public async Task <RosServiceResponse> CallServiceAsync(RosServiceCall service)
{
// Put the service into the queue
var guid = Guid.NewGuid().ToString();
_callQueue.Add(guid, service);
// Send the request
await WebSocket.SendAsync(service.Serialize(guid), WebSocketMessageType.Text, true, CancellationToken.None);
// Wait for the response to be filled in
var timeout = 0;
while (service.Response == null)
{
timeout += 10;
await Task.Delay(10);
if (timeout >= 3000)
{
return(null);
}
}
return(service.Response);
}
public async Task SetParamValueAsync(string paramName, object param)
{
var service = new RosServiceCall("/rosapi/set_param")
{
Arguments = new Dictionary <string, object> {
{ "name", paramName }, { "value", "\"" + param + "\"" }
}
};
await CallServiceAsync(service);
}
public async Task <object> GetParamValueAsync(string paramName)
{
var service = new RosServiceCall("/rosapi/get_param")
{
Arguments = new Dictionary <string, object> {
{ "name", paramName }
}
};
var result = await CallServiceAsync(service);
return(result.TryGetValuesAsDictionary().FirstOrDefault().Value);
}