/// <summary>
/// Event is fired when successfully connected to ROS master server
/// </summary>
/// <param name="sender">Sender</param>
/// <param name="e">Arguments</param>
private void RosControlBase_RosConnected(object sender, EventArgs e)
{
DetectionImage.Visibility = Visibility.Visible;
DetectionImage.Subscribe();
// Enabling button
enableDisableFollowMeButton.IsEnabled = true;
followMeApp.Enable(true);
dispatcherTimer.Start();
}
/// <summary>
/// Image updated
/// </summary>
/// <param name="sender">Sender.</param>
/// <param name="e">Arguments.</param>
private void ImageSink_Updated(object sender, EventArgs e)
{
if (!firstUpdate)
{
return;
}
Dispatcher.Invoke(new Action(() =>
{
firstUpdate = false;
DetectionImage.SetActualSize();
}));
}
/// <summary>
/// Event is fired when disconnected from ROS master server
/// </summary>
/// <param name="sender">Sender</param>
/// <param name="e">Arguments</param>
private void RosControlBase_RosDisconnecting(object sender, EventArgs e)
{
// Unsubscribing from image stream
DetectionImage.Visibility = Visibility.Hidden;
DetectionImage.Unsubscribe();
// In case follow me is left working, user is asked if he wants it be shutdown
AskToDisableFollowMe();
// Disabling button
enableDisableFollowMeButton.IsEnabled = false;
firstUpdate = true;
dispatcherTimer.Stop();
}