128 lines
3.4 KiB
Dart
128 lines
3.4 KiB
Dart
import 'dart:async';
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import 'dart:ffi';
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import 'package:flutter/material.dart';
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import 'ros.dart';
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import 'request.dart';
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import 'dart:math';
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typedef ActionHandler = void Function(Map<String, dynamic> response);
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typedef UUID = List;
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class GoalHandle {
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ActionHandler onSendGoal;
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ActionHandler onFeedback;
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ActionHandler onResult;
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GoalHandle({
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required this.onSendGoal,
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required this.onFeedback,
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required this.onResult,
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});
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}
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// 每次发送goal都要构造Action
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class Action {
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Ros ros;
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String name;
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String type;
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// 每次发送goal时，都会生成唯一一个uuid，不能出现重复，用于后续发送cancel_goal，
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Map<String, List<num>> uuids = {};
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StreamSubscription? goalListener;
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StreamSubscription? feedbackListener;
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StreamSubscription? resultListener;
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StreamSubscription? cancelListener;
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GoalHandle goalHandle;
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Action({
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required this.name,
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required this.ros,
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required this.type,
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required this.goalHandle,
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});
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List<num> generateRandomString(int length) {
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const characters = 'ABCDEFGHIJKLMNOPQRSTUVWXYZabcdefghijklmnopqrstuvwxyz0123456789';
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Random random = Random();
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return List.generate(length, (index) {
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return characters[random.nextInt(characters.length)].codeUnitAt(0);
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});
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}
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void _bindFeedbackAndResult(String callId) {
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final feedbackLis = ros.stream;
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feedbackLis.listen((message) {
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goalHandle.onFeedback(message);
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});
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final resultReceiver = ros.stream.where((message) => message['op'] == 'action_result' && message['id'] == callId)
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.map((Map<String, dynamic> message) => message['result'] == null
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? message['values']!
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: message['values']);
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resultListener = resultReceiver.listen((d) {
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goalHandle.onResult(d);
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resultListener!.cancel();
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});
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}
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String sendGoal(dynamic req) {
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final callId = ros.requestServiceCaller(name);
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final completer = Completer<List>();
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final uuid = generateRandomString(16);
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var reqObj = Request(
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op: 'send_action_goal',
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id: callId,
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action: req['action'],
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type: req['type'],
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args: {
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"goal_id" : {
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"uuid": uuid,
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},
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"goal": req['args'],
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},
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);
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if (uuids.containsKey(callId)) {
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uuids[callId] = uuid;
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} else {
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uuids.addAll({callId: uuid});
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}
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ros.send(reqObj);
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final receiver = ros.stream.where((message) {
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return message['id'] == callId && message['op'] != 'cancel_goal_response';
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} );
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goalListener = receiver.listen((d) {
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if (d["op"] == "action_result") {
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goalHandle.onResult(d);
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goalListener!.cancel();
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} else if (d["op"] == "action_feedback") {
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goalHandle.onFeedback(d);
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} else if (d["op"] == 'send_goal_response') {
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completer.complete(uuids[callId]);
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goalHandle.onSendGoal(d);
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}
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});
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return callId;
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}
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Future cancelGoal(dynamic req, String callId, ActionHandler onCancel) {
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final completer = Completer();
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var cancelReq = Request(
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op: 'cancel_action_goal',
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id: callId,
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action: req['action'],
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);
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print("cancelReq: ${cancelReq.toJson()}");
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ros.send(cancelReq);
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final receiver = ros.stream.where(
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(message) => message['id'] == callId && message['op'] == 'cancel_goal_response'
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);
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cancelListener = receiver.listen((d) {
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onCancel(d);
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completer.complete();
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cancelListener!.cancel();
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});
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return completer.future;
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}
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} |