private void SendAdvertiseOperation(ROSBridgePublisher subscriber)
{
string s = ROSBridgeMsg.Advertise(subscriber.Topic, ((IMsg)Activator.CreateInstance(subscriber.MessageType)).ROSMessageType);
Debug.Log($"Sending: {s}");
_ws?.Send(s);
}
private void SendUnAdvertiseOperation(ROSBridgePublisher publisher)
{
string s = ROSBridgeMsg.UnAdvertise(publisher.Topic);
Debug.Log($"Sending: {s}");
_ws?.Send(s);
}
public ROSBridgePublisher Advertise <T>(string topic) where T : IMsg
{
Type messageType = typeof(T);
ThrowIfTopicExistsUnderDifferentType(topic, messageType, "advertise");
ROSBridgePublisher publisher;
if (!publishers.TryGetValue(topic, out publisher))
{
publisher = new ROSBridgePublisher(_ws, topic, messageType);
publishers.Add(topic, publisher);
CacheTopic(topic, messageType);
SendAdvertiseOperation(publisher);
}
return(publisher);
}