54 lines
1.8 KiB
C#
54 lines
1.8 KiB
C#
// Copyright 2019-2021 Robotec.ai.
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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using System.Collections;
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using System.Collections.Generic;
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using UnityEngine;
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using ROS2;
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using addTwoIntsReq = example_interfaces.srv.AddTwoInts_Request;
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using addTwoIntsResp = example_interfaces.srv.AddTwoInts_Response;
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/// <summary>
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/// An example class provided for testing of basic ROS2 service
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/// </summary>
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public class ROS2ServiceExample : MonoBehaviour
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{
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private ROS2UnityComponent ros2Unity;
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private ROS2Node ros2Node;
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private IService<addTwoIntsReq, addTwoIntsResp> addTwoIntsService;
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void Start()
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{
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ros2Unity = GetComponent<ROS2UnityComponent>();
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if (ros2Unity.Ok())
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{
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if (ros2Node == null)
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{
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ros2Node = ros2Unity.CreateNode("ROS2UnityService");
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addTwoIntsService = ros2Node.CreateService<addTwoIntsReq, addTwoIntsResp>(
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"add_two_ints", addTwoInts);
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}
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}
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}
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public example_interfaces.srv.AddTwoInts_Response addTwoInts( example_interfaces.srv.AddTwoInts_Request msg)
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{
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Debug.Log("Incoming Service Request A=" + msg.A + " B=" + msg.B);
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example_interfaces.srv.AddTwoInts_Response response = new example_interfaces.srv.AddTwoInts_Response();
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response.Sum = msg.A + msg.B;
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return response;
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}
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}
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