public void subCallback(Messages.std_msgs.UInt8MultiArray msg)
{
App.Current.Dispatcher.Invoke(new Action(() =>
{
//msg.data[0]
if (receive != null)
{
receive(msg.data);
}
}), new TimeSpan(0, 0, 1));
}
void publishCameraThread()
{
if (pubthreadCamara != null)
{
pubthreadCamara.Abort();
}
pubthreadCamara = new Thread(() =>
{
Thread download = null;
while (ROS.ok && !closing)
{
Messages.std_msgs.UInt8MultiArray msg = new Messages.std_msgs.UInt8MultiArray();
msg.data = camera_data;
pub_camera.publish(msg);
if (camera_data[0] == System.Text.Encoding.Default.GetBytes("d")[0])
{
if (download != null)
{
download.Abort();
}
download = new Thread(() =>
{
//Thread.Sleep(200);
string date = string.Format("{0:yyyyMMddHHmmss}", DateTime.Now);
var remoteAvi = System.Configuration.ConfigurationManager.AppSettings["remoteAvi"];
var localAvi = System.Configuration.ConfigurationManager.AppSettings["localAvi"];
for (int i = 1; i < 7; i++)
{
string errorinfo;
string localfile = localAvi + date + "_" + i + ".avi";
string filename = remoteAvi + "camera" + i + ".avi";
SFTPOperation ftp = new SFTPOperation(host, "22", "fanfan", "fanfan");
ftp.Get(filename, localfile);
}
});
download.Start();
}
//for (int i = 0; i < camera_data.Length; i++)
//{
// camera_data[i] = 0;
//}
autoEvent_pub_camera.WaitOne();
}
});
pubthreadCamara.Start();
}
void publishControlThread()
{
if (pubthread != null)
{
pubthread.Abort();
}
pubthread = new Thread(() =>
{
while (ROS.ok && !closing)
{
Messages.std_msgs.UInt8MultiArray msg;
msg = new Messages.std_msgs.UInt8MultiArray();
msg.data = control_data;
pub_control.publish(msg);
Thread.Sleep(100);
//autoEvent_pub_control.WaitOne();
}
});
pubthread.Start();
}
