private void PublishFiles(List <Uri> resourceFileUris)
{
foreach (Uri resourceFilePath in resourceFileUris)
{
string newPackagePath = GetNewPackagePath(resourceFilePath);
if (FilesBeingProcessed.ContainsKey(newPackagePath))
{
continue;
}
string absolutePath = Path.Combine(assetRootFolder, resourceFilePath.ToString().Substring("package://".Length));
if (IsColladaFile(resourceFilePath))
{
List <Uri> colladaTextureFiles = ReadDaeTextureUris(resourceFilePath, XDocument.Load(absolutePath));
PublishFiles(colladaTextureFiles);
}
try
{
byte[] fileContents = File.ReadAllBytes(absolutePath);
SendFileToRos(newPackagePath, fileContents);
}
catch (IOException)
{
}
}
}
private void SendFileToRos(string rosPackagePath, byte[] fileContents)
{
RosSocket.CallService <file_server.SaveBinaryFileRequest, file_server.SaveBinaryFileResponse>(
"/file_server/save_file",
SaveFileResponseHandler,
new file_server.SaveBinaryFileRequest(rosPackagePath, fileContents));
FilesBeingProcessed.Add(rosPackagePath, false);
}
private List <ServiceReceiver <file_server.GetBinaryFileRequest, file_server.GetBinaryFileResponse> > RequestResourceFiles(List <Uri> resourceFileUris)
{
var serviceReceivers = new List <ServiceReceiver <file_server.GetBinaryFileRequest, file_server.GetBinaryFileResponse> >();
foreach (Uri resourceFilePath in resourceFileUris)
{
if (!FilesBeingProcessed.ContainsKey(resourceFilePath.ToString()))
{
FilesBeingProcessed.Add(resourceFilePath.ToString(), false);
serviceReceivers.Add(
new ServiceReceiver <file_server.GetBinaryFileRequest, file_server.GetBinaryFileResponse>(
RosSocket,
"/file_server/get_file",
new file_server.GetBinaryFileRequest(resourceFilePath.ToString()),
GetLocalFilename(resourceFilePath)));
}
}
return(serviceReceivers);
}
