Add example, add new type message and fixed bug for .net462

Samples/StreamingCam/Program.cs

@@ -0,0 +1,140 @@
+using System;
+using System.Diagnostics;
+using System.Threading;
+using Uml.Robotics.Ros;
+using std_msgs = Messages.std_msgs;
+using Image = Messages.sensor_msgs.Image;
+using System.Drawing;
+using System.Drawing.Imaging;
+using AForge.Video;
+using AForge.Video.DirectShow;
+using System.Linq;
+using System.IO;
+using System.Runtime.InteropServices;
+
+namespace StreamingCam
+{
+    class Program
+    {
+        static Bitmap video;
+        static void Main(string[] args)
+        {
+
+
+            FilterInfoCollection VideoCaptureDevices;
+            VideoCaptureDevice FinalVideo;
+
+
+
+            Trace.Listeners.Add(new TextWriterTraceListener(Console.Out));
+            ROS.Init(args, "Talker");
+            var spinner = new SingleThreadSpinner();
+            NodeHandle node = new NodeHandle();
+
+            Publisher<Image> Talker = node.Advertise<Image>("/video", 1);
+            int count = 0;
+
+
+
+            VideoCaptureDevices = new FilterInfoCollection(FilterCategory.VideoInputDevice);
+
+            FinalVideo = new VideoCaptureDevice(VideoCaptureDevices[0].MonikerString);
+            FinalVideo.NewFrame += new NewFrameEventHandler(FinalVideo_NewFrame);
+            FinalVideo.Start();
+
+
+
+            while (ROS.OK && !Console.KeyAvailable)
+            {
+                Console.WriteLine("publishing message");
+                ROS.Info()("Publishing a chatter message:    \"Blah blah blah " + "");
+
+                if (video != null)
+                {
+                    Image img = new Image();
+                    img.header = new std_msgs.Header();
+                    img.header.seq = (uint)count++;
+                    img.header.stamp = new std_msgs.Time();
+                    img.header.frame_id = "/jkfd";
+                    img.width = (uint)video.Width;
+                    img.height = (uint)video.Height;
+                    img.encoding = "rgb8";
+                    img.is_bigendian = 0;
+                    img.step = 640 * 1 * 3;
+                    byte[] tmp = BitmapToByteArray(video);
+
+                    //img.data = new byte[img.width * img.height * 3];
+                    //Array.Copy(tmp, 54, img.data, 0, tmp.Length - 54);
+                    img.data = BitmapToByteArray(video);
+                    //323704
+                    //921654
+
+                    Talker.Publish(img);
+                    spinner.SpinOnce();
+                }
+                Thread.Sleep(300);
+            }
+            ROS.Shutdown();
+
+            //view v = new view();
+            //v.ShowDialog();
+
+
+
+        }
+
+        static void FinalVideo_NewFrame(object sender, NewFrameEventArgs eventArgs)
+        {
+            video = (Bitmap)eventArgs.Frame.Clone();
+            //Bitmap v= new Bitmap()
+            //this.pictureBox1.Image = video;
+
+
+
+
+
+        }
+
+        public static byte[] BitmapToByteArray(Bitmap bitmap)
+        {
+
+            BitmapData bmpdata = null;
+
+            try
+            {
+                bmpdata = bitmap.LockBits(new Rectangle(0, 0, bitmap.Width, bitmap.Height), ImageLockMode.ReadOnly, bitmap.PixelFormat);
+                int numbytes = bmpdata.Stride * bitmap.Height;
+                byte[] bytedata = new byte[numbytes];
+                IntPtr ptr = bmpdata.Scan0;
+
+                Marshal.Copy(ptr, bytedata, 0, numbytes);
+
+                return bytedata;
+            }
+            finally
+            {
+                if (bmpdata != null)
+                    bitmap.UnlockBits(bmpdata);
+            }
+
+        }
+
+        static byte[] ConvertBitMapToByteArray(Bitmap bitmap)
+        {
+
+                bitmap.RotateFlip(RotateFlipType.Rotate180FlipNone); // in ros lo 0:0 si trova al top left 
+
+                MemoryStream stream = new MemoryStream();
+                bitmap.Save(stream, ImageFormat.Bmp);
+                return stream.ToArray();
+
+
+
+        }
+        public static byte[] ImageToByte(Bitmap img)
+        {
+            ImageConverter converter = new ImageConverter();
+            return (byte[])converter.ConvertTo(img, typeof(byte[]));
+        }
+    }
+}

Samples/StreamingCam/StreamingCam.csproj

@@ -0,0 +1,35 @@
+<Project Sdk="Microsoft.NET.Sdk">
+
+  <PropertyGroup>
+    <OutputType>Exe</OutputType>
+    <TargetFramework>net462</TargetFramework>
+  </PropertyGroup>
+
+  <ItemGroup>
+    <ProjectReference Include="..\..\Uml.Robotics.Ros.Messages\Uml.Robotics.Ros.Messages.csproj" />
+    <ProjectReference Include="..\..\Uml.Robotics.Ros\Uml.Robotics.Ros.csproj" />
+  </ItemGroup>
+
+  <ItemGroup>
+    <Reference Include="AForge">
+      <HintPath>..\..\..\..\Git_repo\TPV_Aena\TPV C sharp\lib\AForge.dll</HintPath>
+    </Reference>
+    <Reference Include="AForge.Imaging">
+      <HintPath>..\..\..\..\Git_repo\TPV_Aena\TPV C sharp\lib\AForge.Imaging.dll</HintPath>
+    </Reference>
+    <Reference Include="AForge.Video">
+      <HintPath>..\..\..\..\Git_repo\TPV_Aena\TPV C sharp\lib\AForge.Video.dll</HintPath>
+    </Reference>
+    <Reference Include="AForge.Video.DirectShow">
+      <HintPath>..\..\..\..\Git_repo\TPV_Aena\TPV C sharp\lib\AForge.Video.DirectShow.dll</HintPath>
+    </Reference>
+    <Reference Include="System.Windows.Forms" />
+  </ItemGroup>
+
+  <ItemGroup>
+    <Compile Update="view.cs">
+      <SubType>Form</SubType>
+    </Compile>
+  </ItemGroup>
+
+</Project>

Samples/StreamingCam/view.cs

@@ -0,0 +1,53 @@
+using System;
+using System.Collections.Generic;
+using System.ComponentModel;
+using System.Data;
+using System.Drawing;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+using System.Windows.Forms;
+using AForge.Video;
+using AForge.Video.DirectShow;
+
+namespace StreamingCam
+{
+    public partial class view: Form
+    {
+        private FilterInfoCollection VideoCaptureDevices;
+        private VideoCaptureDevice FinalVideo;
+
+        public Bitmap video;
+        public view()
+        {
+            InitializeComponent();
+
+            VideoCaptureDevices = new FilterInfoCollection(FilterCategory.VideoInputDevice);
+
+            FinalVideo = new VideoCaptureDevice(VideoCaptureDevices[0].MonikerString);
+            FinalVideo.NewFrame += new NewFrameEventHandler(FinalVideo_NewFrame);
+
+
+
+
+
+
+        }
+
+        public void btnOK_Click(object sender, EventArgs e)
+        {
+            FinalVideo.Start();
+        }
+        private void view_FormClosing(object sender, FormClosingEventArgs e)
+        {
+            FinalVideo.Stop();
+        }
+        void FinalVideo_NewFrame(object sender, NewFrameEventArgs eventArgs)
+        {
+            video = (Bitmap)eventArgs.Frame.Clone();
+
+            this.pictureBox1.Image = video;
+
+        }
+    }
+}

Uml.Robotics.Ros.MessageBase/TypeRegistryBase.cs

@@ -4,8 +4,10 @@
 using System.Collections.Generic;
 using System.Linq;
 using System.Reflection;
-using System.Runtime.Loader;
 
+#if NETCORE
+using System.Runtime.Loader;
+#endif
 namespace Uml.Robotics.Ros
 {
     public class TypeRegistryBase
@@ -48,18 +50,17 @@ public static IEnumerable<Assembly> GetCandidateAssemblies(params string[] tagAs
 #if NETCORE
             var context = DependencyContext.Load(Assembly.GetEntryAssembly());
             var loadContext = AssemblyLoadContext.Default;
-
+ 
             return context.RuntimeLibraries
                 .Where(x => x.Dependencies.Any(d => referenceAssemblies.Contains(d.Name)))
                 .SelectMany(x => x.GetDefaultAssemblyNames(context))
                 .Select(loadContext.LoadFromAssemblyName);
 #else
-            var context = DependencyContext.Load(Assembly.GetEntryAssembly());
+
+            Assembly[] a = AppDomain.CurrentDomain.GetAssemblies();
 
-            return context.RuntimeLibraries
-                .Where(x => x.Dependencies.Any(d => referenceAssemblies.Contains(d.Name)))
-                .SelectMany(x => x.GetDefaultAssemblyNames(context))
-                .Select(Assembly.Load);
+            return a.Where(x=> x.GetReferencedAssemblies().Any(y => referenceAssemblies.Contains(y.Name)));
+
 #endif
         }
     }

Uml.Robotics.Ros.sln

@@ -41,6 +41,8 @@ Project("{9A19103F-16F7-4668-BE54-9A1E7A4F7556}") = "ActionServerSample", "Sampl
 EndProject
 Project("{9A19103F-16F7-4668-BE54-9A1E7A4F7556}") = "PubSubTestbed", "Tests\PubSubTestbed\PubSubTestbed.csproj", "{1C8D0504-5236-4FFF-AA8F-2CFF6C564DC0}"
 EndProject
+Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "StreamingCam", "Samples\StreamingCam\StreamingCam.csproj", "{BBBE254B-D17E-45A8-B97E-1FDA4D9DD0E5}"
+EndProject
 Global
 	GlobalSection(SolutionConfigurationPlatforms) = preSolution
 		Debug|Any CPU = Debug|Any CPU
@@ -115,6 +117,10 @@ Global
 		{1C8D0504-5236-4FFF-AA8F-2CFF6C564DC0}.Debug|Any CPU.Build.0 = Debug|Any CPU
 		{1C8D0504-5236-4FFF-AA8F-2CFF6C564DC0}.Release|Any CPU.ActiveCfg = Release|Any CPU
 		{1C8D0504-5236-4FFF-AA8F-2CFF6C564DC0}.Release|Any CPU.Build.0 = Release|Any CPU
+		{BBBE254B-D17E-45A8-B97E-1FDA4D9DD0E5}.Debug|Any CPU.ActiveCfg = Debug|Any CPU
+		{BBBE254B-D17E-45A8-B97E-1FDA4D9DD0E5}.Debug|Any CPU.Build.0 = Debug|Any CPU
+		{BBBE254B-D17E-45A8-B97E-1FDA4D9DD0E5}.Release|Any CPU.ActiveCfg = Release|Any CPU
+		{BBBE254B-D17E-45A8-B97E-1FDA4D9DD0E5}.Release|Any CPU.Build.0 = Release|Any CPU
 	EndGlobalSection
 	GlobalSection(SolutionProperties) = preSolution
 		HideSolutionNode = FALSE
@@ -131,6 +137,7 @@ Global
 		{4F0E93D5-6CC7-4971-BB91-A5139CF4B05E} = {9C75EAAD-EACA-4E4F-B9DA-D7BADB3B7577}
 		{3041CF5C-222C-412E-8EE6-289C1DE0E567} = {9C75EAAD-EACA-4E4F-B9DA-D7BADB3B7577}
 		{1C8D0504-5236-4FFF-AA8F-2CFF6C564DC0} = {EEE8759B-47AD-455B-8F32-0A36EAE2512B}
+		{BBBE254B-D17E-45A8-B97E-1FDA4D9DD0E5} = {9C75EAAD-EACA-4E4F-B9DA-D7BADB3B7577}
 	EndGlobalSection
 	GlobalSection(ExtensibilityGlobals) = postSolution
 		SolutionGuid = {23E67514-C5C2-464B-8371-A9A618DE03BA}