/// <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);
this.publishers.Add(publisher);
if (this.IsConnected)
{
this.webSocket.Send(ROSBridgeMsg.AdvertiseTopic(publisher.Topic, publisher.Type));
}
return(publisher);
}
/// <summary>
/// Connect to the remote ros environment.
/// </summary>
public void Connect()
{
if (this.IsConnected)
{
return;
}
string url = "ws://" + this.host + ":" + this.port;
if (!CanConnect(url))
{
throw new Exception("Cannot connect. url=" + url);
}
this.webSocket = new WebSocket(url);
this.webSocket.OnOpen += (sender, eventArgs) => { Debug.Log("WebSocket Open url=" + url); };
this.webSocket.OnMessage += (sender, eventArgs) => this.OnMessage(eventArgs.Data);
this.webSocket.OnError += (sender, eventArgs) => { Debug.Log("WebSocket Error Message: " + eventArgs.Message); };
this.webSocket.OnClose += (sender, eventArgs) => { Debug.Log("WebSocket Close"); };
// this.webSocket.Connect();
this.webSocket.ConnectAsync();
DateTime startTime = DateTime.Now;
while (this.webSocket.ReadyState != WebSocketState.Open)
{
if ((DateTime.Now - startTime).TotalMilliseconds > ConnectionTimeOut)
{
AddCannotConnectUrlList(url);
SIGVerseLogger.Error("Failed to connect. IP=" + this.host + ", Port=" + this.port + " (Time out)");
throw new Exception("Failed to connect. IP=" + this.host + ", Port=" + this.port + " (Time out)");
}
Thread.Sleep(100);
}
if (!this.webSocket.IsAlive)
{
Debug.Log("Error: Connection was faild.");
}
else
{
Debug.Log("Connected to ROSbridge server");
foreach (var sub in this.subscribers)
{
this.webSocket.Send(ROSBridgeMsg.Subscribe(sub.Key.Topic, sub.Key.Type));
Debug.Log("Sending: " + ROSBridgeMsg.Subscribe(sub.Key.Topic, sub.Key.Type));
}
foreach (ROSBridgePublisher pub in this.publishers)
{
this.webSocket.Send(ROSBridgeMsg.AdvertiseTopic(pub.Topic, pub.Type));
Debug.Log("Sending " + ROSBridgeMsg.AdvertiseTopic(pub.Topic, pub.Type));
}
foreach (var srv in this.serviceProviders)
{
this.webSocket.Send(ROSBridgeMsg.AdvertiseService(srv.Key.Name, srv.Key.Type));
Debug.Log("Sending: " + ROSBridgeMsg.AdvertiseService(srv.Key.Name, srv.Key.Type));
}
this.isConnected = true;
foreach (ROSBridgePublisher pub in this.publishers)
{
pub.CreatePublishingThread();
}
}
}
