public ServiceCallback(ServicePublication <MReq, MRes> sp, ServiceCallbackHelper <MReq, MRes> _helper, byte[] buf, IServiceClientLink link)
{
this.isp = sp;
if (this.isp != null && _helper != null)
{
this.isp.helper = _helper;
}
this.buffer = buf;
this.link = link;
}
public AdvertiseServiceOptions(string service, ServiceFunction <MReq, MRes> serviceCallback)
{
this.Service = service;
ServiceCallback = serviceCallback;
Helper = new ServiceCallbackHelper <MReq, MRes>(serviceCallback);
RequestDataType = new MReq().MessageType.Replace("/Request", "__Request");
ResponseDataType = new MRes().MessageType.Replace("/Response", "__Response");
SrvType = RequestDataType.Replace("__Request", "");
Md5Sum = RosService.Generate(SrvType).MD5Sum();
}
public AdvertiseServiceOptions(string service, ServiceFunction <MReq, MRes> serviceCallback)
{
this.service = service;
srv_func = serviceCallback;
helper = new ServiceCallbackHelper <MReq, MRes>(serviceCallback);
req_datatype = new MReq().MessageType.Replace("/Request", "__Request");
res_datatype = new MRes().MessageType.Replace("/Response", "__Response");
SrvType = req_datatype.Replace("__Request", "");
datatype = SrvType;
md5sum = RosService.Generate(SrvType).MD5Sum();
}
public ServiceCallback(ServicePublication <MReq, MRes> sp, ServiceCallbackHelper <MReq, MRes> _helper, byte[] buf, int num_bytes, IServiceClientLink link, bool has_tracked_object, object tracked_object)
{
this.isp = sp;
if (this.isp != null && _helper != null)
{
this.isp.helper = _helper;
}
this.buffer = buf;
this._numBytes = num_bytes;
this.link = link;
this._hasTrackedObject = has_tracked_object;
this._trackedObject = tracked_object;
}
public ServicePublication(string name, string md5Sum, string datatype, string reqDatatype, string resDatatype, ServiceCallbackHelper <MReq, MRes> helper, ICallbackQueue callback)
{
if (string.IsNullOrWhiteSpace(name))
{
throw new ArgumentNullException(nameof(name));
}
this.name = name;
this.md5sum = md5Sum;
this.dataType = datatype;
this.req_datatype = reqDatatype;
this.res_datatype = resDatatype;
this.helper = helper;
this.callback = callback;
}
public ServicePublication(string name, string md5Sum, string datatype, string reqDatatype, string resDatatype, ServiceCallbackHelper <MReq, MRes> helper, ICallbackQueue callback, object trackedObject)
{
if (string.IsNullOrWhiteSpace(name))
{
throw new ArgumentNullException(nameof(name));
}
this.name = name;
this.md5sum = md5Sum;
this.datatype = datatype;
this.req_datatype = reqDatatype;
this.res_datatype = resDatatype;
this.helper = helper;
this.callback = callback;
this.tracked_object = trackedObject;
if (trackedObject != null)
{
has_tracked_object = true;
}
}
public ServiceCallback(ServiceCallbackHelper <MReq, MRes> _helper, byte[] buf, IServiceClientLink link)
: this(null, _helper, buf, link)
{
}
public ServiceCallback(ServiceCallbackHelper <MReq, MRes> _helper, byte[] buf, int num_bytes, IServiceClientLink link, bool has_tracked_object, object tracked_object)
: this(null, _helper, buf, num_bytes, link, has_tracked_object, tracked_object)
{
}
