private void btnSubscribe_Click(object sender, RoutedEventArgs e)
{
RosBridgeDotNet.RosBridgeDotNet.SubscribeMessage rosSubscMsg;
try
{
object[] laserSubscribe = { "/sick_s300/scan", 500 };
if (btnSubscribe.Content.Equals("Subcribe"))
{
rosSubscMsg = new RosBridgeDotNet.RosBridgeDotNet.SubscribeMessage("/rosbridge/subscribe", laserSubscribe);
btnSubscribe.Content = "Unsubcribe";
}
else
{
rosSubscMsg = new RosBridgeDotNet.RosBridgeDotNet.SubscribeMessage("/rosbridge/unsubscribe", laserSubscribe);
btnSubscribe.Content = "Subcribe";
}
string needToSend = JsonConvert.SerializeObject(rosSubscMsg);
//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);
}
//Update();
}
private void ButtonSendUnSubscribeMessage(object sender, EventArgs e)
{
try
{
object[] poseSubscribe = { "/turtle1/pose", -1 };
RosBridgeDotNet.RosBridgeDotNet.SubscribeMessage u = new RosBridgeDotNet.RosBridgeDotNet.SubscribeMessage("/rosbridge/unsubscribe", poseSubscribe);
string needToSend = JsonConvert.SerializeObject(u);
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);
}
}
