static void Main(string[] args)
{
// Setup the logging system
var loggerFactory = new LoggerFactory();
loggerFactory.AddProvider(
new ConsoleLoggerProvider(
(string text, LogLevel logLevel) => { return(logLevel >= LogLevel.Information); }, true)
);
Logger = ApplicationLogging.CreateLogger(nameof(Main));
ROS.SetLoggerFactory(loggerFactory);
NodeHandle nodeHandle;
string NODE_NAME = "ServiceServerTest";
ServiceServer server;
try
{
ROS.Init(new string[0], NODE_NAME);
}
catch (RosException e)
{
Logger.LogCritical("ROS.Init failed, shutting down: {0}", e.Message);
ROS.shutdown();
ROS.waitForShutdown();
return;
}
try
{
nodeHandle = new NodeHandle();
server = nodeHandle.advertiseService <TwoInts.Request, TwoInts.Response>("/add_two_ints", addition);
while (ROS.ok && server.IsValid)
{
Thread.Sleep(10);
}
}
catch (RosException e)
{
Logger.LogCritical("Shutting down: {0}", e.Message);
}
ROS.shutdown();
ROS.waitForShutdown();
}
static void Main(string[] args)
{
string NODE_NAME = "ServiceClientTest";
var loggerFactory = new LoggerFactory();
loggerFactory.AddProvider(
new ConsoleLoggerProvider(
(string text, LogLevel logLevel) => { return(logLevel >= LogLevel.Debug); }, true)
);
Logger = ApplicationLogging.CreateLogger(nameof(Main));
ROS.SetLoggerFactory(loggerFactory);
try
{
ROS.Init(new string[0], NODE_NAME + DateTime.Now.Ticks);
}
catch (RosException e)
{
Logger.LogCritical("ROS.Init failed, shutting down: {0}", e.Message);
ROS.shutdown();
ROS.waitForShutdown();
return;
}
try
{
var nodeHandle = new NodeHandle();
while (ROS.ok)
{
Random r = new Random();
TwoInts.Request req = new TwoInts.Request()
{
a = r.Next(100), b = r.Next(100)
};
TwoInts.Response resp = new TwoInts.Response();
DateTime before = DateTime.Now;
bool res = nodeHandle.serviceClient <TwoInts.Request, TwoInts.Response>("/add_two_ints").call(req, ref resp);
TimeSpan dif = DateTime.Now.Subtract(before);
string str = "";
if (res)
{
str = "" + req.a + " + " + req.b + " = " + resp.sum + "\n";
}
else
{
str = "call failed after ";
}
str += Math.Round(dif.TotalMilliseconds, 2) + " ms";
Logger.LogInformation(str);
Thread.Sleep(1000);
}
}
catch (RosException e)
{
Logger.LogCritical("Shutting down: {0}", e.Message);
}
ROS.shutdown();
ROS.waitForShutdown();
}