/// <summary>
/// Add a subscriber callback to this connection. There can be many subscribers.
/// </summary>
/// <typeparam name="Tmsg">Message type used in the callback</typeparam>
/// <param name="sub">Subscriber</param>
/// <param name="callback">Method to call when a message matching the given subscriber is received</param>
public RosBridgeSubscriber <Tmsg> Subscribe <Tmsg>(string topic, RosMessageCallback <Tmsg> callback, uint queueSize = 0) where Tmsg : RosMessage, new()
{
MessageCallback MessageCallback = (RosMessage msg) =>
{
Tmsg message = msg as Tmsg;
callback(message);
};
var getMessageType = typeof(Tmsg).GetMethod("GetMessageType");
if (getMessageType == null)
{
Debug.LogError("Could not retrieve method GetMessageType() from " + typeof(Tmsg).ToString());
return(null);
}
string messageType = (string)getMessageType.Invoke(null, null);
if (messageType == null)
{
Debug.LogError("Could not retrieve valid message type from " + typeof(Tmsg).ToString());
return(null);
}
RosBridgeSubscriber <Tmsg> subscriber = new RosBridgeSubscriber <Tmsg>(topic, messageType);
this.subscribers.Add(subscriber, MessageCallback);
this.msgQueue.Add(subscriber.Topic, new RenderQueue <MessageTask>(queueSize));
if (this.IsConnected)
{
this.webSocket.Send(RosBridgeMsg.Subscribe(subscriber.Topic, subscriber.Type));
}
return(subscriber);
}
/// <summary>
/// Connect to the remote ros environment.
/// </summary>
public void Connect <Tmsg>() where Tmsg : RosMessage
{
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 <Tmsg>(eventArgs.Data);
this.webSocket.OnError += (sender, eventArgs) => { Debug.LogError("WebSocket Error Message: " + eventArgs.Message); };
this.webSocket.OnClose += (sender, eventArgs) => this.OnClose();
// 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();
//}
}
}
