/// <summary>
/// Map provider topic
/// </summary>
//public string Topic
//{
// get { return __topic as string; }
// set
// {
// __topic = value;
// SubscribeToMap(__topic);
// }
//}
/// <summary>
/// 采用调用服务方式获取地图数据
/// </summary>
/// <param name="serviceName"></param>
public void GetStaticMap(string serviceName)
{
lock (this)
{
if (imagehandle == null)
{
imagehandle = new NodeHandle();
}
//if(mapServiceClient!=null)
//{
// mapServiceClient.shutdown();
// mapServiceClient = null;
//}
//if (mapServiceClient != null)
// return;
//mapServiceClient = imagehandle.serviceClient<nm.GetMap>(serviceName);
//nm.GetMap srv = new nm.GetMap();
nm.GetMap.Request req = new Messages.nav_msgs.GetMap.Request();
nm.GetMap.Response resp = new Messages.nav_msgs.GetMap.Response();
if (imagehandle.serviceClient <nm.GetMap.Request, nm.GetMap.Response>(serviceName).call(req, ref resp))
{
nm.OccupancyGrid i = resp.map;
mapResolution = i.info.resolution;
owner.MapResolution = mapResolution;
mapHeight = i.info.height;
mapWidth = i.info.width;
origin = new PointF((float)i.info.origin.position.x, (float)i.info.origin.position.y);
Point left_bottomPoint = owner.Map2World(origin);
left_bottomPoint.Offset(-(int)MapHeight, -(int)mapWidth);
SetRectangle(left_bottomPoint.X, left_bottomPoint.Y, (int)mapHeight, (int)MapWidth);
Size size = new Size((int)i.info.width, (int)i.info.height);
byte[] data = createRGBA(i.data);
UpdateImage(data, size, false);
_originalImage = _image;
_image.RotateFlip(RotateFlipType.Rotate270FlipNone);
data = null;
owner.PanX = owner.Width / 2 - (rectangle.Width / 2 + rectangle.Left);
owner.PanY = owner.Height / 2 - (rectangle.Height / 2 + rectangle.Top);
//owner.Invalidate();
owner.LastDataUpdateTime = DateTime.Now;
}
}
}
private bool mapCallback(nm.GetMap.Request req, ref nm.GetMap.Response resp)
{
resp = map_resp_;
return(true);
}
