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 WAS_GOAL onMissionDataRead(string strmissionid, int startidx) { string strid = strmissionid; WAS_GOAL work_data = new WAS_GOAL(); try { //db에서 미션 액션정보 읽기 string strwork = onDBRead_Mission_action(strmissionid);//mainform.missionlisttable.missioninfo[0].work; DB_MissionData db_missiondata = new DB_MissionData(); db_missiondata = JsonConvert.DeserializeObject <DB_MissionData>(strwork); work_data.goal.work_id = strmissionid; work_data.goal.action_start_idx = startidx; work_data.goal.loop_flag = 1; for (int i = 0; i < db_missiondata.work.Count; i++) { work_data.goal.work.Add(db_missiondata.work[i]); } } catch (Exception ex) { Console.Out.WriteLine("onMissionDataRead err :={0}", ex.Message.ToString()); } return(work_data); }