public void ConnectionRosSocket(Object sender, EventArgs e)
{
rosSocket.connect();
if (rosSocket.isConnected)
{
timerInterruptCheckAliveTimeOut.Start();
timerInterruptConnectionRosSocket.Stop();
createRosTerms();
}
}
private void timerConnectRosSocket_Tick(object sender, EventArgs e)
{
rosSocket.seturl("ws://" + props.cam.ip + ":" + props.cam.port);
if (rosSocket.isConnected)
{
int subscription_id = rosSocket.Subscribe("/pallet_status_" + props.cam.id, "std_msgs/String", subscriptionHandler);
timerConnectRosSocket.Stop();
timerCheckConnection.Start();
}
else
{
rosSocket.connect();
}
}
private void timerConnectRosSocket_Tick(object sender, EventArgs e)
{
rosSocket.seturl("ws://" + IpAddress + ":9090");
if (rosSocket.isConnected)
{
timerCheckConnection.Start();
timerConnectRosSocket.Stop();
createRosTerms();
}
else
{
rosSocket.connect();
}
}