public void RegisterRosService(string responseMessageName, int queueSize)
{
m_IsRosService = true;
m_ConnectionInternal.SendRosServiceRegistration(m_Topic, m_RosMessageName);
m_ServiceResponseTopic = new RosTopicState(m_Topic, responseMessageName, m_Connection, m_ConnectionInternal, MessageSubtopic.Response);
CreateMessageSender(queueSize);
}
public void ImplementService <TRequest, TResponse>(Func <TRequest, TResponse> implementation, int queueSize)
where TRequest : Message
where TResponse : Message
{
m_ServiceImplementation = (Message msg) =>
{
return(implementation((TRequest)msg));
};
m_ConnectionInternal.SendUnityServiceRegistration(m_Topic, m_RosMessageName);
m_ServiceResponseTopic = new RosTopicState(m_Topic, m_RosMessageName, m_Connection, m_ConnectionInternal, MessageSubtopic.Response);
CreateMessageSender(queueSize);
}
internal RosTopicState(string topic, string rosMessageName, ROSConnection connection, ROSConnection.InternalAPI connectionInternal, bool isService, MessageSubtopic subtopic = MessageSubtopic.Default)
{
m_Topic = topic;
m_Subtopic = subtopic;
m_RosMessageName = rosMessageName;
m_Connection = connection;
m_ConnectionInternal = connectionInternal;
if (isService && subtopic == MessageSubtopic.Default)
{
m_ServiceResponseTopic = new RosTopicState(topic, rosMessageName, m_Connection, m_ConnectionInternal, isService, MessageSubtopic.Response);
}
}