public bool Import(int maxTimeOut = int.MaxValue)
{
rosSocket.CallService("/rosapi/get_param", typeof(ParamValueString), receiveRobotName, new ParamName("/robot/name"));
ServiceReceiver robotDescriptionReceiver = new ServiceReceiver(rosSocket, "/rosapi/get_param", new ParamName("/robot_description"), "\\robot_description.urdf", typeof(ParamValueString));
robotDescriptionReceiver.ReceiveEventHandler += receiveRobotDescription;
return(WaitHandle.WaitAll(Status.Values.ToArray(), maxTimeOut));
}
private void receiveRobotDescription(ServiceReceiver serviceReciever, object serviceResponse)
{
string robotDescription = formatTextFileContents(((ParamValueString)serviceResponse).value);
Thread importResourceFilesThread = new Thread(() => importResourceFiles(robotDescription));
importResourceFilesThread.Start();
Thread writeTextFileThread = new Thread(() => writeTextFile((string)serviceReciever.HandlerParameter, robotDescription));
writeTextFileThread.Start();
Status["robotDescriptionReceived"].Set();
}
private void receiveResourceFile(ServiceReceiver serviceReceiver, object serviceResponse)
{
string fileContents = System.Text.Encoding.UTF8.GetString(((ParamValueByte)serviceResponse).value);
Uri resourceFileUri = new Uri(((ParamName)serviceReceiver.ServiceParameter).name);
if (isColladaFile(resourceFileUri))
{
Thread importResourceFilesThread = new Thread(() => importDaeTextureFiles(resourceFileUri, fileContents));
importResourceFilesThread.Start();
}
Thread writeTextFileThread = new Thread(() => writeTextFile((string)serviceReceiver.HandlerParameter, fileContents));
writeTextFileThread.Start();
updateFileRequestStatus(resourceFileUri);
}
private void receiveTextureFiles(ServiceReceiver serviceReceiver, object serviceResponse)
{
writeBinaryResponseToFile((string)serviceReceiver.HandlerParameter, ((ParamValueByte)serviceResponse).value);
updateFileRequestStatus(new Uri(((ParamName)serviceReceiver.ServiceParameter).name));
}
