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"), Path.DirectorySeparatorChar + "robot_description.urdf", typeof(ParamValueString));
robotDescriptionReceiver.ReceiveEventHandler += receiveRobotDescription;
return(WaitHandle.WaitAll(Status.Values.ToArray(), maxTimeOut));
}
public override void OnCreate()
{
base.OnCreate();
Receiver = new ServiceReceiver(this);
var filter = new IntentFilter(ActionKeyStart);
RegisterReceiver(Receiver, filter);
IsRegisteredSensor = false;
BcoreManager = new BcoreManager(this);
}
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)
{
byte[] fileContents = ((ParamValueByte)serviceResponse).value;
Uri resourceFileUri = new Uri(((ParamName)serviceReceiver.ServiceParameter).name);
if (isColladaFile(resourceFileUri))
{
Thread importResourceFilesThread = new Thread(() => importDaeTextureFiles(resourceFileUri, System.Text.Encoding.UTF8.GetString(fileContents)));
importResourceFilesThread.Start();
}
Thread writeTextFileThread = new Thread(() => writeBinaryResponseToFile((string)serviceReceiver.HandlerParameter, fileContents));
writeTextFileThread.Start();
updateFileRequestStatus(resourceFileUri);
}
private void OnDispose()
{
ServiceConnectionDispose();
_serviceReceiver?.Dispose();
_serviceReceiver = null;
if (_serviceQueue != null)
{
foreach (var item in _serviceQueue)
{
item?.Dispose();
}
_serviceQueue.Clear();
_serviceQueue = null;
}
try
{
if (!string.IsNullOrEmpty(_compressFileName))
{
using (var zipFile = new Java.IO.File(_compressFileName))
{
using (var parent = zipFile.ParentFile)
{
if (parent?.Exists() == true)
{
var files = parent.ListFiles();
foreach (var file in files)
{
file.Delete();
}
}
}
}
}
}
catch (Exception ex)
{
Log.Debug(ex);
}
finally
{
_compressFileName = null;
}
}
protected override void OnDestroy()
{
try
{
UnsubscribeEvents();
if (_cancellationTokenSource != null)
{
_cancellationTokenSource.Cancel();
_cancellationTokenSource.Dispose();
_cancellationTokenSource = null;
}
_selectedWidgetId = null;
_widgetId = null;
_serviceConnection?.Dispose();
_serviceConnection = null;
_serviceReceiver?.Dispose();
_serviceReceiver = null;
if (_menuFragment != null)
{
_menuFragment.OptionMenuClickHandler = null;
}
_menuFragment?.Dispose();
_menuFragment = null;
_contentFragment?.Dispose();
_contentFragment = null;
TooltipWindowDispose();
}
catch (Exception ex)
{
Log.Debug(ex);
}
AppSettings.GcCollect(); //HARDCODE:
base.OnDestroy();
AppSettings.GcCollect(true, Log); //HARDCODE:
}
public ModelSourceReceiver(Source aSource)
{
iSource = aSource;
try
{
iServiceReceiver = new ServiceReceiver(iSource.Device, iSource.House.EventServer);
}
catch (ServiceException)
{
throw new ModelSourceException(301, "Service failure");
}
iActionPlay = iServiceReceiver.CreateAsyncActionPlay();
iActionStop = iServiceReceiver.CreateAsyncActionStop();
iActionSetChannel = iServiceReceiver.CreateAsyncActionSetSender();
iActionPlayNowSetChannel = iServiceReceiver.CreateAsyncActionSetSender();
iActionPlayNowSetChannel.EventResponse += EventSetChannelResponse;
}
protected override void OnDestroy()
{
try
{
UnsubscribeEvents();
_serviceConnection?.Dispose();
_serviceConnection = null;
_serviceReceiver?.Dispose();
_serviceReceiver = null;
_addressAdapter?.Dispose();
_addressAdapter = null;
}
catch (Exception ex)
{
Log.Debug(ex);
}
//AppSettings.GcCollect(log: _log); //HARDCODE:
base.OnDestroy();
}
private void CreateServiceReceiver()
{
_serviceReceiver = new ServiceReceiver();
}
private void receiveTextureFiles(ServiceReceiver serviceReceiver, object serviceResponse)
{
writeBinaryResponseToFile((string)serviceReceiver.HandlerParameter, ((ParamValueByte)serviceResponse).value);
updateFileRequestStatus(new Uri(((ParamName)serviceReceiver.ServiceParameter).name));
}
