/**
* Add a subscriber callback to this connection. There can be many subscribers.
*/
public void AddSubscriber(Type subscriber)
{
//Multiple subscribers for the same topic possible
IsValidSubscriber(subscriber);
string topic = GetMessageTopic(subscriber);
_subscribers.Add(subscriber);
if (_running)
{
//only announce if not announced yet,
if (!m_SubscribedTopics.Contains(topic))
{
//Debug.Log("[ROS WEBSOCKET] Adding Subscriber. Subscribing to " + topic);
_ws.Send(ROSBridgeMsg.Subscribe(GetMessageTopic(subscriber), GetMessageType(subscriber)));
m_SubscribedTopics.Add(topic);
}
else
{
Debug.Log("[ROS WEBSOCKET] ALREADY subscribed to " + topic);
}
}
else
{
Debug.Log("[ROS WEBSOCKET] couldn't subscribe to " + topic + ". Websocket not running.");
}
}
/// <summary>
/// Announces all publishers and subscribers which were previously added to the lists _publishers and _subscriers
/// </summary>
private void AnnouncePublishersAndSubscribers()
{
if (_running && _ws != null)
{
foreach (Type p in _subscribers)
{
string topic = GetMessageTopic(p);
//only announce if not already known that we subscribed
if (!m_SubscribedTopics.Contains(topic))
{
Debug.Log("[ROS WEBSOCKET] Subscribing to " + topic);
_ws.Send(ROSBridgeMsg.Subscribe(topic, GetMessageType(p)));
}
m_SubscribedTopics.Add(topic);
}
foreach (Type p in _publishers)
{
string topic = GetMessageTopic(p);
//only announce new publisher if we didn't already announce one for this topic
if (!m_AnnouncedTopics.Contains(topic))
{
Debug.Log("[ROS WEBSOCKET] Advertising " + topic);
_ws.Send(ROSBridgeMsg.Advertise(topic, GetMessageType(p)));
}
m_AnnouncedTopics.Add(topic);
}
}
else
{
Debug.LogWarning("[ROS WEBSOCKET] COuld not advertise/ subscribe since websocket not running.");
}
}
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)));
}
while (true)
{
Thread.Sleep(1000);
}
}
