public void RegService <ArgDataType, ArgBridgeType, ResDataType, ResBridgeType>(IBridgePlugin plugin, Func <ArgBridgeType, ArgDataType> argConverter, Func <ResDataType, ResBridgeType> resConverter)
{
plugin.AddServiceCreator <ArgDataType, ResDataType>(
(instance, topic, service) =>
{
// this callback is called every time sensor registers service on different topic
(instance as RosBridgeInstance).AddService <ArgBridgeType>(topic,
(rawArg, resultCb) =>
{
// this callback is called every time websocket receives message from rosbridge
var arg = RosSerialization.Unserialize <ArgBridgeType>(rawArg);
var argData = argConverter(arg);
service(argData, resData =>
{
// this callback is called from sensor service callback to return result data back to rosbridge
var res = resConverter(resData);
resultCb(res);
});
}
);
}
);
}
public void RegSubscriber <DataType, BridgeType>(IBridgePlugin plugin, Func <BridgeType, DataType> converter)
{
plugin.AddType <DataType>(RosUtils.GetMessageType <BridgeType>());
plugin.AddSubscriberCreator <DataType>(
(instance, topic, callback) => (instance as RosBridgeInstance).AddSubscriber <BridgeType>(topic,
rawData => callback(converter(RosSerialization.Unserialize <BridgeType>(rawData)))
)
);
}
