FibonacciActionClientConsoleExample.cs

/*
© Siemens AG, 2019
Author: Berkay Alp Cakal (berkay_alp.cakal.ct@siemens.com)

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.

- Added ROS2 action support
    © Siemens AG 2025, Mehmet Emre Cakal, emre.cakal@siemens.com/m.emrecakal@gmail.com
*/


using System;
using RosSharp.RosBridgeClient;
using RosSharp.RosBridgeClient.Actionlib;

#if !ROS2
using System.Threading;
using RosSharp.RosBridgeClient.MessageTypes.Actionlib;
#else
using RosSharp.RosBridgeClient.MessageTypes.ActionTutorialsInterfaces;
#endif

namespace RosSharp.RosBridgeClientTest
{
    class FibonacciActionClientConsoleExample
    {
        static readonly string uri = "ws://localhost:9090";
        static readonly string actionName = "/fibonacci";

        private static RosSocket rosSocket;
        private static FibonacciActionClient fibonacciActionClient;

        public static void Main(string[] args)
        {
            rosSocket = new RosSocket(new RosBridgeClient.Protocols.WebSocketNetProtocol(uri));

            // Initialize Client
            fibonacciActionClient = new FibonacciActionClient(actionName, rosSocket);
            fibonacciActionClient.Initialize();

            // Send goal
            Console.WriteLine("Press any key to send goal with fibonacci order 5.");
            Console.ReadKey(true);

#if !ROS2
            fibonacciActionClient.fibonacciOrder = 5;
#else
            fibonacciActionClient.SetActionGoal(new FibonacciGoal
            {
                order = 5
            });

            Console.WriteLine("Order is: " + fibonacciActionClient.GetActionGoal().args.order);
#endif
            fibonacciActionClient.SendGoal();

            // Get feedback, status and result
#if !ROS2
            do
            {
                Console.WriteLine(fibonacciActionClient.GetFeedbackString());
                Console.WriteLine(fibonacciActionClient.GetStatusString());
                Thread.Sleep(100);
            } while (fibonacciActionClient.goalStatus.status != GoalStatus.SUCCEEDED);

            Thread.Sleep(500);
            Console.WriteLine(fibonacciActionClient.GetResultString());
            Console.WriteLine(fibonacciActionClient.GetStatusString());
#endif

            // Cancel goal
            Console.WriteLine("\nPress any key to send goal with fibonacci order 50.");
            Console.ReadKey(true);
#if !ROS2
            fibonacciActionClient.fibonacciOrder = 50;
#else
            fibonacciActionClient.SetActionGoal(new FibonacciGoal
            {
                order = 50
            });
#endif
            fibonacciActionClient.SendGoal();

            Console.WriteLine("\nPress any key to cancel the goal.");
            Console.ReadKey(true);

#if !ROS2
            fibonacciActionClient.CancelGoal();
            Thread.Sleep(1000);
            Console.WriteLine(fibonacciActionClient.GetResultString());
            Console.WriteLine(fibonacciActionClient.GetFeedbackString());
            Console.WriteLine(fibonacciActionClient.GetStatusString());

            // Terminate client
            fibonacciActionClient.Terminate();

#else

            if (!fibonacciActionClient.lastResultSuccess)
            {
                Console.WriteLine("Action not completed. Cancelling...");
                fibonacciActionClient.CancelGoal();
                Console.ReadKey(true);
            }
            else
            {
                Console.WriteLine("Action completed.");
            }

#endif
            // End of console example
            Console.WriteLine("\nPress any key to close.");
            Console.ReadKey(true);
            rosSocket.Close();
        }

    }
}