private void Run()
{
_ws = new WebSocket(_host + ":" + _port);
_ws.OnMessage += (sender, e) => this.OnMessage(e.Data);
_ws.OnError += _ws_OnError;
_ws.OnOpen += _ws_OnOpen;
_ws.Connect();
while (!connected)
{
Thread.Sleep(10);
}
foreach (var sub in _subscribers)
{
_ws.Send(ROSBridgeMsg.Subscribe(sub.Key.topic, sub.Key.type));
Debug.Log("Sending: " + ROSBridgeMsg.Subscribe(sub.Key.topic, sub.Key.type));
}
foreach (var p in _publishers)
{
_ws.Send(ROSBridgeMsg.AdvertiseTopic(p.topic, p.type));
Debug.Log("Sending " + ROSBridgeMsg.AdvertiseTopic(p.topic, p.type));
}
foreach (var srv in _serviceServers)
{
_ws.Send(ROSBridgeMsg.AdvertiseService(srv.Key.topic, srv.Key.type));
Debug.Log("Sending: " + ROSBridgeMsg.AdvertiseService(srv.Key.topic, srv.Key.type));
}
while (_connected)
{
Thread.Sleep(10);
}
}
/// <summary>
/// Add a Service server to this connection. There can be many servers, but each service should only have one.
/// </summary>
/// <typeparam name="Tsrv">ServiceProvider type</typeparam>
/// <typeparam name="Treq">Message type containing parameters for this service</typeparam>
/// <typeparam name="Tres">Message type containing response data returned by this service</typeparam>
/// <param name="srv">The service to advertise</param>
/// <param name="callback">Method to invoke when the service is called</param>
public ROSBridgeServiceProvider <Treq> Advertise <Tsrv, Treq, Tres>(string service, ROSServiceCallback <Treq, Tres> callback) where Tsrv : ROSBridgeServiceProvider <Treq> where Treq : ServiceArgs where Tres : ServiceResponse, new()
{
ServiceCallback CB = (ServiceArgs args, out ServiceResponse response) =>
{
Treq request = (Treq)args;
Tres res = new Tres();
bool success = callback(request, out res);
response = res;
return(success);
};
Tsrv srv = (Tsrv)Activator.CreateInstance(typeof(Tsrv), new object[] { service });
_serviceServers.Add(srv, CB);
_svcQueue.Add(srv.topic, new RenderQueue <ServiceTask>(0));
if (connected)
{
_ws.Send(ROSBridgeMsg.AdvertiseService(srv.topic, srv.type));
}
return(srv);
}
