public ToStringVisual(string topic, MessageSubtopic subtopic)
{
ROSConnection ros = ROSConnection.GetOrCreateInstance();
RosTopicState state = ros.GetTopic(topic);
if (subtopic == MessageSubtopic.Response)
{
state = state.ServiceResponseTopic;
}
state.AddSubscriber(AddMessage);
}
void OnNewTopic(RosTopicState state)
{
VisualizationTopicsTabEntry vis;
if (!m_Topics.TryGetValue(state.Topic, out vis))
{
vis = new VisualizationTopicsTabEntry(state, m_FillTexture);
m_Topics.Add(state.Topic, vis);
m_TopicsSorted = null;
}
}
public VisualizationTopicsTabEntry(RosTopicState baseState, Texture2D background)
{
m_TopicState = baseState;
m_Background = background;
if (baseState.ServiceResponseTopic != null)
{
m_ServiceResponseTopic = new VisualizationTopicsTabEntry(baseState.ServiceResponseTopic, background);
}
m_CachedRosMessageName = RosMessageName;
}
public MarkersVisual(string topic)
{
ROSConnection ros = ROSConnection.GetOrCreateInstance();
RosTopicState state = ros.GetTopic(topic);
if (state.RosMessageName == MarkerArrayMsg.k_RosMessageName)
{
ros.Subscribe <MarkerArrayMsg>(topic, OnMarkerArray);
}
else if (state.RosMessageName == MarkerMsg.k_RosMessageName)
{
ros.Subscribe <MarkerMsg>(topic, OnMarker);
}
}
void LoadLayout(HUDLayoutSave saveState)
{
foreach (var savedRule in saveState.Rules)
{
RosTopicState topicState = m_Connection.GetOrCreateTopic(savedRule.Topic, savedRule.RosMessageName, savedRule.IsService);
VisualizationTopicsTabEntry vis;
if (!m_Topics.TryGetValue(savedRule.Topic, out vis))
{
vis = new VisualizationTopicsTabEntry(topicState, m_FillTexture);
m_Topics.Add(savedRule.Topic, vis);
}
vis.LoadSaveState(savedRule);
}
}
public static IVisual GetVisual(string topic, MessageSubtopic subtopic = MessageSubtopic.Default)
{
RosTopicState topicState = ROSConnection.GetOrCreateInstance().GetTopic(topic);
if (topicState != null && subtopic == MessageSubtopic.Response)
{
topicState = topicState.ServiceResponseTopic;
}
if (topicState == null)
{
return(null);
}
IVisualFactory factory = VisualFactoryRegistry.GetVisualFactory(topic, topicState.RosMessageName, subtopic);
if (factory == null)
{
return(null);
}
return(factory.GetOrCreateVisual(topic));
}
