();
ROS.Shutdown();
}
static void Main(string[] args)
{
//#if (DEBUG)
// Environment.SetEnvironmentVariable("ROS_HOSTNAME", "");
// Environment.SetEnvironmentVariable("ROS_IP", "192.168.200.32");
// Environment.SetEnvironmentVariable("ROS_MASTER_URI", "http://192.168.200.231:11311/");
//#endif
Environment.SetEnvironmentVariable("ROS_HOSTNAME", "localhost");
Environment.SetEnvironmentVariable("ROS_IP", "127.0.0.1");
Environment.SetEnvironmentVariable("ROS_MASTER_URI", "http://localhost:11311/");
Console.WriteLine("Start ROS");
ROS.Init(ref args, "ActionServerSlowDummy");
ICallbackQueue callbackQueue = new CallbackQueue();
var asyncSpinner = new AsyncSpinner(callbackQueue);
asyncSpinner.Start();
//var spinner = new SingleThreadSpinner(callbackQueue);
NodeHandle serverNodeHandle = new NodeHandle(callbackQueue);
Console.WriteLine("Create server");
var actionServer = new ActionServer <Messages.actionlib.TestGoal, Messages.actionlib.TestResult,
Messages.actionlib.TestFeedback>(serverNodeHandle, "test_action_slow");
Console.WriteLine("Start Server");
Param.Set("status_list_timeout", 999.9);
actionServer.Start();
actionServer.RegisterGoalCallback((goalHandle) =>
{
Console.WriteLine($"Goal registered callback. Goal: {goalHandle.Goal.goal}");
goalHandle.SetAccepted("accepted");
new Thread(() =>
{
for (int x = 0; x < 77; x++)
{
var fb = new Messages.actionlib.TestFeedback
{
feedback = x
};
goalHandle.PublishFeedback(fb);
Thread.Sleep(100);
}
var result = new Messages.actionlib.TestResult
{
result = 123
};
goalHandle.SetGoalStatus(Messages.actionlib_msgs.GoalStatus.SUCCEEDED, "done");
actionServer.PublishResult(goalHandle.GoalStatus, result);
}).Start();
});
Console.ReadLine();
actionServer.Shutdown();
serverNodeHandle.shutdown();
ROS.shutdown();
}
