public void initialize <MReq, MRes>() where MReq : IRosMessage, new() where MRes : IRosMessage, new()
{
MReq req = new MReq();
MRes res = new MRes();
RequestMd5Sum = req.MD5Sum();
ResponseMd5Sum = res.MD5Sum();
RequestType = req.msgtype();
ResponseType = res.msgtype();
}
public void Initialize <MReq, MRes>()
where MReq : RosMessage, new() where MRes : RosMessage, new()
{
MReq req = new MReq();
MRes res = new MRes();
RequestMd5Sum = req.MD5Sum();
ResponseMd5Sum = res.MD5Sum();
RequestType = req.MessageType;
ResponseType = res.MessageType;
this.connectionTask = HandleConnection();
}
internal override CallResult Call()
{
if (link.connection.dropped)
{
return(CallResult.Invalid);
}
ServiceCallbackHelperParams <MReq, MRes> parms = new ServiceCallbackHelperParams <MReq, MRes>
{
request = new MReq().Deserialize(buffer) as MReq,
response = new MRes(),
connection_header = link.connection.header.Values
};
try
{
bool ok = isp.helper.call(parms);
if (ok)
{
link.processResponse(parms.response, true);
}
else
{
IRosMessage res = new MRes();
link.processResponse(res, false);
}
}
catch (Exception e)
{
string woops = "Exception thrown while processing service call: " + e;
ROS.Error(woops);
link.processResponse(woops, false);
return(CallResult.Invalid);
}
return(CallResult.Success);
}
