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Merged
merged 2 commits into from
Mar 12, 2021
Merged

Topic list service #72

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Topic list service
LaurieCheers-unity Feb 17, 2021
4b3720b
Merged dev
LaurieCheers-unity Mar 12, 2021
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14 changes: 14 additions & 0 deletions com.unity.robotics.ros-tcp-connector/Runtime/TcpConnector/ROSConnection.cs
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Original file line number Diff line number Diff line change
Expand Up @@ -165,6 +165,20 @@ public async void SendServiceMessage<RESPONSE>(string rosServiceName, Message se
client.Close();
}

public async Task<RESPONSE> SendServiceMessage<RESPONSE>(string rosServiceName, Message serviceRequest) where RESPONSE : Message, new()
{
var t = new TaskCompletionSource<RESPONSE>();

SendServiceMessage<RESPONSE>(rosServiceName, serviceRequest, s => t.TrySetResult(s));

return await t.Task;
}

public void GetTopicList(Action<string[]> callback)
{
SendServiceMessage<MRosUnityTopicListResponse>("__topic_list", new MRosUnityTopicListRequest(), response => callback(response.topics));
}

public void RegisterSubscriber(string topic, string rosMessageName)
{
SendSysCommand(SYSCOMMAND_SUBSCRIBE,
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