internal static void Init(ILoggerFactory loggerFactory, IManagedConnection connection, RpcAdapter rpcAdapter, IWorldViewClient worldViewClient, IRosClientLibrary rosClient)
{
StaticModules.rpcAdapter = rpcAdapter;
StaticModules.connection = connection;
StaticModules.worldViewClient = worldViewClient;
StaticModules.rosClient = rosClient;
rosClient.OnRosMasterConnected += RosClient_OnRosMasterConnected;
rosClient.OnRosMasterDisconnected += RosClient_OnRosMasterDisconnected;
worldViewService = rpcAdapter.CreateProxy <IWorldViewService>(new Jid("api@rosvita"));
}
void init()
{
RpcCommunicator.instance().logger.addLogHandler("stdout", new RpcLogHandlerStdout());
RpcCommunicator.instance().initialize("server1");
RpcCommunicator.instance().settings.callwait = 1000 * 1000;
RpcAdapter adapter = RpcCommunicator.instance().createAdapter("adapter1");
prx = ServerProxy.create("192.168.199.235", 16005, false);
TerminalImpl impl = new TerminalImpl();
adapter.attachConnection(prx.conn);
adapter.addServant(impl);
}
