public override void AddReader <T>(string topic, Action <T> callback)
{
lock (Readers)
{
if (!Readers.ContainsKey(topic))
{
Readers.Add(topic, new HashSet <Func <object, byte[], object> >());
var channelb = System.Text.Encoding.ASCII.GetBytes(topic);
var msgType = typeof(T).ToString();
string descriptorName = NameByMsgType[msgType];
FileDescriptorProto descriptor = DescriptorByName[descriptorName].Item2;
var typeb = System.Text.Encoding.ASCII.GetBytes(msgType);
var data = new List <byte>(128);
data.Add((byte)Op.AddReader);
data.Add((byte)(channelb.Length >> 0));
data.Add((byte)(channelb.Length >> 8));
data.Add((byte)(channelb.Length >> 16));
data.Add((byte)(channelb.Length >> 24));
data.AddRange(channelb);
data.Add((byte)(typeb.Length >> 0));
data.Add((byte)(typeb.Length >> 8));
data.Add((byte)(typeb.Length >> 16));
data.Add((byte)(typeb.Length >> 24));
data.AddRange(typeb);
SendAsync(data.ToArray());
}
Readers[topic].Add((msg, bytes) =>
{
if (msg == null)
{
using (var stream = new System.IO.MemoryStream(bytes))
{
msg = ProtoBuf.Serializer.Deserialize <T>(stream);
}
}
lock (QueuedActions)
{
QueuedActions.Enqueue(() => callback((T)msg));
}
return(msg);
});
TopicSubscriptions.Add(new Topic()
{
Name = topic,
Type = typeof(T).ToString(),
});
}
}
public override void AddReader <T>(string topic, Action <T> callback)
{
lock (Readers)
{
if (!Readers.ContainsKey(topic))
{
Readers.Add(topic, new HashSet <Func <IMessage, byte[], IMessage> >());
var channelb = System.Text.Encoding.ASCII.GetBytes(topic);
var descriptor = MessageHelper <T> .Descriptor;
var typeb = System.Text.Encoding.ASCII.GetBytes(descriptor.FullName);
var data = new List <byte>(128);
data.Add((byte)Op.AddReader);
data.Add((byte)(channelb.Length >> 0));
data.Add((byte)(channelb.Length >> 8));
data.Add((byte)(channelb.Length >> 16));
data.Add((byte)(channelb.Length >> 24));
data.AddRange(channelb);
data.Add((byte)(typeb.Length >> 0));
data.Add((byte)(typeb.Length >> 8));
data.Add((byte)(typeb.Length >> 16));
data.Add((byte)(typeb.Length >> 24));
data.AddRange(typeb);
SendAsync(data.ToArray());
}
Readers[topic].Add((msg, bytes) =>
{
if (msg == null)
{
msg = MessageHelper <T> .Parser.ParseFrom(bytes);
}
lock (QueuedActions)
{
QueuedActions.Enqueue(() => callback((T)msg));
}
return(msg);
});
TopicSubscriptions.Add(new Topic()
{
Name = topic,
Type = typeof(T).ToString(),
});
}
}
public override void AddReader <T>(string topic, Action <T> callback)
{
if (Socket.ReadyState != WebSocketState.Open)
{
throw new InvalidOperationException("socket not open");
}
var type = GetMessageType <T>();
var sb = new StringBuilder(256);
sb.Append('{');
{
sb.Append("\"op\":\"subscribe\",");
sb.Append("\"topic\":\"");
sb.Append(topic);
sb.Append("\",");
sb.Append("\"type\":\"");
sb.Append(type);
sb.Append("\"");
}
sb.Append('}');
Subscriptions.Add(new Subscription()
{
Topic = topic,
Callback = callback,
});
TopicSubscriptions.Add(new Topic()
{
Name = topic,
Type = type,
});
// UnityEngine.Debug.Log("Adding subscriber " + sb.ToString());
Socket.SendAsync(sb.ToString(), ok => { });
}
public void AddReader <T>(string topic, Action <T> callback) where T : class
{
var type = typeof(T);
Func <object, object> converter = null;
if (type == typeof(Detected3DObjectArray))
{
converter = (object msg) => Conversions.ConvertTo(msg as apollo.common.Detection3DArray);
type = typeof(apollo.common.Detection3DArray);
}
else if (type == typeof(Detected2DObjectArray))
{
converter = (object msg) => Conversions.ConvertTo(msg as apollo.common.Detection2DArray);
type = typeof(apollo.common.Detection2DArray);
}
else if (type == typeof(VehicleControlData))
{
type = typeof(apollo.control.ControlCommand);
converter = (object msg) => Conversions.ConvertTo(msg as apollo.control.ControlCommand);
}
else
{
throw new Exception($"Cyber bridge does not support {typeof(T).Name} type");
}
var channelBytes = Encoding.ASCII.GetBytes(topic);
var typeBytes = Encoding.ASCII.GetBytes(type.ToString());
var bytes = new List <byte>(1024);
bytes.Add((byte)BridgeOp.AddReader);
bytes.Add((byte)(channelBytes.Length >> 0));
bytes.Add((byte)(channelBytes.Length >> 8));
bytes.Add((byte)(channelBytes.Length >> 16));
bytes.Add((byte)(channelBytes.Length >> 24));
bytes.AddRange(channelBytes);
bytes.Add((byte)(typeBytes.Length >> 0));
bytes.Add((byte)(typeBytes.Length >> 8));
bytes.Add((byte)(typeBytes.Length >> 16));
bytes.Add((byte)(typeBytes.Length >> 24));
bytes.AddRange(typeBytes);
var data = bytes.ToArray();
lock (Setup)
{
if (Status == Status.Connected)
{
SendAsync(data, null);
}
Setup.Add(data);
}
lock (Readers)
{
if (!Readers.ContainsKey(topic))
{
Readers.Add(topic,
Tuple.Create <Func <byte[], object>, List <Action <object> > >(
msg =>
{
using (var stream = new MemoryStream(msg))
{
return(converter(Serializer.Deserialize(type, stream)));
}
},
new List <Action <object> >())
);
}
Readers[topic].Item2.Add(msg => callback((T)msg));
}
TopicSubscriptions.Add(new TopicUIData()
{
Topic = topic,
Type = type.ToString(),
Frequency = 0f,
});
}
public void AddReader <T>(string topic, Action <T> callback) where T : class
{
var type = typeof(T);
Func <JSONNode, object> converter;
if (type == typeof(Detected3DObjectArray))
{
type = typeof(Detection3DArray);
converter = (JSONNode json) => Conversions.ConvertTo((Detection3DArray)Unserialize(json, type));
}
else if (type == typeof(Detected2DObjectArray))
{
type = typeof(Detection2DArray);
converter = (JSONNode json) => Conversions.ConvertTo((Detection2DArray)Unserialize(json, type));
}
else if (type == typeof(VehicleControlData))
{
if (Apollo)
{
type = typeof(Apollo.control_command);
converter = (JSONNode json) => Conversions.ConvertTo((Apollo.control_command)Unserialize(json, type));
}
else if (Version == 2)
{
// Since there is no mapping acceleration to throttle, VehicleControlCommand is not supported for now.
// After supporting it, VehicleControlCommand will replace RawControlCommand.
// type = typeof(Autoware.VehicleControlCommand);
// converter = (JSONNode json) => Conversions.ConvertTo((Autoware.VehicleControlCommand)Unserialize(json, type));
type = typeof(Autoware.RawControlCommand);
converter = (JSONNode json) => Conversions.ConvertTo((Autoware.RawControlCommand)Unserialize(json, type));
}
else
{
type = typeof(Autoware.VehicleCmd);
converter = (JSONNode json) => Conversions.ConvertTo((Autoware.VehicleCmd)Unserialize(json, type));
}
}
else if (type == typeof(VehicleStateData))
{
type = typeof(Autoware.VehicleStateCommand);
converter = (JSONNode json) => Conversions.ConvertTo((Autoware.VehicleStateCommand)Unserialize(json, type));
}
else if (BridgeConfig.bridgeConverters.ContainsKey(type))
{
converter = (JSONNode json) => (BridgeConfig.bridgeConverters[type] as IDataConverter <T>).GetConverter(this);
type = (BridgeConfig.bridgeConverters[type] as IDataConverter <T>).GetOutputType(this);
}
else
{
converter = (JSONNode json) => Unserialize(json, type);
}
var messageType = GetMessageType(type);
var sb = new StringBuilder(1024);
sb.Append('{');
{
sb.Append("\"op\":\"subscribe\",");
sb.Append("\"topic\":\"");
sb.Append(topic);
sb.Append("\",");
sb.Append("\"type\":\"");
sb.Append(messageType);
sb.Append("\"");
}
sb.Append('}');
TopicSubscriptions.Add(new TopicUIData()
{
Topic = topic,
Type = messageType,
Frequency = 0f,
});
var data = sb.ToString();
lock (Setup)
{
if (Status == Status.Connected)
{
Socket.SendAsync(data, null);
}
Setup.Add(data);
}
lock (Readers)
{
if (!Readers.ContainsKey(topic))
{
Readers.Add(topic,
Tuple.Create <Func <JSONNode, object>, List <Action <object> > >(
msg => converter(msg),
new List <Action <object> >())
);
}
Readers[topic].Item2.Add(msg => callback((T)msg));
}
}
public void AddReader <T>(string topic, Action <T> callback) where T : class
{
var type = typeof(T);
Func <JSONNode, object> converter;
if (type == typeof(Detected3DObjectArray))
{
type = typeof(Detection3DArray);
converter = (JSONNode json) => Conversions.ConvertTo((Detection3DArray)Unserialize(json, type));
}
else if (type == typeof(Detected2DObjectArray))
{
type = typeof(Detection2DArray);
converter = (JSONNode json) => Conversions.ConvertTo((Detection2DArray)Unserialize(json, type));
}
else if (type == typeof(VehicleControlData))
{
if (Apollo)
{
type = typeof(Apollo.control_command);
converter = (JSONNode json) => Conversions.ConvertTo((Apollo.control_command)Unserialize(json, type));
}
else if (Version == 2)
{
type = typeof(TwistStamped);
converter = (JSONNode json) => Conversions.ConvertTo((TwistStamped)Unserialize(json, type));
}
else
{
type = typeof(Autoware.VehicleCmd);
converter = (JSONNode json) => Conversions.ConvertTo((Autoware.VehicleCmd)Unserialize(json, type));
}
}
else if (type == typeof(SnowballControlData))
{
type = typeof(Snowball.ControlData);
converter = (JSONNode json) => Conversions.ConvertTo((Snowball.ControlData)Unserialize(json, type));
}
else
{
converter = (JSONNode json) => Unserialize(json, type);
}
var messageType = GetMessageType(type);
var sb = new StringBuilder(1024);
sb.Append('{');
{
sb.Append("\"op\":\"subscribe\",");
sb.Append("\"topic\":\"");
sb.Append(topic);
sb.Append("\",");
sb.Append("\"type\":\"");
sb.Append(messageType);
sb.Append("\"");
}
sb.Append('}');
TopicSubscriptions.Add(new TopicUIData()
{
Topic = topic,
Type = messageType,
Frequency = 0f,
});
var data = sb.ToString();
lock (Setup)
{
if (Status == Status.Connected)
{
Socket.SendAsync(data, null);
}
Setup.Add(data);
}
lock (Readers)
{
if (!Readers.ContainsKey(topic))
{
Readers.Add(topic,
Tuple.Create <Func <JSONNode, object>, List <Action <object> > >(
msg => converter(msg),
new List <Action <object> >())
);
}
Readers[topic].Item2.Add(msg => callback((T)msg));
}
}