private void onDeliveryMove(string strmissionid, int actidx)
{
if (Data.Instance.isConnected)
{
try
{
string strRobot_id = cboRobotID.SelectedItem.ToString();
WAS_GOAL work_data = onMissionDataRead(strmissionid, actidx);
string strobj = JsonConvert.SerializeObject(work_data);
JObject obj = JObject.Parse(strobj);
TopicList list = new TopicList();
rosinterface ros = new rosinterface();
Thread.Sleep(500);
ros.PublisherTopicMsgtype(strRobot_id + list.topic_goal, list.msg_goal);
Thread.Sleep(200);
ros.publisher(obj);
Thread.Sleep(200);
}
catch (Exception ex)
{
Console.Out.WriteLine("onDeliveryMove err :={0}", ex.Message.ToString());
}
}
else
{
MessageBox.Show("서버에 연결하세요.");
}
}
private WAS_GOAL onMissionDataRead(string strmissionid, int startidx)
{
string strid = strmissionid;
WAS_GOAL work_data = new WAS_GOAL();
try
{
//db에서 미션 액션정보 읽기
string strwork = onDBRead_Mission_action(strmissionid);//mainform.missionlisttable.missioninfo[0].work;
DB_MissionData db_missiondata = new DB_MissionData();
db_missiondata = JsonConvert.DeserializeObject <DB_MissionData>(strwork);
work_data.goal.work_id = strmissionid;
work_data.goal.action_start_idx = startidx;
work_data.goal.loop_flag = 1;
for (int i = 0; i < db_missiondata.work.Count; i++)
{
work_data.goal.work.Add(db_missiondata.work[i]);
}
}
catch (Exception ex)
{
Console.Out.WriteLine("onMissionDataRead err :={0}", ex.Message.ToString());
}
return(work_data);
}
