/// <summary>
/// Uses a memory stream to turn a byte array into a BitmapImage via helper method, BytesToImage, then passes the image
/// to UpdateImage(BitmapImage)
/// </summary>
/// <param name="data">
/// </param>
public void UpdateImage(byte[] data)
{
if (_image != null)
{
_image.Dispose();
_image = null;
}
//TheImage= DrawMap.BytesToBitmap(data);
_image = DrawMap.BytesToBitmap(data);
}
private void MainForm_Load(object sender, EventArgs e)
{
//if (!Ros_CSharp.ROS.())
//{
// MessageBox.Show("主机连接失败！请检查配置。");
// Application.Exit();
// return;
//}
// Create draw area
drawArea = new DrawArea();
drawArea.Location = new Point(0, 0);
drawArea.Size = new Size(10, 10);
drawArea.Owner = this;
Controls.Add(drawArea);
// Helper objects (DocManager and others)
InitializeHelperObjects();
drawArea.Initialize(this, docManager);
ResizeDrawArea();
LoadSettingsFromRegistry();
// Submit to Idle event to set controls state at idle time
Application.Idle += delegate { SetStateOfControls(); };
// Open file passed in the command line
if (ArgumentFile.Length > 0)
{
OpenDocument(ArgumentFile);
}
// Subscribe to DropDownOpened event for each popup menu
// (see details in MainForm_DropDownOpened)
foreach (ToolStripItem item in menuStrip1.Items)
{
if (item.GetType() ==
typeof(ToolStripMenuItem))
{
((ToolStripMenuItem)item).DropDownOpened += MainForm_DropDownOpened;
}
}
timer1.Start();
//增加地图图元
drawMap = new ROS.DrawMap(drawArea);
//drawMap.GetStaticMap("static_map");
drawMap.SubscribeToMap("/map");
AddNewObject(drawArea, drawMap);
}
