private void PublishturtleMessage(double linear, double angular)
{
try
{
string topic = "/turtle1/command_velocity";
string msgtype = "turtlesim/Velocity";
RosBridgeDotNet.RosBridgeDotNet.TurtleSim turtleGo1 = new RosBridgeDotNet.RosBridgeDotNet.TurtleSim(linear, angular);
RosBridgeDotNet.RosBridgeDotNet.PublishMessage m = new RosBridgeDotNet.RosBridgeDotNet.PublishMessage(topic, msgtype, turtleGo1);
string needToSend = JsonConvert.SerializeObject(m);
//Object objData = SerializeEventData(new EventData(richTextTxName.Text));
//byte[] byData = System.Text.Encoding.UTF8.GetBytes(objData.ToString());
if (_clientSocket != null)
{
_clientSocket.Send(new byte[] { 0 }); // \x00
_clientSocket.Send(Encoding.UTF8.GetBytes(needToSend));
_clientSocket.Send(new byte[] { 255 }); // \xff
}
}
catch (SocketException se)
{
MessageBox.Show(se.Message);
}
}
private void ButtonSendPublishMessage(object sender, EventArgs e)
{
try
{
string topic = "/turtle1/command_velocity";
string msgtype = "turtlesim/Velocity";
RosBridgeDotNet.RosBridgeDotNet.TurtleSim turtleGo1 = new RosBridgeDotNet.RosBridgeDotNet.TurtleSim(20, 20);
RosBridgeDotNet.RosBridgeDotNet.PublishMessage m = new RosBridgeDotNet.RosBridgeDotNet.PublishMessage(topic, msgtype, turtleGo1);
string needToSend = JsonConvert.SerializeObject(m);
richTextBoxHistroryRequests.Text += "\n \\\\\\\\\\\\\\ \n Request : " + needToSend; //save the request in history.
//Object objData = SerializeEventData(new EventData(richTextTxName.Text));
//byte[] byData = System.Text.Encoding.UTF8.GetBytes(objData.ToString());
if (m_clientSocket != null)
{
m_clientSocket.Send(new byte[] { 0 }); // \x00
m_clientSocket.Send(Encoding.UTF8.GetBytes(needToSend));
m_clientSocket.Send(new byte[] { 255 }); // \xff
}
}
catch (SocketException se)
{
MessageBox.Show(se.Message);
}
}
private void PublishNeoMessage(double linear, double angular)
{
try
{
string topic = "/DriveCommands";
string msgtype = "neo_serrelayboard/DriveCommands";
double[] speed1 = { 0.1, 0.1 };
double[] speed0 = { 0.0, 0.0 };
bool[] trueArr = { true, true };
bool[] falseArr = { false, false };
RosBridgeDotNet.RosBridgeDotNet.NeobotixRefSpeed neoGo1 = new RosBridgeDotNet.RosBridgeDotNet.NeobotixRefSpeed(speed1, trueArr, falseArr, trueArr);
RosBridgeDotNet.RosBridgeDotNet.NeobotixRefSpeed neoGo0 = new RosBridgeDotNet.RosBridgeDotNet.NeobotixRefSpeed(speed0, trueArr, falseArr, trueArr);
RosBridgeDotNet.RosBridgeDotNet.PublishMessage m = new RosBridgeDotNet.RosBridgeDotNet.PublishMessage(topic, msgtype, neoGo1);
string needToSend = JsonConvert.SerializeObject(m);
//Object objData = SerializeEventData(new EventData(richTextTxName.Text));
//byte[] byData = System.Text.Encoding.UTF8.GetBytes(objData.ToString());
if (_clientSocket != null)
{
_clientSocket.Send(new byte[] { 0 }); // \x00
_clientSocket.Send(Encoding.UTF8.GetBytes(needToSend));
_clientSocket.Send(new byte[] { 255 }); // \xff
}
m = new RosBridgeDotNet.RosBridgeDotNet.PublishMessage(topic, msgtype, neoGo0); //stop
needToSend = JsonConvert.SerializeObject(m);
if (_clientSocket != null)
{
_clientSocket.Send(new byte[] { 0 }); // \x00
_clientSocket.Send(Encoding.UTF8.GetBytes(needToSend));
_clientSocket.Send(new byte[] { 255 }); // \xff
}
}
catch (SocketException se)
{
MessageBox.Show(se.Message);
}
}
