private void timerCheckConnection_Tick(object sender, EventArgs e)
{
/* if (rosSocket != null)
* {
* if (!rosSocket.isConnected)
* {
* timerCheckConnection.Stop();
* timerConnectRosSocket.Start();
*
* }
* else
* {
* dynamic product = new JObject();
* product.count = GlobalVariables.EncodeTransmissionTimestamp();
* StandardString messages = new StandardString();
* messages.data = product.ToString();
* rosSocket.Publish(paramsRosSocket.publication_checkAliveTimeOut, messages);
* }
* }*/
Console.WriteLine("here check");
if (rosSocket != null)
{
if (rosSocket.webSocket != null)
{
if (rosSocket.webSocket.ReadyState.ToString().Equals("Closed"))
{
rosSocket.isConnected = false;
timerCheckConnection.Stop();
timerConnectRosSocket.Start();
}
else if (rosSocket.webSocket.ReadyState.ToString().Equals("Open"))
{
rosSocket.isConnected = true;
dynamic product = new JObject();
product.count = GlobalVariables.EncodeTransmissionTimestamp();
StandardString messages = new StandardString();
messages.data = product.ToString();
rosSocket.Publish(paramsRosSocket.publication_checkAliveTimeOut, messages);
}
Console.WriteLine(rosSocket.webSocket.ReadyState);
}
else
{
rosSocket.isConnected = false;
timerCheckConnection.Stop();
timerConnectRosSocket.Start();
}
}
}
public void checkAliveTimeOut(Object sender, EventArgs e)
{
if (rosSocket != null)
{
if (!rosSocket.isConnected)
{
timerInterruptCheckAliveTimeOut.Stop();
timerInterruptConnectionRosSocket.Start();
}
else
{
dynamic product = new JObject();
product.count = GlobalVariables.EncodeTransmissionTimestamp();
StandardString messages = new StandardString();
messages.data = product.ToString();
rosSocket.Publish(paramsRosSocket.publication_checkAliveTimeOut, messages);
}
}
}
