public RosTopicServer(string nodeId, string topicName, Uri slaveUri)
{
NodeId = nodeId;
_logger = RosOutLogManager.GetCurrentNodeLogger(NodeId);
TopicName = topicName;
SlaveUri = slaveUri;
}
public RosTopicClient(string nodeId, string topicName)
{
Connected = false;
NodeId = nodeId;
_logger = RosOutLogManager.GetCurrentNodeLogger(NodeId);
TopicName = topicName;
}
public ServiceInstance(string nodeId, IService service, Socket s)
{
NodeId = nodeId;
_logger = RosOutLogManager.GetCurrentNodeLogger(NodeId);
_service = service;
_client = new TcpRosClient(s);
}
internal Subscriber(string topicName, string nodeId, bool nodelay = true)
{
NodeId = nodeId;
_logger = RosOutLogManager.GetCurrentNodeLogger(NodeId);
TopicName = topicName;
var dummy = new TMessage();
MessageType = dummy.MessageType;
_nodelay = nodelay;
}
internal Publisher(string topicName, string nodeId, bool latching = false)
{
NodeId = nodeId;
var dummy = new TMessage();
TopicName = topicName;
MessageType = dummy.MessageType;
_logger = RosOutLogManager.GetCurrentNodeLogger(NodeId);
_latching = latching;
}
public ServiceProxy(string nodeId, string serviceName, TService service, TcpRosClient client)
{
NodeId = nodeId;
_logger = RosOutLogManager.GetCurrentNodeLogger(NodeId);
ServiceName = serviceName;
Service = service;
_client = client;
Service.SetAction(Invoke);
Service.Disposing += _ => DisposeAsync();
}
internal SlaveServer(string nodeId, int portNumber, TopicContainer topicContainer)
{
NodeId = nodeId;
_logger = RosOutLogManager.GetCurrentNodeLogger(NodeId);
_topicContainer = topicContainer;
_tcpRosListener = new Dictionary <string, TcpRosListener>();
string slaveName = "slave" + Guid.NewGuid().ToString("N");
_channel = new HttpServerChannel(slaveName, portNumber, new XmlRpcServerFormatterSinkProvider());
var tmp = new Uri(_channel.GetChannelUri());
SlaveUri = new Uri("http://" + Ros.HostName + ":" + tmp.Port + "/" + slaveName);
ChannelServices.RegisterChannel(_channel, false);
RemotingServices.Marshal(this, slaveName); //Marshalするときの名前に/を入れるとだめ。
}
public Node(string nodeId)
{
_disposed = false;
NodeId = nodeId;
_logger = RosOutLogManager.GetCurrentNodeLogger(NodeId);
if (_logger.IsDebugEnabled)
{
LogLevel = Log.DEBUG;
}
else if (_logger.IsInfoEnabled)
{
LogLevel = Log.INFO;
}
else if (_logger.IsWarnEnabled)
{
LogLevel = Log.WARN;
}
else if (_logger.IsErrorEnabled)
{
LogLevel = Log.ERROR;
}
else if (_logger.IsFatalEnabled)
{
LogLevel = Log.FATAL;
}
_masterClient = new MasterClient(Ros.MasterUri);
_parameterServerClient = new ParameterServerClient(Ros.MasterUri);
_serviceProxyFactory = new ServiceProxyFactory(NodeId);
_topicContainer = new TopicContainer();
_slaveServer = new SlaveServer(NodeId, 0, _topicContainer);
_slaveServer.ParameterUpdated += SlaveServerOnParameterUpdated;
_logger.InfoFormat("Create Node: {0}", nodeId);
}
Task IParameter.InitializeAsync(string nodeId, string paramName, Uri slaveUri, ParameterServerClient client)
{
NodeId = nodeId;
_logger = RosOutLogManager.GetCurrentNodeLogger(NodeId);
Name = paramName;
_slaveUri = slaveUri;
_parameterServerClient = client;
return(_parameterServerClient.HasParamAsync(NodeId, Name)
.ContinueWith(task =>
{
if (task.Result)
{
return _parameterServerClient.GetParamAsync(NodeId, Name);
}
else
{
return _parameterServerClient.SetParamAsync(NodeId, Name, new XmlRpcStruct());
}
})
.Unwrap());
}
public ServiceServer(string nodeId)
{
NodeId = nodeId;
_logger = RosOutLogManager.GetCurrentNodeLogger(NodeId);
}
public ServiceProxyFactory(string nodeId)
{
NodeId = nodeId;
_logger = RosOutLogManager.GetCurrentNodeLogger(NodeId);
}