//TODO: Change the registration of laser scanners
void World_ComponentRemoving(object sender, ComponentRemovingEventArgs args)
{
ILaserScanner found = null;
foreach (ILaserScanner laser_scanner in laser_scanners)
{
if (laser_scanner.Component.Equals(args.Component))
{
// found
found = laser_scanner;
}
}
if (found != null)
{
ms.AppendMessage("Removing LaserScanner from RobotController!", MessageLevel.Warning);
found.OnHumanDetected -= OutputOnHumanDetected;
laser_scanners.Remove(found);
ms.AppendMessage("LaserScanners: " + laser_scanners.Count(), MessageLevel.Warning);
}
}
private void World_ComponentRemoving(object sender, ComponentRemovingEventArgs e)
{
NodeId componentId = NodeId.Create(e.Component.Name, Namespaces.vc2opcua, uaServer.NamespaceUris);
ComponentState componentNode = (ComponentState)nodeManager.FindPredefinedNode(componentId,
typeof(ComponentState));
if (componentNode != null)
{
nodeManager.RemoveNode(nodeManager.baseFolder, componentNode, ReferenceTypeIds.Organizes);
}
// Remove signals from SignalComponents property
VcComponent vcComponent = new VcComponent(e.Component);
foreach (ISignal signal in vcComponent.GetSignals())
{
string nodeNameParent = String.Format("{0}-{1}", signal.Name, vcComponent.component.Name);
UaBrowseName2VcComponentName.Remove(nodeNameParent);
}
_vcUtils.VcWriteWarningMsg("Component removed: " + e.Component.Name);
}
