private void Window_Loaded(object sender, RoutedEventArgs e)
{
ROS.Init(new string[0], NODE_NAME);
nodeHandle = new NodeHandle();
server = nodeHandle.advertiseService<TwoInts.Request, TwoInts.Response>("/add_two_ints", addition);
}
/// <summary>
/// Advertises a ServiceServer with specified OPTIONS
/// </summary>
/// <typeparam name="MReq">Request sub-srv type</typeparam>
/// <typeparam name="MRes">Response sub-srv type</typeparam>
/// <param name="ops">isn't it obvious?</param>
/// <returns>The ServiceServer that will call the ServiceFunction on behalf of ServiceClients</returns>
public ServiceServer advertiseService <MReq, MRes>(AdvertiseServiceOptions <MReq, MRes> ops)
where MReq : IRosMessage, new()
where MRes : IRosMessage, new()
{
ops.service = resolveName(ops.service);
if (ops.callback_queue == null)
{
ops.callback_queue = Callback ?? ROS.GlobalCallbackQueue;
}
if (ServiceManager.Instance.advertiseService(ops))
{
ServiceServer srv = new ServiceServer(ops.service, this);
lock (collection.mutex)
{
collection.serviceservers.Add(srv);
}
return(srv);
}
throw new Exception("Something ain't right with this advertisement.");
}
public void Dispose()
{
if (_cli != null)
{
_cli.shutdown();
_cli = null;
}
if (setServer != null)
{
setServer.shutdown();
setServer = null;
}
}
public void AdvertiseReconfigureService()
{
if (timeout == 0)
{
try
{
Service.waitForService(set_service_name, 1);
}
catch
{
Service.waitForService(set_service_name, timeout);
}
}
else
{
Service.waitForService(set_service_name, timeout);
}
setServer = nh.advertiseService(set_service_name, (Reconfigure.Request req, ref Reconfigure.Request res) =>
{
res.config = req.config;
return true;
});
}
