public RosPublisher(IRosbridgeMessageDispatcher rosbridgeMessageDispatcher, string topic) : base(rosbridgeMessageDispatcher, topic)
{
if (this.Type == null)
{
this.Type = typeof(TRosMessage).GetRosMessageType();
}
}
static void Subscribe(IRosbridgeMessageDispatcher messageDispatcher)
{
RosSubscriber <Twist> subscriber = new RosSubscriber <Twist>(messageDispatcher, "/turtle1/cmd_vel");
subscriber.RosMessageReceived += (s, e) => { Console.WriteLine(e.RosMessage); };
subscriber.SubscribeAsync();
}
static RosPublisher <Twist> CreatePublisher(IRosbridgeMessageDispatcher messageDispatcher)
{
RosPublisher <Twist> publisher = new RosPublisher <Twist>(messageDispatcher, "/turtle1/cmd_vel");
publisher.AdvertiseAsync();
return(publisher);
}
public RosSubscriber(IRosbridgeMessageDispatcher rosbridgeMessageDispatcher, string topic) : base(rosbridgeMessageDispatcher, topic)
{
if (this.Type == null)
{
this.Type = typeof(TRosMessage).GetRosMessageType();
}
base.RosMessageReceived += RosMessageReceivedHandler;
}
protected RosTopicOperatorBase(IRosbridgeMessageDispatcher rosbridgeMessageDispatcher, string topic, string type) : this(rosbridgeMessageDispatcher, topic)
{
if (string.IsNullOrWhiteSpace(type))
{
throw new ArgumentException($"{nameof(type)} cannot be empty!");
}
this.Type = type;
}
public RosServiceClientBase(IRosbridgeMessageDispatcher rosbridgeMessageDispatcher, string serviceName = null)
{
if (rosbridgeMessageDispatcher == null)
{
throw new ArgumentNullException(nameof(rosbridgeMessageDispatcher));
}
this.rosbridgeMessageDispatcher = rosbridgeMessageDispatcher;
this.ServiceName = serviceName;
}
protected RosTopicOperatorBase(IRosbridgeMessageDispatcher rosbridgeMessageDispatcher, string topic)
{
if (rosbridgeMessageDispatcher == null)
{
throw new ArgumentNullException(nameof(rosbridgeMessageDispatcher));
}
if (string.IsNullOrWhiteSpace(topic))
{
throw new ArgumentException($"{nameof(topic)} cannot be empty!");
}
this.rosbridgeMessageDispatcher = rosbridgeMessageDispatcher;
this.Topic = topic;
}
static void Main(string[] args)
{
string webSocketUri = "ws://localhost:9090";
CancellationTokenSource cts = new CancellationTokenSource();
IRosbridgeMessageDispatcher messageDispatcher = Connect(new Uri(webSocketUri), cts);
Subscribe(messageDispatcher);
var publisher = CreatePublisher(messageDispatcher);
IRosServiceClient <object, object> serviceClient = new RosServiceClient <object, object>(messageDispatcher, "/clear");
publisher.PublishAsync(new Twist()
{
linear = new Vector()
{
x = -5,
y = 0,
z = 0
},
angular = new Vector()
{
x = 0,
y = 0,
z = 0
}
});
serviceClient.CallServiceAsync().Wait();
while (true)
{
Thread.Sleep(3000);
}
}
protected RosPublisher(IRosbridgeMessageDispatcher rosbridgeMessageDispatcher, string topic) : base(rosbridgeMessageDispatcher, topic)
{
}
public RosPublisher(IRosbridgeMessageDispatcher rosbridgeMessageDispatcher, string topic, string type) : base(rosbridgeMessageDispatcher, topic, type)
{
}
public RosServiceClient(IRosbridgeMessageDispatcher rosbridgeMessageDispatcher, string serviceName = null) : base(rosbridgeMessageDispatcher, serviceName)
{
}
protected RosSubscriberBase(IRosbridgeMessageDispatcher rosbridgeMessageDispatcher, string topic, string type) : base(rosbridgeMessageDispatcher, topic, type)
{
this.rosbridgeMessageDispatcher.RosbridgeMessageReceived += this.RosbridgeMessageReceivedHandler;
}
public RosPublisherBase(IRosbridgeMessageDispatcher rosbridgeMessageDispatcher, string topic) : base(rosbridgeMessageDispatcher, topic)
{
}
public RosSubscriber(IRosbridgeMessageDispatcher rosbridgeMessageDispatcher, string topic, string type) : base(rosbridgeMessageDispatcher, topic, type)
{
base.RosMessageReceived += RosMessageReceivedHandler;
}
public RosSubscriber(IRosbridgeMessageDispatcher rosbridgeMessageDispatcher, string topic) : base(rosbridgeMessageDispatcher, topic)
{
}
