public void callbackVoltMonitor( m.Float32 msg)
{
Dispatcher.BeginInvoke(new Action(() =>
{
if (abraCadabra.Visibility != Visibility.Visible)
abraCadabra.Visibility = Visibility.Visible;
textBlock1.Text = msg.data + "v";
}));
}
private void cb(int i, m.String msg)
{
Dispatcher.BeginInvoke(new Action(() => { if (abraCadabra.Visibility == System.Windows.Visibility.Hidden) abraCadabra.Visibility = Visibility.Visible; }));
string[] split = msg.data.Split('=');
if (split.Length != 2)
{
Console.WriteLine("CRAP");
return;
}
if (split[0].Equals("BA"))
{
string[] perside = split[1].Split(':');
float[] vals = new[] { 0f, 0f };
for (int j = 0; j < perside.Length; j++)
{
float.TryParse(perside[j], out vals[j]);
vals[j] /= 10.0f;
}
setSingle(i*2, vals[i]);
setSingle(i*2+1, vals[1-i]);
}
/*StringBuilder sb = new StringBuilder("mc[" + i + "] = \n");
lock(telem[i])
{
if (!telem[i].ContainsKey(split[0][0]))
telem[i].Add(split[0][0], split[1]);
else
telem[i][split[0][0]] = split[1];
List<KeyValuePair<char, string>> sorted = telem[i].ToList();
sorted.Sort((x,y)=>x.Key.CompareTo(y.Key));
foreach (KeyValuePair<char, string> kvp in sorted)
{
sb.AppendLine("" + kvp.Key + " = " + kvp.Value);
}
}
Console.WriteLine(sb);*/
}
private void callbackEStop(m.Bool msg)
{
Dispatcher.Invoke(new Action(()=>setMode(msg.data)));
}
private void cb1(m.String msg)
{
cb(1, msg);
}
private void cb0(m.String msg)
{
cb(0, msg);
}
private void callback(m.Int32 msg)
{
Console.WriteLine("Tilt: " + msg.data.ToString());
}
private static void chatterCallback(m.String s)
{
ROS.Info("RECEIVED: " + s.data);
}
private static void chatterCallback(m.String s)
{
Console.WriteLine("RECEIVED: " + s.data);
}