static void Main(string[] args)
{
RosBridgeUtility.RosBridgeConfig conf1 = new RosBridgeUtility.RosBridgeConfig();
conf1.readConfig("XMLFile1.xml");
RosBridgeUtility.RosBridgeLogic logic = new RosBridgeUtility.RosBridgeLogic();
logic.AddStoppedListener(logic_MonitoringStopped);
String fos = "[10, 10]";
Console.WriteLine(Array.ConvertAll(fos.Replace("[", "").Replace("]", "").Split(','), Double.Parse));
logic.Initialize(conf1.URI);
logic.Connect();
logic.InitializeCollection();
/*
* Dictionary<String, double> lin = new Dictionary<string, double>()
* {
* {"x",1.5},
* {"y",0.0},
* {"z",0.0},
* };
* Dictionary<String, double> ang = new Dictionary<string, double>()
* {
* {"x",0.0},
* {"y",0.0},
* {"z",3.14},
* };
* Object[] vals = { lin, ang };
*/
//logic.PublishMessage("/turtle1/command_velocity", keys, vals);
//logic.PublishMessage("/turtle1/cmd_vel", keys, vals);
Object[] lin = { 2.0, 0.0, 0.0 };
Object[] ang = { 0.0, 0.0, 3.14 };
foreach (var item in conf1.getPublicationList())
{
logic.PublishTwistMsg(item, lin, ang);
}
logic.StartCollections(conf1.getTopicList());
Object[] linNeo = { 2.1, 2.1 };
Object[] driveActive = { true, true };
Object[] quickStop = { false, false };
Object[] disableBrake = { true, true };
//logic.PublishNeobotixCommandMsg("/DriveCommands", linNeo, driveActive, quickStop, disableBrake);
System.Threading.Thread.Sleep(1000);
logic.RemoveCollections(conf1.getTopicList());
var x = logic.StopCollection();
foreach (var attr in conf1.ProjectedAttributes())
{
Console.Out.WriteLine(attr.Item2);
foreach (var item in logic.getResponseAttribute(attr.Item1, attr.Item2))
{
Console.WriteLine(item);
//Console.Out.WriteLine(((List<Double>)item)[0]);
//Console.Out.WriteLine("{0}: {1} {2}", attr.Item1, ((List<Double>)item)[0], ((List<Double>)item)[1]);
}
}
}
private void PublishturtleMessage(double linear, double angular)
{
try
{
var v = new { linear = linear, angular = angular };
Object[] lin = { linear, 0.0, 0.0 };
Object[] ang = { 0.0, 0.0, angular };
foreach (var item in bridgeConfig.getPublicationList())
{
bridgeLogic.PublishTwistMsg(item, lin, ang);
}
}
catch (System.Net.Sockets.SocketException se)
{
MessageBox.Show(se.Message);
}
}