protected override RosMessage_old Create(Type objectType, JObject jObject)
{
if (jObject == null)
{
return(new RosMessage_old());
}
else if (jObject["op"].ToString() == "advertise")
{
return(new RosAdvertise_old(jObject["topic"].ToString(), jObject["type"].ToString()));
}
else if (jObject["op"].ToString() == "subscribe")
{
return(new RosSubscribe_old(jObject["topic"].ToString(), jObject["type"].ToString()));
}
else if (jObject["op"].ToString() == "unsubscribe")
{
return(new RosUnsubscribe_old(jObject["topic"].ToString()));
}
else if (jObject["op"].ToString() == "publish")
{
MessageData_old msg = new MessageData_old();
try
{
msg = JsonConvert.DeserializeObject <MessageData_old>(jObject["msg"].ToString(), new MessageDataConverter(jObject["topic"].ToString()));
}
catch
{
}
return(new RosPublish_old(jObject["topic"].ToString(), msg));
}
else
{
return(new RosMessage_old()); // empty dummy
}
}
public RosPublish_old(string topic, MessageData_old messageData)
{
++RosMessage_old._id;
this.op = "publish";
this.id = "publish:" + topic + ":" + _id;
this.topic = topic;
this.msg = messageData;
this.latch = false;
}
