MStatus sgBDataCmd_key::readData( MString nameFilePath )
{
MStatus status;
std::ifstream inFile( nameFilePath.asChar(), ios::binary );
MString nameTarget;
readString( nameTarget, inFile );
MSelectionList selList;
nameTarget.substitute( ":", "_" );
MGlobal::getSelectionListByName( nameTarget, selList );
MObject oTarget;
selList.getDependNode( 0, oTarget );
MFnDagNode fnNode( oTarget );
m_objectKeyDataImport.oTargetNode = oTarget;
readUnsignedInt( m_objectKeyDataImport.unit, inFile );
readStringArray( m_objectKeyDataImport.namesAttribute, inFile );
readDoubleArray( m_objectKeyDataImport.dArrTime, inFile );
unsigned int lengthValues = m_objectKeyDataImport.namesAttribute.length() * m_objectKeyDataImport.dArrTime.length();
m_objectKeyDataImport.dArrValuesArray.setLength( lengthValues );
for( unsigned int j=0; j<lengthValues; j++ )
inFile.read( ( char* )&m_objectKeyDataImport.dArrValuesArray[j], sizeof( double ) );
inFile.close();
return MS::kSuccess;
}
void MUX::onInit()
{
advertised_ = false;
pnh_ = getPrivateNodeHandle();
topics_ = readStringArray("topics", pnh_);
if (topics_.size() < 1) {
NODELET_FATAL("need to specify at least one topic in ~topics");
return;
}
pub_selected_ = pnh_.advertise<std_msgs::String>("selected", 1, true);
selected_topic_ = topics_[0];
subscribeSelectedTopic();
// in original mux node, it subscribes all the topics first, however
// in our version, we never subscribe topic which are not selected.
// service advertise: _select, select, add, list, delete
ss_select_ = pnh_.advertiseService("select", &MUX::selectTopicCallback, this);
ss_add_ = pnh_.advertiseService("add", &MUX::addTopicCallback, this);
ss_list_ = pnh_.advertiseService("list", &MUX::listTopicCallback, this);
ss_del_ = pnh_.advertiseService("delete", &MUX::deleteTopicCallback, this);
}
