public override void Transfer()
{
RosSocket.CallService <rosapi.GetParamRequest, rosapi.GetParamResponse>("/rosapi/get_param",
ReceiveRobotName,
new rosapi.GetParamRequest("/robot/name", "default"));
var robotDescriptionReceiver = new ServiceReceiver <rosapi.GetParamRequest, rosapi.GetParamResponse>(RosSocket, "/rosapi/get_param",
new rosapi.GetParamRequest(urdfParameter, "default"),
Path.DirectorySeparatorChar + urdfParameter + ".urdf");
robotDescriptionReceiver.ReceiveEventHandler += ReceiveRobotDescription;
}
private void ReceiveRobotDescription(ServiceReceiver <rosapi.GetParamRequest, rosapi.GetParamResponse> serviceReceiver, rosapi.GetParamResponse serviceResponse)
{
string robotDescription = FormatTextFileContents(serviceResponse.value);
Thread importResourceFilesThread = new Thread(() => ImportResourceFiles(robotDescription));
importResourceFilesThread.Start();
Thread writeTextFileThread = new Thread(() => WriteTextFile((string)serviceReceiver.HandlerParameter, robotDescription));
writeTextFileThread.Start();
Status["robotDescriptionReceived"].Set();
}
private void ReceiveResourceFile(ServiceReceiver <file_server.GetBinaryFileRequest, file_server.GetBinaryFileResponse> serviceReceiver, file_server.GetBinaryFileResponse serviceResponse)
{
byte[] fileContents = serviceResponse.value;
Uri resourceFileUri = new Uri(serviceReceiver.ServiceParameter.name);
if (IsColladaFile(resourceFileUri))
{
Thread importResourceFilesThread = new Thread(() => ImportColladaTextureFiles(resourceFileUri, System.Text.Encoding.UTF8.GetString(fileContents)));
importResourceFilesThread.Start();
}
else
{
UpdateFileRequestStatus(resourceFileUri.ToString());
}
Thread writeTextFileThread = new Thread(() => WriteBinaryResponseToFile((string)serviceReceiver.HandlerParameter, fileContents));
writeTextFileThread.Start();
}
private void ReceiveTextureFiles(ServiceReceiver <file_server.GetBinaryFileRequest, file_server.GetBinaryFileResponse> serviceReceiver, file_server.GetBinaryFileResponse serviceResponse)
{
WriteBinaryResponseToFile((string)serviceReceiver.HandlerParameter, serviceResponse.value);
UpdateFileRequestStatus(serviceReceiver.ServiceParameter.name);
}
