private void onDeliveryMove(string strmissionid, int actidx)
{
if (Data.Instance.isConnected)
{
try
{
string strRobot_id = cboRobotID.SelectedItem.ToString();
WAS_GOAL work_data = onMissionDataRead(strmissionid, actidx);
string strobj = JsonConvert.SerializeObject(work_data);
JObject obj = JObject.Parse(strobj);
TopicList list = new TopicList();
rosinterface ros = new rosinterface();
Thread.Sleep(500);
ros.PublisherTopicMsgtype(strRobot_id + list.topic_goal, list.msg_goal);
Thread.Sleep(200);
ros.publisher(obj);
Thread.Sleep(200);
}
catch (Exception ex)
{
Console.Out.WriteLine("onDeliveryMove err :={0}", ex.Message.ToString());
}
}
else
{
MessageBox.Show("서버에 연결하세요.");
}
}
private void btnLiftSet_Click(object sender, EventArgs e)
{
try
{
if (Data.Instance.isConnected)
{
string strrobotid = "";
strrobotid = cboliftrobotID.SelectedItem.ToString();
int nlift = cboRobot_lift.SelectedIndex;
LiftStatus_Set_Arg lift = new LiftStatus_Set_Arg();
if (nlift == 0)
{
lift.data = 2;
}
else if (nlift == 1)
{
lift.data = -2;
}
string strobj = JsonConvert.SerializeObject(lift);
JObject obj = JObject.Parse(strobj);
rosinterface ros = new rosinterface();
TopicList list = new TopicList();
ros.PublisherTopicMsgtype(string.Format("{0}", strrobotid) + list.topic_set_liftstatus, list.msg_set_liftstatus);
Thread.Sleep(100);
ros.publisher(obj);
Thread.Sleep(100);
}
}
catch (Exception ex)
{
Console.Out.WriteLine("btnLiftSet_Click err :={0}", ex.Message.ToString());
}
}