public static void Main(string[] args)
{
//Create instance of RCL class which handles functions from rcl.h
//RCL implements IDisposable so the using statement makes sure rcl_shutdown will be called after usages
using (RCL rcl = new RCL()) {
//Initialise RCL with default allocator
rcl.Init(args);
//Create an executor that will task our node
Executor demoExecutor = new SingleThreadedExecutor();
//Let the executor task all nodes with the given timespan
demoExecutor.Spin(new TimeSpan(0, 0, 0, 0, 10));
//Create a Node
using (Node testNode = new Node("BasicNodeExample")) {
//Add node to executor
demoExecutor.AddNode(testNode);
//Now we're creating a publisher with the Dummy message
//TODO show alternative to Node.CreatePublisher<T>
using (Publisher <cs_msgs.msg.Dummy> testPublisher = testNode.CreatePublisher <cs_msgs.msg.Dummy> ("TestTopic")) {
//Create a message
using (cs_msgs.msg.Dummy testMsg = new cs_msgs.msg.Dummy()) {
//Fill the message fields
testMsg.thisafloat32 = 0.4f;
//Fill a string
testMsg.thisisastring = "TestString";
//Fill an array
testMsg.thisafloat32array = (new float[] { 1.3f, 100000.4f });
//Use a nested type
testMsg.thisisatime.sec = 100;
//And now publish the message
testPublisher.Publish(testMsg);
//Free unmanaged memory
}
}
}
//Remember to stop the executor - you could start it again afterwards
demoExecutor.Cancel();
}
//rcl_shutdown gets called automatically
}
public static void Main(string[] args)
{
Console.WriteLine("Init RCL");
using (RCL rcl = new RCL()) {
rcl.Init(args);
Console.WriteLine("Creating node");
using (Node test_node = new Node("test_node")) {
Console.WriteLine("Creating test publisher");
using (Publisher <cs_msgs.msg.Dummy> test_pub = new Publisher <cs_msgs.msg.Dummy> (test_node, "TestTopic", rmw_qos_profile_t.rmw_qos_profile_sensor_data)) {
Console.WriteLine("Creating test subscription");
Subscription <cs_msgs.msg.Dummy> test_subscription = test_node.CreateSubscription <cs_msgs.msg.Dummy> ("TestTopic", rmw_qos_profile_t.rmw_qos_profile_sensor_data);
test_subscription.MessageRecieved += (object sender, MessageRecievedEventArgs <cs_msgs.msg.Dummy> e) => {
Console.WriteLine("Recieved message on test topic: ");
foreach (var item in e.Message.GetType().GetProperties())
{
Console.Write(item.Name + " :" + item.GetValue(e.Message));
Console.WriteLine();
}
Console.Write("Float32 Array: ");
foreach (var arritem in e.Message.thisafloat32array)
{
Console.Write(arritem + " ,");
}
Console.WriteLine();
Console.Write("Double Array: ");
foreach (var arritem in e.Message.thisisfloat64array)
{
Console.Write(arritem + " ,");
}
Console.WriteLine();
Console.Write("int8 Array: ");
foreach (var arritem in e.Message.thisisaint8array)
{
Console.Write(arritem + " ,");
}
Console.WriteLine();
Console.Write("string Array: ");
foreach (var arritem in e.Message.thisisastringarray)
{
Console.WriteLine(arritem + " ,");
}
Console.WriteLine();
Console.Write("fixed Array: ");
foreach (var arritem in e.Message.thisisafixedint16array)
{
Console.WriteLine(arritem + " ,");
}
Console.WriteLine();
Console.WriteLine("Seconds: " + e.Message.thisisatime.sec);
};
Console.WriteLine("Creating executor");
Executor executor = new SingleThreadedExecutor();
executor.AddNode(test_node);
Console.WriteLine("Spinning");
executor.Spin(new TimeSpan(0, 0, 0, 0, 10));
Console.WriteLine("Creating new test_msgs.Dummy");
using (cs_msgs.msg.Dummy test_msg = new cs_msgs.msg.Dummy()) {
test_msg.thisiauint8 = 10;
test_msg.thisisabool = 1;
test_msg.thisisaint16 = 15;
test_msg.thisisfloat64 = 10.0f;
test_msg.thisisastring = "test_test_test";
test_msg.thisisanotherstring = "test2";
test_msg.thisafloat32array = new float[] { 10.0f, 1.1f };
test_msg.thisisafixedint16array = new short[] { 10, 100, 5 };
test_msg.thisisastringarray = (new string[] {
"test1",
"test2",
"test3"
});
test_msg.thisisaint8array = (new byte[] { 100, 102, 200 });
test_msg.thisisfloat64array = new double[] { 10.4, 100.1, 100.10 };
test_msg.thisisatime.sec = 10;
Console.WriteLine("Test seconds: " + test_msg.thisisatime.sec);
Console.WriteLine("Test_2 seconds: " + test_msg.Data.thisisatime.sec);
Console.WriteLine("Publishing message");
if (test_pub.Publish(test_msg))
{
Console.WriteLine("Publish was successfull");
}
}
/*Console.WriteLine ("####################################################");
* Console.WriteLine ("Creating service");
* Service<test_msgs.srv.DummySrv_Request,test_msgs.srv.DummySrv_Response> test_service = test_node.CreateService<test_msgs.srv.DummySrv_Request,test_msgs.srv.DummySrv_Response> ("TestService");
* test_service.RequestRecieved += (object sender, ServiceRecievedRequestEventArgs<test_msgs.srv.DummySrv_Request,test_msgs.srv.DummySrv_Response> e) => {
* Console.WriteLine ("Recieved new request");
* using(test_msgs.srv.DummySrv_Response response = new test_msgs.srv.DummySrv_Response())
* {
* response.sum = e.Request.a + e.Request.b;
* e.SendResponseFunc(response);
* }
*
* };
* Client<test_msgs.srv.DummySrv_Request,test_msgs.srv.DummySrv_Response> test_client = test_node.CreateClient<test_msgs.srv.DummySrv_Request,test_msgs.srv.DummySrv_Response> ("TestService");
* test_client.RecievedResponse += (object sender, ClientRecievedResponseEventArgs<test_msgs.srv.DummySrv_Response> e) => {
* Console.WriteLine ("Client recived response : sum: " + e.Response.sum);
* };
* using (test_msgs.srv.DummySrv_Request testRequest = new test_msgs.srv.DummySrv_Request ()) {
* testRequest.a = 10;
* testRequest.b = 100;
* test_client.SendRequest (testRequest);
* }*/
Console.WriteLine("Press any key to exit");
Console.ReadKey();
executor.Cancel();
}
}
}
}
