internal override CallResult Call()
{
if (link.connection.dropped)
{
return(CallResult.Invalid);
}
ServiceCallbackHelperParams <MReq, MRes> parms = new ServiceCallbackHelperParams <MReq, MRes>
{
request = new MReq(),
response = new MRes(),
connection_header = link.connection.header.Values
};
parms.request.Deserialize(buffer);
try
{
bool ok = isp.helper.call(parms);
link.processResponse(parms.response, ok);
}
catch (Exception e)
{
string woops = "Exception thrown while processing service call: " + e;
ROS.Error(woops);
link.processResponse(woops, false);
return(CallResult.Invalid);
}
return(CallResult.Success);
}
public virtual MReq deserialize <MReq, MRes>(ServiceCallbackHelperParams <MReq, MRes> parms) where MReq : IRosMessage where MRes : IRosMessage
{
//EDB.WriteLine("ISubscriptionCallbackHelper: deserialize");
IRosMessage msg = ROS.MakeMessage(type);
assignSubscriptionConnectionHeader(ref msg, parms.connection_header);
MReq t = (MReq)msg;
t.Deserialize(parms.response.Serialized);
return(t);
//return SerializationHelper.Deserialize<T>(parms.buffer);
}
internal bool call(ServiceCallbackHelperParams <MReq, MRes> parms)
{
return(_callback.Invoke(parms.request, ref parms.response));
}
