/// <summary>
/// Announces all publishers and subscribers which were previously added to the lists _publishers and _subscriers
/// </summary>
private void AnnouncePublishersAndSubscribers()
{
if (_running && _ws != null)
{
foreach (Type p in _subscribers)
{
string topic = GetMessageTopic(p);
//only announce if not already known that we subscribed
if (!m_SubscribedTopics.Contains(topic))
{
Debug.Log("[ROS WEBSOCKET] Subscribing to " + topic);
_ws.Send(ROSBridgeMsg.Subscribe(topic, GetMessageType(p)));
}
m_SubscribedTopics.Add(topic);
}
foreach (Type p in _publishers)
{
string topic = GetMessageTopic(p);
//only announce new publisher if we didn't already announce one for this topic
if (!m_AnnouncedTopics.Contains(topic))
{
Debug.Log("[ROS WEBSOCKET] Advertising " + topic);
_ws.Send(ROSBridgeMsg.Advertise(topic, GetMessageType(p)));
}
m_AnnouncedTopics.Add(topic);
}
}
else
{
Debug.LogWarning("[ROS WEBSOCKET] COuld not advertise/ subscribe since websocket not running.");
}
}
private void Run()
{
_ws = new WebSocket(_host + ":" + _port);
_ws.OnMessage += (sender, e) => this.OnMessage(e.Data);
_ws.Connect();
foreach (Type p in _subscribers)
{
_ws.Send(ROSBridgeMsg.Subscribe(GetMessageTopic(p), GetMessageType(p)));
Debug.Log("Sending " + ROSBridgeMsg.Subscribe(GetMessageTopic(p), GetMessageType(p)));
}
foreach (Type p in _publishers)
{
_ws.Send(ROSBridgeMsg.Advertise(GetMessageTopic(p), GetMessageType(p)));
Debug.Log("Sending " + ROSBridgeMsg.Advertise(GetMessageTopic(p), GetMessageType(p)));
}
while (true)
{
Thread.Sleep(1000);
}
}
/**
* Add a publisher to this connection. There can be many publishers.
*/
public void AddPublisher(Type publisher)
{
IsValidPublisher(publisher);
string topic = GetMessageTopic(publisher);
_publishers.Add(publisher);
if (_running)
{
if (!m_AnnouncedTopics.Contains(topic))
{ // only advertise if needed
Debug.Log("[ROS WEBSOCKET] Adding publisher. Advertising " + topic);
_ws.Send(ROSBridgeMsg.Advertise(topic, GetMessageType(publisher)));
}
//keep track of all publishers (no matter the topic or if the topic already exists )
m_AnnouncedTopics.Add(topic);
}
else
{
Debug.Log("[ROS WEBSOCKET] Could not advertise publisher. Websocket not running.");
}
}
