public MainWindow()
{
new Thread(() =>
{
ROS.Init(new string[0], "dynamic_reconfigure_sharp_" + Environment.MachineName);
nh = new NodeHandle();
Dispatcher.Invoke(new Action(() => { ConnecitonLabel.Content = "Connected"; }));
}).Start();
try
{
InitializeComponent();
System.Diagnostics.PresentationTraceSources.DataBindingSource.Switch.Level = System.Diagnostics.SourceLevels.Critical;
TargetBox.ItemsSource = knownConfigurations.Keys;
knownConfigurations.Add("-", null);
TargetBox.SelectedIndex = 0;
}
catch (Exception e)
{
EDB.WriteLine(e);
Close();
}
topicPoller = new Thread(() =>
{
while (ROS.ok && !ROS.shutting_down)
{
TopicInfo[] topics = new TopicInfo[0];
master.getTopics(ref topics);
string[] nodes = new string[0];
master.getNodes(ref nodes);
List <string> prevlist = new List <string>(knownConfigurations.Keys);
List <string> additions = new List <string>();
foreach (TopicInfo ti in topics)
{
if (ti.data_type == "dynamic_reconfigure/Config")
{
string prefix = ti.name.Replace("/parameter_updates", "");
if (!knownConfigurations.ContainsKey(prefix))
{
additions.Add(prefix);
}
else
{
prevlist.Remove(prefix);
}
}
}
lock (this)
{
if (!ROS.ok || ROS.shutting_down)
{
return;
}
foreach (string prefix in additions)
{
string pfx = prefix;
Dispatcher.Invoke(new Action(() =>
{
knownConfigurations.Add(pfx, null);
}), new TimeSpan(0, 0, 0, 1));
}
}
Dispatcher.Invoke(new Action(TargetBox.Items.Refresh));
foreach (string s in prevlist)
{
if (!s.Equals("-"))
{
string pfx = s;
Dispatcher.Invoke(new Action(() =>
{
if (reconfigureview != null && s.Equals(reconfigureview.Namespace))
{
reconfigureview.Namespace = null;
}
if (TargetBox.SelectedItem != null && ((string)TargetBox.SelectedItem).Equals(pfx))
{
TargetBox.SelectedIndex = 0;
}
lock (this)
{
knownConfigurations.Remove(pfx);
}
}), new TimeSpan(0, 0, 0, 1));
}
}
Dispatcher.Invoke(new Action(TargetBox.Items.Refresh));
if (reconfigureview == null && nh != null)
{
Dispatcher.Invoke(new Action(() =>
{
string target = null;
if (TargetBox.SelectedItem != null && !String.Equals(TargetBox.SelectedItem.ToString(), "-"))
{
target = TargetBox.SelectedItem.ToString();
}
reconfigureview = new DynamicReconfigurePage(nh, target);
PageContainer.Children.Add(reconfigureview);
}));
}
Thread.Sleep(500);
}
});
topicPoller.Start();
}
public MainWindow()
{
ROS.Init(new string[0], "dynamic_reconfigure_sharp_" + Environment.MachineName);
nh = new NodeHandle();
try
{
InitializeComponent();
}
catch (Exception e)
{
Console.WriteLine(e);
Close();
}
topicPoller = new Thread(() =>
{
while (ROS.ok)
{
Dispatcher.Invoke(new Action(() =>
{
lock (this)
{
if (!ROS.ok)
{
return;
}
TopicInfo[] topics = new TopicInfo[0];
master.getTopics(ref topics);
List <string> prevlist = new List <string>(knownConfigurations.Keys);
bool changed = false;
foreach (TopicInfo ti in topics)
{
if (ti.data_type == "dynamic_reconfigure/Config")
{
string prefix = ti.name.Replace("/parameter_updates", "");
prevlist.Remove(prefix);
if (!knownConfigurations.ContainsKey(prefix))
{
DynamicReconfigurePage drp = new DynamicReconfigurePage(nh, prefix);
TargetBox.Items.Add(prefix);
if (drp != null)
{
knownConfigurations.Add(prefix, drp);
}
changed = true;
}
}
}
foreach (string s in prevlist)
{
foreach (string S in TargetBox.Items)
{
if (S == s)
{
changed = true;
TargetBox.Items.Remove(s);
break;
}
}
knownConfigurations.Remove(s);
}
if (changed)
{
string sel = (TargetBox.SelectedItem as string);
List <string> keys = knownConfigurations.Keys.ToList();
keys.Sort();
TargetBox.Items.Clear();
string none = "None";
TargetBox.Items.Add(none);
if (string.Equals(sel, none))
{
TargetBox.SelectedIndex = TargetBox.Items.Count - 1;
}
foreach (string k in keys)
{
TargetBox.Items.Add(k);
if (string.Equals(sel, k))
{
TargetBox.SelectedIndex = TargetBox.Items.Count - 1;
}
}
}
}
}));
if (!ROS.ok)
{
return;
}
Thread.Sleep(1000);
}
});
topicPoller.Start();
}
