/// <summary>
/// Gets all currently published and subscribed topics and adds them to the topic list
/// </summary>
/// <param name="topics"> List to store topics</param>
/// <returns></returns>
public static bool getTopics(ref TopicInfo[] topics)
{
List<TopicInfo> topicss = new List<TopicInfo>();
XmlRpcValue args = new XmlRpcValue(), result = new XmlRpcValue(), payload = new XmlRpcValue();
args.Set(0, this_node.Name);
args.Set(1, "");
if (!execute("getPublishedTopics", args, result, payload, true))
return false;
topicss.Clear();
for (int i = 0; i < payload.Size; i++)
topicss.Add(new TopicInfo(payload[i][0].Get<string>(), payload[i][1].Get<string>()));
topics = topicss.ToArray();
return true;
}
public MainWindow()
{
new Thread(() =>
{
ROS.Init(new string[0], "dynamic_reconfigure_sharp_" + Environment.MachineName);
nh = new NodeHandle();
Dispatcher.Invoke(new Action(() => { ConnecitonLabel.Content = "Connected"; }));
}).Start();
try
{
InitializeComponent();
System.Diagnostics.PresentationTraceSources.DataBindingSource.Switch.Level = System.Diagnostics.SourceLevels.Critical;
TargetBox.ItemsSource = knownConfigurations.Keys;
knownConfigurations.Add("-", null);
TargetBox.SelectedIndex = 0;
}
catch (Exception e)
{
EDB.WriteLine(e);
Close();
}
topicPoller = new Thread(() =>
{
while (ROS.ok && !ROS.shutting_down)
{
TopicInfo[] topics = new TopicInfo[0];
master.getTopics(ref topics);
string[] nodes = new string[0];
master.getNodes(ref nodes);
List<string> prevlist = new List<string>(knownConfigurations.Keys);
List<string> additions = new List<string>();
foreach (TopicInfo ti in topics)
{
if (ti.data_type == "dynamic_reconfigure/Config")
{
string prefix = ti.name.Replace("/parameter_updates", "");
if (!knownConfigurations.ContainsKey(prefix))
additions.Add(prefix);
else
prevlist.Remove(prefix);
}
}
lock (this)
{
if (!ROS.ok || ROS.shutting_down)
return;
foreach (string prefix in additions)
{
string pfx = prefix;
Dispatcher.Invoke(new Action(() =>
{
knownConfigurations.Add(pfx, null);
}), new TimeSpan(0,0,0,1));
}
}
Dispatcher.Invoke(new Action(TargetBox.Items.Refresh));
foreach (string s in prevlist)
{
if (!s.Equals("-"))
{
string pfx = s;
Dispatcher.Invoke(new Action(() =>
{
if (reconfigureview != null && s.Equals(reconfigureview.Namespace))
reconfigureview.Namespace = null;
if (TargetBox.SelectedItem != null && ((string) TargetBox.SelectedItem).Equals(pfx))
{
TargetBox.SelectedIndex = 0;
}
lock (this)
{
knownConfigurations.Remove(pfx);
}
}), new TimeSpan(0, 0, 0, 1));
}
}
Dispatcher.Invoke(new Action(TargetBox.Items.Refresh));
if (reconfigureview == null && nh != null)
{
Dispatcher.Invoke(new Action(() =>
{
string target = null;
if (TargetBox.SelectedItem != null && !String.Equals(TargetBox.SelectedItem.ToString(), "-"))
target = TargetBox.SelectedItem.ToString();
reconfigureview = new DynamicReconfigurePage(nh, target);
PageContainer.Children.Add(reconfigureview);
}));
}
Thread.Sleep(500);
}
});
topicPoller.Start();
}
