105 lines
3.0 KiB
C#
105 lines
3.0 KiB
C#
// Copyright 2019-2021 Robotec.ai.
|
|
//
|
|
// Licensed under the Apache License, Version 2.0 (the "License");
|
|
// you may not use this file except in compliance with the License.
|
|
// You may obtain a copy of the License at
|
|
//
|
|
// http://www.apache.org/licenses/LICENSE-2.0
|
|
//
|
|
// Unless required by applicable law or agreed to in writing, software
|
|
// distributed under the License is distributed on an "AS IS" BASIS,
|
|
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
|
// See the License for the specific language governing permissions and
|
|
// limitations under the License.
|
|
|
|
using System.Collections;
|
|
using System.Collections.Generic;
|
|
using System.Threading.Tasks;
|
|
using UnityEngine;
|
|
using ROS2;
|
|
|
|
using addTwoIntsReq = example_interfaces.srv.AddTwoInts_Request;
|
|
using addTwoIntsResp = example_interfaces.srv.AddTwoInts_Response;
|
|
|
|
/// <summary>
|
|
/// An example class provided for testing of basic ROS2 client
|
|
/// </summary>
|
|
public class ROS2ClientExample : MonoBehaviour
|
|
{
|
|
private ROS2UnityComponent ros2Unity;
|
|
private ROS2Node ros2Node;
|
|
private IClient<addTwoIntsReq, addTwoIntsResp> addTwoIntsClient;
|
|
private bool isRunning = false;
|
|
private Task<addTwoIntsResp> asyncTask;
|
|
|
|
IEnumerator periodicAsyncCall()
|
|
{
|
|
while (ros2Unity.Ok())
|
|
{
|
|
|
|
while (!addTwoIntsClient.IsServiceAvailable())
|
|
{
|
|
yield return new WaitForSecondsRealtime(1);
|
|
}
|
|
|
|
addTwoIntsReq request = new addTwoIntsReq();
|
|
request.A = Random.Range(0, 100);
|
|
request.B = Random.Range(0, 100);
|
|
|
|
asyncTask = addTwoIntsClient.CallAsync(request);
|
|
asyncTask.ContinueWith((task) => { Debug.Log("Got async answer " + task.Result.Sum); });
|
|
|
|
yield return new WaitForSecondsRealtime(1);
|
|
}
|
|
}
|
|
|
|
IEnumerator periodicCall()
|
|
{
|
|
while (ros2Unity.Ok())
|
|
{
|
|
|
|
while (!addTwoIntsClient.IsServiceAvailable())
|
|
{
|
|
yield return new WaitForSecondsRealtime(1);
|
|
}
|
|
|
|
addTwoIntsReq request = new addTwoIntsReq();
|
|
request.A = Random.Range(0, 100);
|
|
request.B = Random.Range(0, 100);
|
|
var response = addTwoIntsClient.Call(request);
|
|
|
|
Debug.Log("Got sync answer " + response.Sum);
|
|
|
|
yield return new WaitForSecondsRealtime(1);
|
|
}
|
|
}
|
|
|
|
void Start()
|
|
{
|
|
ros2Unity = GetComponent<ROS2UnityComponent>();
|
|
if (ros2Unity.Ok())
|
|
{
|
|
if (ros2Node == null)
|
|
{
|
|
ros2Node = ros2Unity.CreateNode("ROS2UnityClient");
|
|
addTwoIntsClient = ros2Node.CreateClient<addTwoIntsReq, addTwoIntsResp>(
|
|
"add_two_ints");
|
|
}
|
|
}
|
|
}
|
|
|
|
void Update()
|
|
{
|
|
if (!isRunning)
|
|
{
|
|
isRunning = true;
|
|
|
|
// Async calls
|
|
StartCoroutine(periodicAsyncCall());
|
|
|
|
// Sync calls
|
|
StartCoroutine(periodicCall());
|
|
}
|
|
}
|
|
}
|