// process messages from the UI Form
void OnWinformMessageHandler(FromWinformMsg msg)
{
switch (msg.Command)
{
case FromWinformMsg.MsgEnum.Loaded:
// the windows form is ready to go
_simulatedBipedMoverUI = (SimulatedBipedMoverUI)msg.Object;
break;
case FromWinformMsg.MsgEnum.MoveJoint:
MoveJoint((MoveJoint)msg.Object);
break;
case FromWinformMsg.MsgEnum.Suspend:
Task <simengine.VisualEntity, bool> deferredTask =
new Task <simengine.VisualEntity, bool>(_entity, (bool)msg.Object, SuspendBipedInternal);
_entity.DeferredTaskQueue.Post(deferredTask);
break;
case FromWinformMsg.MsgEnum.ChangeEntity:
{
string entityName = (string)msg.Object;
if (string.IsNullOrEmpty(entityName) == false)
{
if (_entity == null || _entity.State.Name != entityName || _state.Joints == null || _state.Joints.Count == 0)
{
DeleteEntityInternal();
simengine.EntitySubscribeRequestType req = new Microsoft.Robotics.Simulation.Engine.EntitySubscribeRequestType();
req.Name = entityName;
_simEngine.Subscribe(req, _notificationTarget);
}
}
break;
}
case FromWinformMsg.MsgEnum.RefreshList:
{
SpawnIterator(RefreshListIterator);
break;
}
}
}
void SubscribeForEntity()
{
// our entity instance name is passed as a partner
PartnerType entityPartner = Dss.ServiceModel.DsspServiceBase.DsspServiceBase.FindPartner(
new System.Xml.XmlQualifiedName(Microsoft.Robotics.Simulation.Partners.Entity, Microsoft.Robotics.Simulation.Contract.Identifier),
ServiceInfo.PartnerList);
if (entityPartner == null)
{
LogError("Invalid entity name specified as a partner to the iRobotLite Service");
}
else
{
// PartnerType.Service is the entity instance name.
simengine.EntitySubscribeRequestType esrt = new simengine.EntitySubscribeRequestType();
esrt.Name = new Uri(entityPartner.Service).LocalPath.TrimStart('/');
esrt.Subscriber = ServiceInfo.Service;
_simEngine.Subscribe(esrt, _notificationTarget);
}
}