/// <summary>
/// Retrieve transport/topic statistics.
/// </summary>
/// <param name="callerId"> ROS caller ID. </param>
/// <returns> stats </returns>
public Task<BusStatistics> GetBusStatsAsync(string callerId)
{
return Task<object[]>.Factory.FromAsync(_proxy.BeginGetBusStats, _proxy.EndGetBusStats, callerId, null)
.ContinueWith(task =>
{
if ((StatusCode) task.Result[0] != StatusCode.Success) throw new InvalidOperationException((string) task.Result[1]);
var statistics = (object[])task.Result[2];
var ret = new BusStatistics();
if (statistics[0] is object[])
{
ret.PublishStatistics = ((object[]) statistics[0])
.Cast<object[]>()
.Select(x => new PublishStatistic()
{
TopicName = (string) x[0],
MessageDataSent = (int)x[1],
ConnectionData = ((object[]) x[2])
.Cast<object[]>()
.Select(y=>new PublishConnectionData()
{
ConnectionId = (int)y[0],
BytesSent = (int)y[1],
NumSent = (int)y[2],
Connected = (bool)y[3]
})
.ToList(),
}).ToList();
}
if (statistics[1] is object[])
{
ret.SubscribeStatistics = ((object[])statistics[1])
.Cast<object[]>()
.Select(x => new SubscirbeStatistic()
{
TopicName = (string) x[0],
ConnectionData = ((object[])x[1])
.Cast<object[]>()
.Select(y=>new SubscribeConnectionData()
{
ConnectionId = (int)y[0],
BytesReceived = (int)y[1],
NumSent = (int)y[2],
DropEstimate = (int)y[3],
Connected = (bool)y[4]
})
.ToList(),
}).ToList();
}
if (statistics[2] is object[])
{
//proposed...
}
return ret;
});
}
/// <summary>
/// Retrieve transport/topic statistics.
/// </summary>
/// <param name="callerId"> ROS caller ID. </param>
/// <returns> stats </returns>
public Task <BusStatistics> GetBusStatsAsync(string callerId)
{
return(Task <object[]> .Factory.FromAsync(_proxy.BeginGetBusStats, _proxy.EndGetBusStats, callerId, null)
.ContinueWith(task =>
{
if ((StatusCode)task.Result[0] != StatusCode.Success)
{
throw new InvalidOperationException((string)task.Result[1]);
}
var statistics = (object[])task.Result[2];
var ret = new BusStatistics();
if (statistics[0] is object[])
{
ret.PublishStatistics = ((object[])statistics[0])
.Cast <object[]>()
.Select(x => new PublishStatistic()
{
TopicName = (string)x[0],
MessageDataSent = (int)x[1],
ConnectionData = ((object[])x[2])
.Cast <object[]>()
.Select(y => new PublishConnectionData()
{
ConnectionId = (int)y[0],
BytesSent = (int)y[1],
NumSent = (int)y[2],
Connected = (bool)y[3]
})
.ToList(),
}).ToList();
}
if (statistics[1] is object[])
{
ret.SubscribeStatistics = ((object[])statistics[1])
.Cast <object[]>()
.Select(x => new SubscirbeStatistic()
{
TopicName = (string)x[0],
ConnectionData = ((object[])x[1])
.Cast <object[]>()
.Select(y => new SubscribeConnectionData()
{
ConnectionId = (int)y[0],
BytesReceived = (int)y[1],
NumSent = (int)y[2],
DropEstimate = (int)y[3],
Connected = (bool)y[4]
})
.ToList(),
}).ToList();
}
if (statistics[2] is object[])
{
//proposed...
}
return ret;
}));
}
