void
PluginTreeView::on_connected()
{
try
{
FawkesNetworkClient *client = m_dispatcher.get_client();
// subscribe for load-/unload messages
FawkesNetworkMessage* msg = new FawkesNetworkMessage(FAWKES_CID_PLUGINMANAGER,
MSG_PLUGIN_SUBSCRIBE_WATCH);
client->enqueue(msg);
// request list of available plugins
msg = new FawkesNetworkMessage(FAWKES_CID_PLUGINMANAGER,
MSG_PLUGIN_LIST_AVAIL);
client->enqueue(msg);
// request list of loaded plugins
msg = new FawkesNetworkMessage(FAWKES_CID_PLUGINMANAGER,
MSG_PLUGIN_LIST_LOADED);
client->enqueue(msg);
}
catch (Exception& e)
{
e.print_trace();
}
}
void
try_localize(const std::string &host, unsigned short int port, std::string &interface_id,
std::string frame,
double translation[3], double rotation[4], double covariance[36])
{
FawkesNetworkClient *c = new FawkesNetworkClient(host.c_str(), port);
c->connect();
if (frame == "") {
NetworkConfiguration *netconf = NULL;
try {
netconf = new NetworkConfiguration(c);
frame = netconf->get_string("/frames/fixed");
} catch (Exception &e) {
printf("WARNING: no frame set and failed to get frame from remote.\n");
e.print_trace();
}
delete netconf;
}
BlackBoard *bb = new RemoteBlackBoard(c);
LocalizationInterface *loc_if =
bb->open_for_reading<LocalizationInterface>(interface_id.c_str());
if (! loc_if->has_writer()) {
bb->close(loc_if);
delete bb;
throw Exception("No writer for interface %s, aborting",
loc_if->uid());
}
LocalizationInterface::SetInitialPoseMessage *ipm =
new LocalizationInterface::SetInitialPoseMessage();
ipm->set_frame(frame.c_str());
ipm->set_translation(translation);
ipm->set_rotation(rotation);
ipm->set_covariance(covariance);
loc_if->msgq_enqueue(ipm);
// allow for some time so message is actually sent
usleep(500000);
bb->close(loc_if);
delete bb;
delete c;
}
void
NetLogGuiGtkWindow::on_connbut_clicked(Gtk::Image *image, fawkes::LogView *logview)
{
FawkesNetworkClient *client = logview->get_client();
if ( client->connected() ) {
client->disconnect();
} else {
try {
client->connect();
} catch (Exception &e) {
Glib::ustring message = *(e.begin());
Gtk::MessageDialog md(*this, message, /* markup */ false,
Gtk::MESSAGE_ERROR, Gtk::BUTTONS_OK,
/* modal */ true);
md.set_title("Connection failed");
md.run();
}
}
}
