/**
* Add a publisher to this connection. There can be many publishers.
*/
public void AddPublisher(Type publisher)
{
IsValidStaticPublisher(publisher);
string topicName = (string)publisher.GetMethod("GetMessageTopic", BindingFlags.Public | BindingFlags.Static | BindingFlags.FlattenHierarchy).Invoke(null, new object[] { });
List <Type> topic_pubs;
if (static_publishers.TryGetValue(topicName, out topic_pubs))
{
if (!topic_pubs.Contains(publisher))
{
topic_pubs.Add(publisher);
}
}
else
{
topic_pubs = new List <Type>(2);
topic_pubs.Add(publisher);
static_publishers.Add(topicName, topic_pubs);
}
if (_connected)
{
_ws.Send(ROSBridgeMsg.Advertise(topicName, GetMessageType(publisher)));
Debug.Log("Sending " + ROSBridgeMsg.Advertise(topicName, GetMessageType(publisher)));
}
}
private void Run()
{
_ws = new WebSocket(_host + ":" + _port);
// _ws.Compression = CompressionMethod.Deflate;
_ws.Log.Level = LogLevel.Trace;
// _ws.Log.File = "socket.log";
_ws.OnError += (sender, e) => { UnityEngine.Debug.LogError("Error: " + e.Message); };
_ws.OnClose += (sender, e) => { UnityEngine.Debug.Log("Connection closed: " + e.Reason); };
_ws.OnMessage += (sender, e) => this.OnMessage(e.Data);
_ws.Connect();
if (_ws != null)
{
foreach (Type p in _subscribers)
{
_ws.Send(ROSBridgeMsg.Subscribe(GetMessageTopic(p), GetMessageType(p)));
UnityEngine.Debug.Log("Sending " + ROSBridgeMsg.Subscribe(GetMessageTopic(p), GetMessageType(p)));
}
foreach (Type p in _publishers)
{
_ws.Send(ROSBridgeMsg.Advertise(GetMessageTopic(p), GetMessageType(p)));
UnityEngine.Debug.Log("Sending " + ROSBridgeMsg.Advertise(GetMessageTopic(p), GetMessageType(p)));
}
}
while (_applicationIsPlaying)
{
Thread.Sleep(1000);
}
}
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);
}
}
private void Run()
{
_ws = new WebSocket(_host + ":" + _port);
_ws.OnMessage += (sender, e) => this.OnMessage(e.Data);
_ws.Connect();
foreach (Type p in _subscribers)
{
_ws.Send(ROSBridgeMsg.Subscribe(GetMessageTopic(p), GetMessageType(p)));
Debug.Log("Sending " + ROSBridgeMsg.Subscribe(GetMessageTopic(p), GetMessageType(p)));
}
foreach (Type p in _publishers)
{
_ws.Send(ROSBridgeMsg.Advertise(GetMessageTopic(p), GetMessageType(p)));
Debug.Log("Sending " + ROSBridgeMsg.Advertise(GetMessageTopic(p), GetMessageType(p)));
}
foreach (Pair <Type, String> p in _publishersNew)
{
_ws.Send(ROSBridgeMsg.Advertise(p.Second, GetMessageType(p.First)));
Debug.Log("Sending " + ROSBridgeMsg.Publish(p.Second, GetMessageType(p.First)));
}
while (true)
{
Thread.Sleep(1000);
}
}
private void Run()
{
#if UNITY_EDITOR
_ws = new WebSocket(_host + ":" + _port);
_ws.OnMessage += (sender, e) => this.OnMessage(e.Data);
//TODO connecting takes too long
_ws.Connect();
foreach (Type p in _subscribers)
{
_ws.Send(ROSBridgeMsg.Subscribe(GetMessageTopic(p), GetMessageType(p)));
Debug.Log("Sending " + ROSBridgeMsg.Subscribe(GetMessageTopic(p), GetMessageType(p)));
}
foreach (Type p in _publishers)
{
_ws.Send(ROSBridgeMsg.Advertise(GetMessageTopic(p), GetMessageType(p)));
Debug.Log("Sending " + ROSBridgeMsg.Advertise(GetMessageTopic(p), GetMessageType(p)));
}
_connected = true;
while (true)
{
Thread.Sleep(1000);
}
#endif
}
public void AddPublisher(ROSBridgePublisher publisher)
{
_publishers.Add(publisher);
if (IsConnected && !IsDisconnecting)
{
WebSocket.Send(ROSBridgeMsg.Advertise(publisher.GetMessageTopic(), publisher.GetMessageType()));
}
}
/**
* Add a publisher to this connection. There can be many publishers.
*/
public void AddPublisher(Type publisher)
{
IsValidPublisher(publisher);
_publishers.Add(publisher);
if (_running)
{
_ws.Send(ROSBridgeMsg.Advertise(GetMessageTopic(publisher), GetMessageType(publisher)));
}
}
/// <summary>
/// Advertise to the ROSBridge server that a topic will be published to.
/// </summary>
/// <param name="topicName">The name of the topic to be published to.</param>
/// <param name="message_type">The message type of that topic.</param>
public void AddPublisher(string topicName, string message_type)
{
if (publishTopic_to_messageType.ContainsKey(topicName))
{
return;
}
publishTopic_to_messageType[topicName] = message_type;
if (_connected)
{
_ws.Send(ROSBridgeMsg.Advertise(topicName, message_type));
Debug.Log("Sending " + ROSBridgeMsg.Advertise(topicName, message_type));
}
}
private void Run(Action <string, bool> callback)
{
try
{
WebSocket = new WebSocket(_host + ":" + _port);
WebSocket.OnMessage += (sender, e) => this.OnMessage(e.Data);
WebSocket.Connect();
if (callback != null)
{
callback(_robotName, WebSocket.IsAlive);
}
if (!WebSocket.IsAlive)
{
return;
}
}
catch (Exception e)
{
Debug.Log(e);
return;
}
IsConnected = WebSocket.IsAlive;
WebSocket.OnClose += (sender, args) =>
{
if (OnDisconnect != null)
{
OnDisconnect(args.WasClean);
}
};
foreach (ROSBridgeSubscriber subscriber in _subscribers)
{
WebSocket.Send(ROSBridgeMsg.Subscribe(subscriber.GetMessageTopic(), subscriber.GetMessageType()));
Debug.Log("Sending " + ROSBridgeMsg.Subscribe(subscriber.GetMessageTopic(), subscriber.GetMessageType()));
}
foreach (ROSBridgePublisher publisher in _publishers)
{
WebSocket.Send(ROSBridgeMsg.Subscribe(publisher.GetMessageTopic(), publisher.GetMessageType()));
Debug.Log("Sending " + ROSBridgeMsg.Advertise(publisher.GetMessageTopic(), publisher.GetMessageType()));
}
while (true)
{
Thread.Sleep(1000);
}
}
/// <summary>
/// The function run by the _myThread thread. Establishes WebSocket connection with the remote ROSBridge server.
/// Performs all the topic subscriptions and advertisements calls made to this class prior to connection establishment.
/// </summary>
private void Run()
{
_ws = new WebSocket(_host + ":" + _port);
_ws.OnMessage += (sender, e) => this.OnMessage(e.Data);
_ws.Connect();
_connected = true;
foreach (KeyValuePair <string, List <Type> > topic in static_subscribers)
{
_ws.Send(ROSBridgeMsg.Subscribe(topic.Key, GetMessageType(topic.Value[0])));
Debug.Log("Sending " + ROSBridgeMsg.Subscribe(topic.Key, GetMessageType(topic.Value[0])));
}
foreach (KeyValuePair <string, List <ROSTopicSubscriber> > topic in subscribers)
{
if (!static_subscribers.ContainsKey(topic.Key))
{
_ws.Send(ROSBridgeMsg.Subscribe(topic.Key, topic.Value[0].GetMessageType(topic.Key)));
Debug.Log("Sending " + ROSBridgeMsg.Subscribe(topic.Key, topic.Value[0].GetMessageType(topic.Key)));
}
}
foreach (KeyValuePair <string, List <Type> > topic in static_publishers)
{
_ws.Send(ROSBridgeMsg.Advertise(topic.Key, GetMessageType(topic.Value[0])));
Debug.Log("Sending " + ROSBridgeMsg.Advertise(topic.Key, GetMessageType(topic.Value[0])));
}
foreach (KeyValuePair <string, string> topic in publishTopic_to_messageType)
{
if (!static_publishers.ContainsKey(topic.Key))
{
_ws.Send(ROSBridgeMsg.Advertise(topic.Key, topic.Value));
Debug.Log("Sending " + ROSBridgeMsg.Advertise(topic.Key, topic.Value));
}
}
//while(true) {
// Thread.Sleep (1000);
//}
}
private void Run()
{
_ws = new WebSocket(_host + ":" + _port);
_ws.OnMessage += (sender, e) => this.OnMessage(e.Data);
_ws.OnError += (sender, e) => OnError(sender, e);
_ws.Connect();
CheckConnection();
_running = true;
foreach (Type p in _subscribers)
{
_ws.Send(ROSBridgeMsg.Subscribe(GetMessageTopic(p), GetMessageType(p)));
//Debug.Log ("Sending " + ROSBridgeMsg.Subscribe (GetMessageTopic(p), GetMessageType (p)));
}
foreach (Type p in _publishers)
{
_ws.Send(ROSBridgeMsg.Advertise(GetMessageTopic(p), GetMessageType(p)));
//Debug.Log ("Sending " + ROSBridgeMsg.Advertise (GetMessageTopic(p), GetMessageType(p)));
}
while (true)
{
Thread.Sleep(10000);
}
}
//Successfull network connection handler on hololens
#if !UNITY_EDITOR
public void NetworkConnectedHandler(IAsyncAction asyncInfo, AsyncStatus status)
{
// Status completed is successful.
if (status == AsyncStatus.Completed)
{
//Creating the writer that will be repsonsible to send a message through Rosbridge
dataWriter = new DataWriter(messageWebSocket.OutputStream);
//Connect to all topics in _subscribers and _publishers
foreach (Type p in _subscribers)
{
dataWriter.WriteString(ROSBridgeMsg.Subscribe(GetMessageTopic(p), GetMessageType(p)));
dataWriter.StoreAsync();
Debug.Log("Sending " + ROSBridgeMsg.Subscribe(GetMessageTopic(p), GetMessageType(p)));
}
foreach (Type p in _publishers)
{
dataWriter.WriteString(ROSBridgeMsg.Advertise(GetMessageTopic(p), GetMessageType(p)));
dataWriter.StoreAsync();
Debug.Log("Sending " + ROSBridgeMsg.Advertise(GetMessageTopic(p), GetMessageType(p)));
}
_connected = true;
}
}
public void AddPublisherOnline(Type publisher)
{
AddPublisher(publisher);
_ws.Send(ROSBridgeMsg.Advertise(GetMessageTopic(publisher), GetMessageType(publisher)));
}
