/// <summary>
/// Call ROS.Init if it hasn't been called, and informs callers whether to try to make a nodehandle and pubs/subs
/// </summary>
/// <returns>Whether ros.net initialization can continue</returns>
public void StartROS(MonoBehaviour caller, Action whensuccessful)
{
XmlRpcUtil.SetLogLevel(XmlRpcUtil.XMLRPC_LOG_LEVEL.ERROR);
if (whensuccessful != null)
{
Action whatToDo = () =>
{
#if UNITY_EDITOR
if (EditorApplication.isPlaying && !EditorApplication.isPaused)
{
#endif
_startROS();
if (whensuccessful != null)
{
whensuccessful();
}
#if UNITY_EDITOR
}
#endif
};
if (caller != null)
{
MasterChooserController MasterChooser = caller.transform.root.GetComponentInChildren <MasterChooserController>(true);
if (MasterChooser == null || !MasterChooser.checkNeeded())
{
whatToDo();
}
else if (!MasterChooser.ShowIfNeeded(whatToDo))
{
Debug.LogError("Failed to test for applicability, show, or handle masterchooser input");
}
}
else
{
whatToDo();
}
}
else
{
#if UNITY_EDITOR
if (EditorApplication.isPlaying && !EditorApplication.isPaused)
{
#endif
_startROS();
#if UNITY_EDITOR
}
#endif
}
#if LOG_TO_FILE
lock (loggerlock)
{
if (logwriter == null)
{
string validlogpath = null;
string filename = "unity_test_" + DateTime.Now.Ticks + ".log";
foreach (string basepath in new[] { Application.dataPath, "/sdcard/ROS.NET_Logs/" })
{
if (Directory.Exists(basepath))
{
try
{
if (Directory.GetFiles(basepath) == null)
{
continue;
}
}
catch (Exception e)
{
Debug.LogWarning(e);
}
}
try
{
logwriter = new StreamWriter(Path.Combine(basepath, filename));
logwriter.AutoFlush = true;
logwriter.WriteLine("Opened log file for writing at " + DateTime.Now);
}
catch (Exception e)
{
Debug.LogWarning(e);
}
break;
}
}
}
#endif
Application.logMessageReceived += Application_logMessageReceived;
}
public XmlRpcManager()
{
XmlRpcUtil.ShowOutputFromXmlRpcPInvoke(XmlRpcUtil.XMLRPC_LOG_LEVEL.NOTHING);
server = new XmlRpcServer();
getPid = (parms, result) => responseInt(1, "", Process.GetCurrentProcess().Id)(result);
}
private void Window_Loaded(object sender, RoutedEventArgs e)
{
controllerUpdater = new DispatcherTimer()
{
Interval = new TimeSpan(0, 0, 0, 0, 10)
};
controllerUpdater.Tick += Link;
controllerUpdater.Start();
new Thread(() =>
{
XmlRpcUtil.ShowOutputFromXmlRpcPInvoke();
// ROS stuff
ROS.Init(new string[0], "The_UI_" + System.Environment.MachineName.Replace("-", "__"));
nh = new NodeHandle();
Dispatcher.Invoke(new Action(() =>
{
battvolt.startListening(nh);
EStop.startListening(nh);
MotorGraph.startListening(nh);
rosout_control.startListening(nh);
spinningstuff.startListening(nh, "/imu/data");
}));
velPub = nh.advertise <gm.Twist>("/cmd_vel", 1);
multiplexPub = nh.advertise <m.Byte>("/cam_select", 1);
armPub = nh.advertise <am.ArmMovement>("/arm/movement", 1);
ArmON = nh.advertise <m.Bool>("arm/on", 1);
mast_pub = nh.advertise <m.Bool>("raise_camera_mast", 1);
tilt_pub = new Publisher <m.Int32> [4];
for (int i = 0; i < 4; i++)
{
tilt_pub[i] = nh.advertise <m.Int32>("camera" + i + "/tilt", 1);
}
Dispatcher.Invoke(new Action(() =>
{
mainCameras = new TabItem[] { MainCamera1, MainCamera2, MainCamera3, MainCamera4 };
subCameras = new TabItem[] { SubCamera1, SubCamera2, SubCamera3, SubCamera4 };
mainImages = new ROS_ImageWPF.CompressedImageControl[] { camImage0, camImage1, camImage2, camImage3 };
subImages = new ROS_ImageWPF.SlaveImage[] { camImageSlave0, camImageSlave1, camImageSlave2, camImageSlave3 };
for (int i = 0; i < mainCameras.Length; i++)
{
mainImages[i].AddSlave(subImages[i]);
}
subCameras[1].Focus();
adr(false);
// instantiating some global helpers
/*detectors = new DetectionHelper[4];
* for (int i = 0; i < 4; ++i)
* {
* detectors[i] = new DetectionHelper(nh, i, this);
* }*/
}));
#if !INSTANT_DETECTION_DEATH
while (ROS.ok)
{
Dispatcher.Invoke(new Action(() =>
{
for (int i = 0; i < 4; ++i)
{
detectors[i].churnAndBurn();
}
}));
Thread.Sleep(100);
}
#endif
}).Start();
}
