//编辑事件
protected void btnSubmit_Click(object sender, EventArgs e)
{
try
{
if (Label2.Text.Trim() == "")
{
Response.Write("<script>alert('照片不能为空!')</script>");
}
else
{
NT_Models.Action action = new NT_Models.Action();
action.Act_Title = txtTitle.Text.Trim();
action.Act_Img = Label2.Text;
action.Act_Content = CKEditorControl1.Text.Trim();
action.Act_Time = DateTime.Now;
int result = ActionServer.insert(action);
if (result >= 1)
{
Response.Write("<script>alert('发布成功!')</script>");
Label2.Text = "Img\\ActionImg\\";
}
}
}
catch (Exception ex)
{
Response.Write("<script>alert('上传失败');</script> 原因是：" + ex);
}
}
private void BindBC()
{
DataTable dt = ActionServer.selectAll();
if (dt != null && dt.Rows.Count != 0)
{
action.DataSource = dt;
action.DataBind();
}
}
//数据绑定
private void BindAct()
{
DataTable dt = ActionServer.selectAll();
if (dt != null && dt.Rows.Count > 0)
{
ListView1.DataSource = dt;
ListView1.DataBind();
}
}
//删除事件
protected void btnDelete_Click(object sender, EventArgs e)
{
Button bt = (Button)sender;
int id = Convert.ToInt32(((HiddenField)(bt.Parent.FindControl("HiddenField1"))).Value);
if (ActionServer.DeleteAction(id) > 0)
{
ClientScript.RegisterStartupScript(this.GetType(), "message", "<script language='javascript' >alert('删除成功！');</script>");
BindAct();
}
}
static void Main(string[] args)
{
#if (DEBUG)
Environment.SetEnvironmentVariable("ROS_MASTER_URI", "http://localhost:11311/");
#endif
Console.WriteLine("Start ROS");
ROS.Init(ref args, "ActionServerClientSlowDummy");
ICallbackQueue callbackQueue = new CallbackQueue();
var asyncSpinner = new AsyncSpinner(callbackQueue);
asyncSpinner.Start();
NodeHandle nodeHandle = new NodeHandle(callbackQueue);
ActionClient <Messages.actionlib.TestGoal, Messages.actionlib.TestResult,
Messages.actionlib.TestFeedback> actionClient = null;
// setup action server start
Console.WriteLine("Create server");
var actionServer = new ActionServer <Messages.actionlib.TestGoal, Messages.actionlib.TestResult,
Messages.actionlib.TestFeedback>(nodeHandle, "test_action");
Param.Set("status_list_timeout", 999.9);
actionServer.RegisterGoalCallback((sgoalHandle) =>
{
Thread thread = new Thread(() => serverGoalCallback(sgoalHandle, actionServer, actionClient));
thread.Start();
});
Console.WriteLine("Start Server");
actionServer.Start();
Console.WriteLine("Server Started");
// setup action server finish
// setup client
actionClient = new ActionClient <Messages.actionlib.TestGoal, Messages.actionlib.TestResult,
Messages.actionlib.TestFeedback>("test_action_slow", nodeHandle);
// send action request to serverslowdummy
Console.WriteLine("Wait for client and server to negotiate connection");
bool started = actionClient.WaitForActionServerToStart(new TimeSpan(0, 0, 3));
if (!started)
{
Console.WriteLine("Negotiation with server failed!");
}
Console.ReadLine();
actionServer.Shutdown();
nodeHandle.shutdown();
ROS.shutdown();
}
//轮播图片
private void BindLunbo()
{
DataTable dt = ActionServer.selectAll();
if (dt != null && dt.Rows.Count != 0)
{
lunbo1.DataSource = dt;
lunbo1.DataBind();
lunbo2.DataSource = dt;
lunbo2.DataBind();
}
}
private static void serverGoalCallback(ServerGoalHandle <TestGoal, TestResult, TestFeedback> sgoalHandle,
ActionServer <TestGoal, TestResult, TestFeedback> actionServer,
ActionClient <TestGoal, TestResult, TestFeedback> actionClient)
{
// got goal to reach from clientsample
Console.WriteLine($"Goal registered callback. Goal: {sgoalHandle.Goal.goal}");
var goal = new Messages.actionlib.TestGoal();
Console.WriteLine($"Send goal {goal.goal} from client");
var cts = new CancellationTokenSource();
actionClient.SendGoalAsync(goal,
(cgoalHandle) =>
{
if (cgoalHandle.State == CommunicationState.DONE)
{
int g = cgoalHandle.Goal.Goal.goal;
var result = cgoalHandle.Result;
if (result != null)
{
Console.WriteLine($"Got Result for goal {g}: {cgoalHandle.Result.result}");
var aresult = new Messages.actionlib.TestResult
{
result = 999
};
sgoalHandle.SetGoalStatus(Messages.actionlib_msgs.GoalStatus.SUCCEEDED, "done");
actionServer.PublishResult(sgoalHandle.GoalStatus, result);
}
else
{
Console.WriteLine($"Result for goal {g} is NULL!");
}
}
},
(cgoalHandle, feedback) =>
{
Console.WriteLine($"Feedback: {feedback}");
var fb = new Messages.actionlib.TestFeedback
{
feedback = feedback.Feedback.feedback
};
sgoalHandle.PublishFeedback(fb);
},
cts.Token
).GetAwaiter().GetResult();
}
public void Should_CreateGoalAndGetItDone()
{
NodeHandle serverNodeHandle = new NodeHandle();
NodeHandle clientNodeHandle = new NodeHandle();
Console.WriteLine("Create server");
var actionServer = new ActionServer <FollowJointTrajectoryGoal, FollowJointTrajectoryResult,
FollowJointTrajectoryFeedback>(serverNodeHandle, "SimpleTest");
Console.WriteLine("Create client");
var actionClient = new ActionClient <FollowJointTrajectoryGoal, FollowJointTrajectoryResult,
FollowJointTrajectoryFeedback>("SimpleTest", clientNodeHandle);
Console.WriteLine("Start Server");
actionServer.Start();
bool goalRegistered = false;
actionServer.RegisterGoalCallback((goalHandle) =>
{
Console.WriteLine($"Goal registered callback. Joint Name {goalHandle.Goal.trajectory.joint_names[0]}");
goalRegistered = true;
});
Console.WriteLine("Wait for client and server to negotiate connection");
bool started = actionClient.WaitForActionServerToStart(new TimeSpan(0, 0, 20));
Assert.Equal(true, started);
var goal = new FollowJointTrajectoryGoal();
goal.trajectory = new Messages.trajectory_msgs.JointTrajectory();
goal.trajectory.joint_names = new string[] { "Hallo Welt!" };
Console.WriteLine("Send goal from client");
var cts = new CancellationTokenSource();
actionClient.SendGoalAsync(goal, cts.Token).GetAwaiter().GetResult();
Console.WriteLine("Wait for action server receiving the goal");
while (!goalRegistered)
{
Thread.Sleep(1);
}
}
protected void Page_Load(object sender, EventArgs e)
{
if (!IsPostBack)
{
BindBC();
#region 详细新闻信息
if (Request.QueryString["act_id"] != null)
{
SqlDataReader dt = ActionServer.selectaction(int.Parse(Request.QueryString["act_id"].ToString()));
dt.Read();
if (dt != null)
{
newstime.Text = dt["Act_Time"].ToString();
newstitle.Text = dt["Act_Title"].ToString();
newscontent.Text = dt["Act_Content"].ToString();
}
}
#endregion
}
}
static void Main(string[] args)
{
#if (DEBUG)
Environment.SetEnvironmentVariable("ROS_MASTER_URI", "http://192.168.200.32:11311/");
#endif
Console.WriteLine("Start ROS");
ROS.Init(ref args, "ActionServer");
var asyncSpinner = new AsyncSpinner();
asyncSpinner.Start();
NodeHandle serverNodeHandle = new NodeHandle();
Console.WriteLine("Create server");
var actionServer = new ActionServer <Messages.actionlib.TestGoal, Messages.actionlib.TestResult,
Messages.actionlib.TestFeedback>(serverNodeHandle, "test_action");
Console.WriteLine("Start Server");
actionServer.Start();
actionServer.RegisterGoalCallback((goalHandle) =>
{
Console.WriteLine($"Goal registered callback. Goal: {goalHandle.Goal.goal}");
var fb = new Messages.actionlib.TestFeedback();
fb.feedback = 10;
goalHandle.PublishFeedback(fb);
Thread.Sleep(100);
var result = new Messages.actionlib.TestResult();
result.result = 123;
goalHandle.SetGoalStatus(Messages.actionlib_msgs.GoalStatus.SUCCEEDED, "done");
actionServer.PublishResult(goalHandle.GoalStatus, result);
});
while (!Console.KeyAvailable)
{
Thread.Sleep(1);
}
actionServer.Shutdown();
serverNodeHandle.shutdown();
ROS.shutdown();
}
static void Main(string[] args)
{
Console.WriteLine("Start ROS");
ROS.Init(new string[0], "ActionServer");
var asyncSpinner = new AsyncSpinner();
asyncSpinner.Start();
NodeHandle serverNodeHandle = new NodeHandle();
Console.WriteLine("Create server");
var actionServer = new ActionServer <Messages.actionlib.TestGoal, Messages.actionlib.TestResult,
Messages.actionlib.TestFeedback>(serverNodeHandle, "test_action");
Console.WriteLine("Start Server");
actionServer.Start();
actionServer.RegisterGoalCallback((goalHandle) =>
{
Console.WriteLine($"Goal registered callback. Goal: {goalHandle.Goal.goal}");
var fb = new Messages.actionlib.TestFeedback();
fb.feedback = 10;
goalHandle.PublishFeedback(fb);
Thread.Sleep(100);
var result = new Messages.actionlib.TestResult();
result.result = 123;
goalHandle.SetGoalStatus(Messages.actionlib_msgs.GoalStatus.SUCCEEDED, "done");
actionServer.PublishResult(goalHandle.GoalStatus, result);
});
while (!Console.KeyAvailable)
{
Thread.Sleep(1);
}
actionServer.Shutdown();
serverNodeHandle.Shutdown();
ROS.Shutdown();
}
protected internal virtual void Initialize(Uri serviceUrl)
{
description_server = new DescriptionServer (controller, new Uri (serviceUrl, "description/"));
action_server = new ActionServer (controller, new Uri (serviceUrl, "control/"));
event_server = new EventServer (controller, new Uri (serviceUrl, "event/"));
}
protected internal virtual void Initialize(Uri serviceUrl)
{
description_server = new DescriptionServer(controller, new Uri(serviceUrl, "description/"));
action_server = new ActionServer(controller, new Uri(serviceUrl, "control/"));
event_server = new EventServer(controller, new Uri(serviceUrl, "event/"));
}
static void Main(string[] args)
{
//#if (DEBUG)
// Environment.SetEnvironmentVariable("ROS_HOSTNAME", "");
// Environment.SetEnvironmentVariable("ROS_IP", "192.168.200.32");
// Environment.SetEnvironmentVariable("ROS_MASTER_URI", "http://192.168.200.231:11311/");
//#endif
Environment.SetEnvironmentVariable("ROS_HOSTNAME", "localhost");
Environment.SetEnvironmentVariable("ROS_IP", "127.0.0.1");
Environment.SetEnvironmentVariable("ROS_MASTER_URI", "http://localhost:11311/");
Console.WriteLine("Start ROS");
ROS.Init(ref args, "ActionServerSlowDummy");
ICallbackQueue callbackQueue = new CallbackQueue();
var asyncSpinner = new AsyncSpinner(callbackQueue);
asyncSpinner.Start();
//var spinner = new SingleThreadSpinner(callbackQueue);
NodeHandle serverNodeHandle = new NodeHandle(callbackQueue);
Console.WriteLine("Create server");
var actionServer = new ActionServer <Messages.actionlib.TestGoal, Messages.actionlib.TestResult,
Messages.actionlib.TestFeedback>(serverNodeHandle, "test_action_slow");
Console.WriteLine("Start Server");
Param.Set("status_list_timeout", 999.9);
actionServer.Start();
actionServer.RegisterGoalCallback((goalHandle) =>
{
Console.WriteLine($"Goal registered callback. Goal: {goalHandle.Goal.goal}");
goalHandle.SetAccepted("accepted");
new Thread(() =>
{
for (int x = 0; x < 77; x++)
{
var fb = new Messages.actionlib.TestFeedback
{
feedback = x
};
goalHandle.PublishFeedback(fb);
Thread.Sleep(100);
}
var result = new Messages.actionlib.TestResult
{
result = 123
};
goalHandle.SetGoalStatus(Messages.actionlib_msgs.GoalStatus.SUCCEEDED, "done");
actionServer.PublishResult(goalHandle.GoalStatus, result);
}).Start();
});
Console.ReadLine();
actionServer.Shutdown();
serverNodeHandle.shutdown();
ROS.shutdown();
}
