private void Run()
{
_ws = new WebSocket(_host + ":" + _port);
_ws.OnMessage += (sender, e) => this.OnMessage(e.Data);
//_ws.CloseAsync();
_ws.Connect();
foreach (Type p in _subscribers)
{
_ws.Send(ROSBridgeMsg.Subscribe(GetMessageTopic(p), GetMessageType(p)));
if (_debug)
{
Debug.Log("Sending " + ROSBridgeMsg.Subscribe(GetMessageTopic(p), GetMessageType(p)));
}
}
foreach (Type p in _publishers)
{
_ws.Send(ROSBridgeMsg.Advertise(GetMessageTopic(p), GetMessageType(p)));
if (_debug)
{
Debug.Log("Sending " + ROSBridgeMsg.Advertise(GetMessageTopic(p), GetMessageType(p)));
}
}
while (true)
{
Thread.Sleep(10000);
}
}
/**
* Add a publisher to this connection. There can be many publishers.
*/
public void AddPublisher(Type publisher)
{
IsValidPublisher(publisher);
_publishers.Add(publisher);
if (_connected)
{
_ws.Send(ROSBridgeMsg.Advertise(GetMessageTopic(publisher), GetMessageType(publisher)));
}
}