protected virtual void _gazebo_client_listener(ServiceStub context, ClientServiceListenerEventType ev, object parameter)
{
if (ev == ClientServiceListenerEventType.ClientClosed || ev == ClientServiceListenerEventType.ServicePathReleased)
{
lock (this)
{
if (ev == ClientServiceListenerEventType.ServicePathReleased)
{
if (((string)parameter) != model_rr_path)
{
return;
}
}
connected = false;
gazebo_server = null;
gazebo_robot = null;
gazebo_controller = null;
gazebo_controller_position = null;
gazebo_controller_position_command = null;
gazebo_controller_velocity = null;
gazebo_controller_velocity_command = null;
}
Console.WriteLine("Connection to gazebo lost");
}
}
internal void ClientContextListener(ClientContext context, ClientServiceListenerEventType event_, object param)
{
if (event_ == ClientServiceListenerEventType.ClientClosed)
{
Shutdown();
}
}
