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);
bool updateFileRequestStatusAtEnd = true;
if (IsColladaFile(resourceFileUri))
{
Thread importResourceFilesThread = new Thread(() => {
try
{
ImportColladaTextureFiles(resourceFileUri, System.Text.Encoding.UTF8.GetString(fileContents));
}
finally
{
UpdateFileRequestStatus(resourceFileUri);
}
});
importResourceFilesThread.Start();
updateFileRequestStatusAtEnd = false;
}
Thread writeTextFileThread = new Thread(() => WriteBinaryResponseToFile((string)serviceReceiver.HandlerParameter, fileContents));
writeTextFileThread.Start();
if (updateFileRequestStatusAtEnd)
{
UpdateFileRequestStatus(resourceFileUri);
}
}
public bool Import(int maxTimeOut = int.MaxValue)
{
rosSocket.CallService("/rosapi/get_param", typeof(ParamValueString), receiveRobotName, new ParamName("/robot/name"));
ServiceReceiver robotDescriptionReceiver = new ServiceReceiver(rosSocket, "/rosapi/get_param", new ParamName("/robot_description"), "\\robot_description.urdf", typeof(ParamValueString));
robotDescriptionReceiver.ReceiveEventHandler += receiveRobotDescription;
return(WaitHandle.WaitAll(Status.Values.ToArray(), maxTimeOut));
}
private void receiveRobotDescription(ServiceReceiver serviceReciever, object serviceResponse)
{
string robotDescription = formatTextFileContents(((ParamValueString)serviceResponse).value);
Thread importResourceFilesThread = new Thread(() => importResourceFiles(robotDescription));
importResourceFilesThread.Start();
Thread writeTextFileThread = new Thread(() => writeTextFile((string)serviceReciever.HandlerParameter, robotDescription));
writeTextFileThread.Start();
Status["robotDescriptionReceived"].Set();
}
public bool Import(int maxTimeOut = int.MaxValue)
{
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("/robot_description", "default"),
Path.DirectorySeparatorChar + "robot_description.urdf");
robotDescriptionReceiver.ReceiveEventHandler += ReceiveRobotDescription;
return(WaitHandle.WaitAll(Status.Values.ToArray(), maxTimeOut));
}
private void ReceiveRobotDescription(ServiceReceiver <rosapi.GetParamRequest, rosapi.GetParamResponse> serviceReciever, rosapi.GetParamResponse serviceResponse)
{
string robotDescription = FormatTextFileContents(serviceResponse.value);
Thread importResourceFilesThread = new Thread(() => ImportResourceFiles(robotDescription));
importResourceFilesThread.Start();
Thread writeTextFileThread = new Thread(() => WriteTextFile((string)serviceReciever.HandlerParameter, robotDescription));
writeTextFileThread.Start();
Status["robotDescriptionReceived"].Set();
}
private void receiveResourceFile(ServiceReceiver serviceReceiver, object serviceResponse)
{
string fileContents = System.Text.Encoding.UTF8.GetString(((ParamValueByte)serviceResponse).value);
Uri resourceFileUri = new Uri(((ParamName)serviceReceiver.ServiceParameter).name);
if (isColladaFile(resourceFileUri))
{
Thread importResourceFilesThread = new Thread(() => importDaeTextureFiles(resourceFileUri, fileContents));
importResourceFilesThread.Start();
}
Thread writeTextFileThread = new Thread(() => writeTextFile((string)serviceReceiver.HandlerParameter, fileContents));
writeTextFileThread.Start();
updateFileRequestStatus(resourceFileUri);
}
private void receiveResourceFile(ServiceReceiver serviceReceiver, object serviceResponse)
{
#if NETFX_CORE
//TODO imprementation
#else
byte[] fileContents = ((ParamValueByte)serviceResponse).value;
Uri resourceFileUri = new Uri(((ParamName)serviceReceiver.ServiceParameter).name);
if (isColladaFile(resourceFileUri))
{
Thread importResourceFilesThread = new Thread(() => importDaeTextureFiles(resourceFileUri, System.Text.Encoding.UTF8.GetString(fileContents)));
importResourceFilesThread.Start();
}
Thread writeTextFileThread = new Thread(() => writeBinaryResponseToFile((string)serviceReceiver.HandlerParameter, fileContents));
writeTextFileThread.Start();
updateFileRequestStatus(resourceFileUri);
#endif
}
private void receiveTextureFiles(ServiceReceiver serviceReceiver, object serviceResponse)
{
writeBinaryResponseToFile((string)serviceReceiver.HandlerParameter, ((ParamValueByte)serviceResponse).value);
updateFileRequestStatus(new Uri(((ParamName)serviceReceiver.ServiceParameter).name));
}
private void ReceiveTextureFiles(ServiceReceiver <file_server.GetBinaryFileRequest, file_server.GetBinaryFileResponse> serviceReceiver, file_server.GetBinaryFileResponse serviceResponse)
{
WriteBinaryResponseToFile((string)serviceReceiver.HandlerParameter, serviceResponse.value);
UpdateFileRequestStatus(new Uri(serviceReceiver.ServiceParameter.name));
}
