public override T TakeResponse <T>(ref bool success)
{
success = false;
rmw_request_id_t request_header = new rmw_request_id_t();
T response = new T();
ValueType msg;
response.GetData(out msg);
int ret = rcl_take_response(ref native_handle, ref request_header, msg);
RCLReturnValues retVal = (RCLReturnValues)ret;
switch (retVal)
{
case RCLReturnValues.RCL_RET_OK:
success = true;
response.SetData(ref msg);
break;
case RCLReturnValues.RCL_RET_INVALID_ARGUMENT:
throw new RCLInvalidArgumentException();
case RCLReturnValues.RCL_RET_CLIENT_INVALID:
throw new RCLClientInvalidException();
case RCLReturnValues.RCL_RET_ERROR:
success = false;
break;
default:
break;
}
return(response);
}
public T TakeRequest <T> (ref bool success)
where T : MessageWrapper, new()
{
success = false;
last_request_header = new rmw_request_id_t();
T request = new T();
ValueType msg;
request.GetData(out msg);
int ret = rcl_take_request(ref native_handle, ref last_request_header, msg);
RCLReturnValues retVal = (RCLReturnValues)ret;
switch (retVal)
{
case RCLReturnValues.RCL_RET_OK:
success = true;
request.SetData(ref msg);
break;
case RCLReturnValues.RCL_RET_INVALID_ARGUMENT:
//throw new RCLInvalidArgumentException();
break;
case RCLReturnValues.RCL_RET_SERVICE_INVALID:
throw new RCLServiceInvalidException();
break;
case RCLReturnValues.RCL_RET_BAD_ALLOC:
throw new RCLBadAllocException();
break;
case RCLReturnValues.RCL_RET_ERROR:
success = false;
break;
default:
break;
}
return(request);
}
extern static int rcl_send_response(ref rcl_service_t service, ref rmw_request_id_t request_header, [In, Out] ValueType ros_response);
extern static int rcl_take_request(ref rcl_service_t service, ref rmw_request_id_t request_header, [In, Out] ValueType ros_request);
extern static int rcl_take_response(ref rcl_client_t client, ref rmw_request_id_t request_header, [In, Out] ValueType ros_response);
