83 lines
2.1 KiB
Dart
83 lines
2.1 KiB
Dart
import 'dart:async';
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import 'package:flutter/material.dart';
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import 'package:roslibdart/roslibdart.dart';
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void main() {
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runApp(const MyApp());
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}
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class MyApp extends StatelessWidget {
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const MyApp({Key? key}) : super(key: key);
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// This widget is the root of your application.
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@override
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Widget build(BuildContext context) {
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return MaterialApp(
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title: 'Roslibdart Caller Example',
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theme: ThemeData(
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primarySwatch: Colors.blue,
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),
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home: const MyHomePage(title: 'Roslibdart Caller Example'),
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);
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}
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}
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class MyHomePage extends StatefulWidget {
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const MyHomePage({Key? key, required this.title}) : super(key: key);
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final String title;
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@override
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State<MyHomePage> createState() => _MyHomePageState();
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}
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class _MyHomePageState extends State<MyHomePage> {
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late Ros ros;
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late Service service;
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int msgToPublished = 0;
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@override
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void initState() {
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ros = Ros(url: 'ws://127.0.0.1:9090');
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service = Service(
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name: 'add_two_ints', ros: ros, type: "tutorial_interfaces/AddTwoInts");
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super.initState();
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ros.connect();
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Timer.periodic(const Duration(seconds: 3), (timer) async {
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// this is defind in tutorial_interfaces/srv/AddTwoInts.srv
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Map<String, dynamic> json = {"a": 1, "b": 2};
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Map<String, dynamic> result = await service.call(json);
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msgToPublished = result['sum'];
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setState(() {});
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});
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}
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void destroyConnection() async {
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await ros.close();
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setState(() {});
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}
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@override
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Widget build(BuildContext context) {
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return Scaffold(
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appBar: AppBar(
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// Here we take the value from the MyHomePage object that was created by
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// the App.build method, and use it to set our appbar title.
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title: Text(widget.title),
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),
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body: Center(
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// Center is a layout widget. It takes a single child and positions it
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// in the middle of the parent.
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child: Column(
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mainAxisAlignment: MainAxisAlignment.center,
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children: <Widget>[
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Text('Got the answer ' + msgToPublished.toString()),
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],
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),
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),
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);
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}
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}
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