public void SendMessage(T data)
{
if (connected)
{
#if !UNITY_EDITOR
// Custom parser to interpret the JSON data into Unity datatypes
if (SendQueue.Count > 0)
{
String msg = RosMsg.Encode(SendQueue.Dequeue());
RosMessenger.Instance.Publish(RosTopic, msg);
Debug.Log("[" + name + "] Publishing: " + msg);
}
String processed = RosMsg.Encode(data);
RosMessenger.Instance.Publish(RosTopic, processed);
Debug.Log("[" + name + "] Publishing: " + processed);
#endif
}
else
{
SendQueue.Enqueue(data);
while (SendQueue.Count > QueueSize)
{
SendQueue.Dequeue();
}
}
}
public T GetNewMessage()
{
while ((buffer != null) && (buffer.Count > 0))
{
// Custom parser to interpret the JSON data into Unity datatypes
JSONNode data = buffer.Dequeue();
T processed = RosMsg.Decode <T>(data);
MsgQueue.Enqueue(processed);
Debug.Log("[" + name + "] Received: " + processed.ToJSON());
while (MsgQueue.Count > QueueSize)
{
MsgQueue.Dequeue(); // Removes the oldest messages to obtain QueueSize latest messages
}
}
return(MsgQueue.Dequeue());
}