public void ParseAssemblyAndRegisterRosServices(Assembly assembly)
{
foreach (Type type in assembly.GetTypes())
{
var typeInfo = type.GetTypeInfo();
if (type == typeof(RosService) || !typeInfo.IsSubclassOf(typeof(RosService)))
{
continue;
}
RosService service = Activator.CreateInstance(type) as RosService;
if (service.ServiceType == "undefined/unknown")
{
throw new Exception("Invalid servive type. Service type field (srvtype) was not initialized correctly.");
}
var packageName = service.ServiceType.Split('/')[0];
if (!PackageNames.Contains(packageName))
{
PackageNames.Add(packageName);
}
Logger.LogDebug($"Register {service.ServiceType}");
if (!TypeRegistry.ContainsKey(service.ServiceType))
{
TypeRegistry.Add(service.ServiceType, service.GetType());
}
}
}
public async Task <bool> Call(RosService srv)
{
(bool result, RosMessage response) = await Call(srv.RequestMessage).ConfigureAwait(false);
srv.ResponseMessage = response;
return(result);
}
public AdvertiseServiceOptions(string service, ServiceFunction <MReq, MRes> serviceCallback)
{
this.Service = service;
ServiceCallback = serviceCallback;
Helper = new ServiceCallbackHelper <MReq, MRes>(serviceCallback);
RequestDataType = new MReq().MessageType.Replace("/Request", "__Request");
ResponseDataType = new MRes().MessageType.Replace("/Response", "__Response");
SrvType = RequestDataType.Replace("__Request", "");
Md5Sum = RosService.Generate(SrvType).MD5Sum();
}
public AdvertiseServiceOptions(string service, ServiceFunction <MReq, MRes> serviceCallback)
{
this.service = service;
srv_func = serviceCallback;
helper = new ServiceCallbackHelper <MReq, MRes>(serviceCallback);
req_datatype = new MReq().MessageType.Replace("/Request", "__Request");
res_datatype = new MRes().MessageType.Replace("/Response", "__Response");
SrvType = req_datatype.Replace("__Request", "");
datatype = SrvType;
md5sum = RosService.Generate(SrvType).MD5Sum();
}
private async Task WriteHeader()
{
var header = new Dictionary <string, string>
{
["service"] = name,
["md5sum"] = RosService.Generate(RequestType.Replace("__Request", "").Replace("__Response", "")).MD5Sum(),
["callerid"] = ThisNode.Name,
["persistent"] = persistent ? "1" : "0"
};
if (headerValues != null)
{
foreach (string o in headerValues.Keys)
{
header[o] = headerValues[o];
}
}
await this.connection.WriteHeader(header, cancel).ConfigureAwait(false);
}
internal void initialize(Connection connection)
{
this.connection = connection;
connection.DroppedEvent += onConnectionDropped;
connection.setHeaderReceivedCallback(onHeaderReceived);
IDictionary <string, string> header = new Dictionary <string, string>
{
["service"] = name,
["md5sum"] = RosService.Generate(RequestType.Replace("__Request", "").Replace("__Response", "")).MD5Sum(),
["callerid"] = ThisNode.Name,
["persistent"] = persistent ? "1" : "0"
};
if (header_values != null)
{
foreach (string o in header_values.Keys)
{
header[o] = header_values[o];
}
}
connection.writeHeader(header, onHeaderWritten);
}
public bool call(RosService srv)
{
return(call(srv.RequestMessage, ref srv.ResponseMessage));
}
