static void Main(string[] args)
{
#if (DEBUG)
Environment.SetEnvironmentVariable("ROS_MASTER_URI", "http://localhost:11311/");
#endif
Console.WriteLine("Start ROS");
ROS.Init(ref args, "ActionServerClientSlowDummy");
ICallbackQueue callbackQueue = new CallbackQueue();
var asyncSpinner = new AsyncSpinner(callbackQueue);
asyncSpinner.Start();
NodeHandle nodeHandle = new NodeHandle(callbackQueue);
ActionClient <Messages.actionlib.TestGoal, Messages.actionlib.TestResult,
Messages.actionlib.TestFeedback> actionClient = null;
// setup action server start
Console.WriteLine("Create server");
var actionServer = new ActionServer <Messages.actionlib.TestGoal, Messages.actionlib.TestResult,
Messages.actionlib.TestFeedback>(nodeHandle, "test_action");
Param.Set("status_list_timeout", 999.9);
actionServer.RegisterGoalCallback((sgoalHandle) =>
{
Thread thread = new Thread(() => serverGoalCallback(sgoalHandle, actionServer, actionClient));
thread.Start();
});
Console.WriteLine("Start Server");
actionServer.Start();
Console.WriteLine("Server Started");
// setup action server finish
// setup client
actionClient = new ActionClient <Messages.actionlib.TestGoal, Messages.actionlib.TestResult,
Messages.actionlib.TestFeedback>("test_action_slow", nodeHandle);
// send action request to serverslowdummy
Console.WriteLine("Wait for client and server to negotiate connection");
bool started = actionClient.WaitForActionServerToStart(new TimeSpan(0, 0, 3));
if (!started)
{
Console.WriteLine("Negotiation with server failed!");
}
Console.ReadLine();
actionServer.Shutdown();
nodeHandle.shutdown();
ROS.shutdown();
}
/*static void Main(string[] args)
* {
* Console.WriteLine("Start ROS");
* ROS.Init(new string[0], "ActionClient");
* NodeHandle clientNodeHandle = new NodeHandle();
*
* Console.WriteLine("Create client");
* var actionClient = new ActionClient<SingleJointPositionGoal, SingleJointPositionResult,
* SingleJointPositionFeedback>("ActionTest", clientNodeHandle);
*
* Console.WriteLine("Wait for client and server to negotiate connection");
* bool started = actionClient.WaitForActionServerToStart(new TimeSpan(0, 0, 10));
*
*
* if (started || true)
* {
* var goal = new SingleJointPositionGoal();
* goal.position = 12.0;
* goal.max_velocity = 42.0;
*
* Console.WriteLine("Send goal from client");
* var transition = false;
* actionClient.SendGoal(goal,
* (goalHandle) => { Console.WriteLine($"Transition: {goalHandle}"); transition = true; },
* (goalHandle, feedback) => { Console.WriteLine($"Feedback: {feedback}"); });
*
*
* Console.WriteLine("Wait for action client to receive transition");
* while (!transition)
* {
* Thread.Sleep(1);
* }
* } else
* {
* Console.WriteLine("Negotiation with server failed!");
* }
* }*/
static void Main(string[] args)
{
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, "ActionClient");
ICallbackQueue callbackQueue = new CallbackQueue();
var asyncSpinner = new AsyncSpinner(callbackQueue);
asyncSpinner.Start();
NodeHandle clientNodeHandle = new NodeHandle(callbackQueue); //ROS.GlobalNodeHandle;
Console.WriteLine("Create client");
var actionClient = new ActionClient <Messages.actionlib.TestGoal, Messages.actionlib.TestResult,
Messages.actionlib.TestFeedback>("test_action", clientNodeHandle);
Console.WriteLine("Wait for client and server to negotiate connection");
bool started = actionClient.WaitForActionServerToStart(new TimeSpan(0, 0, 60));
if (started)
{
int counter = 0;
var dict = new Dictionary <int, Messages.actionlib.TestGoal>();
while (!Console.KeyAvailable)
{
var now = DateTime.UtcNow;
Console.WriteLine($"Waited: {DateTime.UtcNow - now}");
var goal = new Messages.actionlib.TestGoal
{
goal = counter
};
dict[counter] = goal;
counter += 1;
Console.WriteLine($"------------------> Send goal {goal.goal} from client");
var cts = new CancellationTokenSource();
var goalTask = actionClient.SendGoalAsync(goal,
(goalHandle) =>
{
if (goalHandle.State == CommunicationState.DONE)
{
int g = goalHandle.Goal.Goal.goal;
var resultt = goalHandle.Result;
if (resultt != null)
{
Console.WriteLine($"------------------> Got Result for goal {g}: {resultt.result}");
}
else
{
Console.WriteLine($"Result for goal {g} is NULL!");
}
dict.Remove(g);
}
},
(goalHandle, feedback) =>
{
Console.WriteLine($"------------------> Got Feedback: {feedback.Feedback.feedback}");
},
cts.Token
);
var waiter = goalTask.GetAwaiter();
goalTask.Wait();
Console.ReadLine();
while (!waiter.IsCompleted)
{
Thread.Yield();
}
var result = waiter.GetResult();
break;
}
Console.WriteLine("Wait for 15s for open goals");
var timeOut = new TimeSpan(0, 0, 15);
var start = DateTime.UtcNow;
while ((DateTime.UtcNow - start <= timeOut) && (dict.Count > 0))
{
Thread.Sleep(1);
}
if (dict.Count == 0)
{
Console.WriteLine("All goals have been reached!");
}
else
{
Console.WriteLine("TIMEOUT: There are still open goals");
}
}
else
{
Console.WriteLine("Negotiation with server failed!");
}
Console.WriteLine("Shutdown ROS");
actionClient.Shutdown();
clientNodeHandle.shutdown();
ROS.shutdown();
}
public bool processQueue(Time timestamp, Duration tolerance, Duration delay, Duration wait, CallbackQueue callback_queue)
{
bool new_command = false;
lock ( command_queue_mutex_ )
{
Time min = new Time(timestamp.data);
Time max = new Time(timestamp.data);
try {
min = timestamp - delay - tolerance /* - ros::Duration(dt) */;
} catch (Exception e) {}
try {
max = timestamp - delay + tolerance;
} catch (Exception e) {}
do
{
while (command_queue_.Count > 0)
{
MotorPWM new_motor_voltage = command_queue_.Peek();
Time new_time = new_motor_voltage.header.Stamp;
if (new_time.data.toSec() == 0.0 || (new_time >= min && new_time <= max))
{
setVoltage(new_motor_voltage);
command_queue_.Dequeue();
new_command = true;
// new motor command is too old:
}
else if (new_time < min)
{
ROS.Debug("quadrotor_propulsion", "Command received was %fs too old. Discarding.", (new_time - timestamp).data.toSec());
command_queue_.Dequeue();
// new motor command is too new:
}
else
{
break;
}
}
if (command_queue_.Count == 0 && !new_command)
{
if (!motor_status_.on || wait.data.toSec() == 0.0)
{
break;
}
ROS.Debug("quadrotor_propulsion", "Waiting for command at simulation step t = %fs... last update was %fs ago", timestamp.data.toSec(), (timestamp - last_command_time_).data.toSec());
if (callback_queue == null)
{
if (command_condition_.WaitOne((int)(wait.data.toSec() * 1000)))
{
continue;
}
// if (command_condition_.timed_wait(lock, wait.toBoost())) continue;
}
else
{
command_condition_.Set();
callback_queue.callAvailable((int)(wait.toSec() * 1000));
command_condition_.Reset();
if (command_queue_.Count > 0)
{
continue;
}
}
ROS.Error("quadrotor_propulsion", "Command timed out. Disabled motors.");
shutdown();
}
} while (false);
if (new_command)
{
// ROS.Debug ("quadrotor_propulsion", "Using motor command valid at t = " << last_command_time_.toSec() << "s for simulation step at t = " << timestamp.toSec() << "s (dt = " << (timestamp - last_command_time_).toSec() << "s)");
}
}
return(new_command);
}
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();
}
