public void Loop()
{
var msec_pause = (config.data_streamer_hz < 1) ? 0 : 1000 / config.data_streamer_hz;
var start_time = DateTime.Now;
bool streaming_active;
string msg;
std_msgs.String msg_data = new std_msgs.String();
while (true)
{
lock (config.ConfigLock)
{
streaming_active = config.steaming_data;
}
if (streaming_active)
{
if (ReinitHeadset())
{
start_time = DateTime.Now;
}
msg = DateTime.Now.Subtract(start_time).TotalMilliseconds.ToString();
msg_data.data = msg;
}
lock (config.SocketLock)
{
config.socket.Publish(config.get_data_topic_id, msg_data);
}
Thread.Sleep(msec_pause);
}
}
public void PublicationTest()
{
string id = RosSocket.Advertise <std_msgs.String>("/publication_test");
std_msgs.String message = new std_msgs.String
{
data = "publication test message data"
};
RosSocket.Publish(id, message);
RosSocket.Unadvertise(id);
Thread.Sleep(100);
Assert.IsTrue(true);
}
public static void Main(string[] args)
{
//RosSocket rosSocket = new RosSocket(new RosBridgeClient.Protocols.WebSocketSharpProtocol(uri));
RosSocket rosSocket = new RosSocket(new RosBridgeClient.Protocols.WebSocketNetProtocol(uri));
// Publication:
std_msgs.String message = new std_msgs.String
{
data = "publication test message data"
};
string publication_id = rosSocket.Advertise <std_msgs.String>("publication_test");
rosSocket.Publish(publication_id, message);
// Subscription:
string subscription_id = rosSocket.Subscribe <std_msgs.String>("/subscription_test", SubscriptionHandler);
subscription_id = rosSocket.Subscribe <std_msgs.String>("/subscription_test", SubscriptionHandler);
// Service Call:
rosSocket.CallService <rosapi.GetParamRequest, rosapi.GetParamResponse>("/rosapi/get_param", ServiceCallHandler, new rosapi.GetParamRequest("/rosdistro", "default"));
// Service Response:
string service_id = rosSocket.AdvertiseService <std_srvs.TriggerRequest, std_srvs.TriggerResponse>("/service_response_test", ServiceResponseHandler);
Console.WriteLine("Press any key to unsubscribe...");
Console.ReadKey(true);
rosSocket.Unadvertise(publication_id);
rosSocket.Unsubscribe(subscription_id);
rosSocket.UnadvertiseService(service_id);
Console.WriteLine("Press any key to close...");
Console.ReadKey(true);
rosSocket.Close();
}
private static void SubscriptionHandler(std_msgs.String message)
{
Console.WriteLine((message).data);
}
private void SubscriptionHandler(std_msgs.String message)
{
OnMessageReceived.Set();
}
private void SubscriptionHandler(std_msgs.String message)
{
Debug.Log("Message received!");
Debug.Log(message.data);
}