/// <summary>
/// Handle OnMessage events, which occur when we receive a message
/// </summary>
/// <param name="sender">Sender.</param>
/// <param name="e">E.</param>
void HandleOnMessage(object sender, MessageEventArgs e)
{
// if the message is a string, we can parse it
if (e.IsText)
{
Logger.Log("[websocket] Received message: " + e.Data);
// use rosbridge utilities to decode and parse message
int command = -1;
object properties = null;
RosbridgeUtilities.DecodeROSJsonCommand(e.Data, out command, out properties);
// got a command!
// we let the game controller sort out if it's a real command or not
// as well as what to do with the extra properties, if any
// fire event indicating that we received a message
if (this.receivedMsgEvent != null)
{
// only send subset of msg that is actual message
this.receivedMsgEvent(this, command, properties);
}
}
else if (e.IsBinary)
{
Logger.LogWarning("[websocket] Received byte array in message but we " +
"were expecting a string message.");
}
}
public void HandleSpeechResultReceived(Dictionary <string, double> syllables)
{
Logger.Log("handle speech result received");
if (this.clientSocket != null)
{
Logger.Log("about to send message");
// send log string over ROS
this.clientSocket.SendMessage(RosbridgeUtilities.GetROSJsonPublishSpeechResultMsg(
Constants.SPEECH_RESULT_ROSTOPIC2,
syllables, speechText
));
// this.clientSocket.SendMessage(RosbridgeUtilities.GetROSJsonAdvertiseMsg(
// Constants.LOG_ROSTOPIC, Constants.LOG_ROSMSG_TYPE));
}
}
void setupROS()
{
// set up rosbridge websocket client
// note: does not attempt to reconnect if connection fails!
// demo mode does not use ROS!
if (this.clientSocket == null)
{
Logger.Log("!!!!!!!!!!!!!!!!!!! socket setup!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!");
// load file
if (this.gameConfig.server.Equals("") || this.gameConfig.port.Equals(""))
{
Logger.LogWarning("Do not have opal configuration... trying "
+ "hardcoded IP 192.168.1.103 and port 9090");
this.clientSocket = new RosbridgeWebSocketClient(
"192.168.1.103", // server, // can pass hostname or IP address
"9090"); //port);
}
else
{
this.clientSocket = new RosbridgeWebSocketClient(
this.gameConfig.server, // can pass hostname or IP address
this.gameConfig.port);
Logger.Log("!!!!!!!!!!!!!!!!!!! ros bridge web ..!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!");
}
if (this.clientSocket.SetupSocket())
{
Logger.Log("!!!!!!!!!!!!!!!!!!! socket setup successful!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!");
// this.clientSocket.receivedMsgEvent +=
// new ReceivedMessageEventHandler(HandleClientSocketReceivedMsgEvent);
Logger.Log("!!!!!!!!!!!!!!!!!!! after received meessage event handler!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!");
this.clientSocket.SendMessage(RosbridgeUtilities.GetROSJsonAdvertiseMsg(
Constants.SPEECH_RESULT_ROSTOPIC2, Constants.SPEECH_RESULT_ROSMSG_TYPE));
// advertise that we will publish opal action messages
if (this.gameConfig.opalActionTopic == "")
{
Logger.LogWarning("Do not have opal configuration... trying "
+ "default topic " + Constants.DEFAULT_ACTION_ROSTOPIC);
Constants.ACTION_ROSTOPIC = Constants.DEFAULT_ACTION_ROSTOPIC;
}
else
{
Constants.ACTION_ROSTOPIC = this.gameConfig.opalActionTopic;
}
this.clientSocket.SendMessage(RosbridgeUtilities.GetROSJsonAdvertiseMsg(
Constants.ACTION_ROSTOPIC, Constants.ACTION_ROSMSG_TYPE));
// advertise that we will publish opal audio messages
if (this.gameConfig.opalAudioTopic == "")
{
Logger.LogWarning("Do not have opal configuration... trying "
+ "default topic " + Constants.DEFAULT_AUDIO_ROSTOPIC);
Constants.AUDIO_ROSTOPIC = Constants.DEFAULT_AUDIO_ROSTOPIC;
}
else
{
Constants.AUDIO_ROSTOPIC = this.gameConfig.opalAudioTopic;
}
this.clientSocket.SendMessage(RosbridgeUtilities.GetROSJsonAdvertiseMsg(
Constants.AUDIO_ROSTOPIC, Constants.AUDIO_ROSMSG_TYPE));
// advertise that we will subscribe to opal command messages
if (this.gameConfig.opalCommandTopic == "")
{
Logger.LogWarning("Do not have opal configuration... trying "
+ "default topic " + Constants.DEFAULT_CMD_ROSTOPIC);
Constants.CMD_ROSTOPIC = Constants.DEFAULT_CMD_ROSTOPIC;
}
else
{
Constants.CMD_ROSTOPIC = this.gameConfig.opalCommandTopic;
}
this.clientSocket.SendMessage(RosbridgeUtilities.GetROSJsonSubscribeMsg(
Constants.CMD_ROSTOPIC, Constants.CMD_ROSMSG_TYPE));
// advertise that we will publish opal log messages
if (this.gameConfig.opalLogTopic == "")
{
Logger.LogWarning("Do not have opal configuration... trying "
+ "default topic " + Constants.DEFAULT_LOG_ROSTOPIC);
Constants.LOG_ROSTOPIC = Constants.DEFAULT_LOG_ROSTOPIC;
}
else
{
Constants.LOG_ROSTOPIC = this.gameConfig.opalLogTopic;
}
this.clientSocket.SendMessage(RosbridgeUtilities.GetROSJsonAdvertiseMsg(
Constants.LOG_ROSTOPIC, Constants.LOG_ROSMSG_TYPE));
// advertise that we will publish opal scene messages
if (this.gameConfig.opalSceneTopic == "")
{
Logger.LogWarning("Do not have opal configuration... trying "
+ "default topic " + Constants.DEFAULT_SCENE_ROSTOPIC);
Constants.SCENE_ROSTOPIC = Constants.DEFAULT_SCENE_ROSTOPIC;
}
else
{
Constants.SCENE_ROSTOPIC = this.gameConfig.opalSceneTopic;
}
this.clientSocket.SendMessage(RosbridgeUtilities.GetROSJsonSubscribeMsg(
Constants.SCENE_ROSTOPIC, Constants.SCENE_ROSMSG_TYPE));
// publish log message to opal log topic
this.clientSocket.SendMessage(RosbridgeUtilities.GetROSJsonPublishStringMsg(
Constants.LOG_ROSTOPIC, "Opal game checking in!"));
Logger.Log("!!!!!!!!!!!!!!!!!!! setting up all ros topics !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!");
}
else
{
Logger.LogError("Could not set up websocket!");
}
// register log callback for Logger.Log calls
//Application.logMessageReceivedThreaded += HandleApplicationLogMessageReceived;
}
}