protected virtual void Start()
{
if (this.rosBridgeIP.Equals(string.Empty))
{
this.rosBridgeIP = ConfigManager.Instance.configInfo.rosbridgeIP;
}
if (this.rosBridgePort == 0)
{
this.rosBridgePort = ConfigManager.Instance.configInfo.rosbridgePort;
}
if (!RosConnectionManager.Instance.rosConnections.rosBridgeWebSocketConnectionMap.ContainsKey(topicName))
{
this.webSocketConnection = new SIGVerse.RosBridge.RosBridgeWebSocketConnection(rosBridgeIP, rosBridgePort);
RosConnectionManager.Instance.rosConnections.rosBridgeWebSocketConnectionMap.Add(topicName, this.webSocketConnection);
this.publisher = this.webSocketConnection.Advertise <Tmsg>(topicName);
// Connect to ROSbridge server
this.webSocketConnection.Connect();
}
else
{
this.webSocketConnection = RosConnectionManager.Instance.rosConnections.rosBridgeWebSocketConnectionMap[topicName];
this.publisher = this.webSocketConnection.Advertise <Tmsg>(topicName);
}
}
/// <summary>
/// Remove a publisher from this connection
/// </summary>
/// <param name="publisher"></param>
public void Unadvertise(RosBridgePublisher publisher)
{
if (this.IsConnected)
{
this.webSocket.Send(RosBridgeMsg.UnAdvertiseTopic(publisher.Topic));
}
publisher.Unadvertise();
this.publishers.Remove(publisher);
}
/// <summary>
/// Add a publisher to this connection. There can be many publishers.
/// </summary>
/// <typeparam name="Tpub">Publisher type to advertise</typeparam>
/// <param name="topic">Topic to advertise on</param>
/// <returns>A publisher which can be used to broadcast data on the given topic</returns>
public RosBridgePublisher <Tmsg> Advertise <Tmsg>(string topic, uint queueSize = 0) where Tmsg : RosMessage
{
RosBridgePublisher <Tmsg> publisher = (RosBridgePublisher <Tmsg>)Activator.CreateInstance(typeof(RosBridgePublisher <Tmsg>), new object[] { topic, queueSize });
publisher.SetConnection(this);
publisher.CreatePublishingThread();
this.publishers.Add(publisher);
if (this.IsConnected)
{
this.webSocket.Send(RosBridgeMsg.AdvertiseTopic(publisher.Topic, publisher.Type));
}
return(publisher);
}
void Start()
{
if (!ConfigManager.Instance.configInfo.rosbridgeIP.Equals(string.Empty))
{
this.rosBridgeIP = ConfigManager.Instance.configInfo.rosbridgeIP;
this.rosBridgePort = ConfigManager.Instance.configInfo.rosbridgePort;
}
this.webSocketConnection = new RosBridgeWebSocketConnection(rosBridgeIP, rosBridgePort);
this.stringPublisher = this.webSocketConnection.Advertise <std_msgs.String>(topicName);
// Connect to ROSbridge server
this.webSocketConnection.Connect();
this.stringMessage = new std_msgs.String();
}
