private void SendSubscribeOperation(ROSBridgeSubscriber subscriber)
{
string s = ROSBridgeMsg.Subscribe(subscriber.Topic, ((IMsg)Activator.CreateInstance(subscriber.MessageType)).ROSMessageType);
Debug.Log($"Sending: {s}");
_ws?.Send(s);
}
private void SendUnSubscribeOperation(ROSBridgeSubscriber subscriber)
{
string s = ROSBridgeMsg.UnSubscribe(subscriber.Topic);
Debug.Log($"Sending: {s}");
_ws?.Send(s);
}
public ROSBridgeSubscriber <T> Subscribe <T>(string topic, ROSCallback <T> callback, int queueSize) where T : IMsg, new()
{
Type messageType = typeof(T);
ThrowIfTopicExistsUnderDifferentType(topic, messageType, "subscribe");
ROSBridgeSubscriber subscriber;
if (!subscribers.TryGetValue(topic, out subscriber))
{
subscriber = new ROSBridgeSubscriber <T>(topic, queueSize);
subscribers.Add(topic, subscriber);
CacheTopic(topic, messageType);
SendSubscribeOperation(subscriber);
}
var sub = (ROSBridgeSubscriber <T>)subscriber;
sub.Subscribe(callback);
return(sub);
}