public void CallService(string service, string args)
{
string request = ROSBridgeMsg.CallService(service, args);
System.Diagnostics.Debug.Print($"Sending: {request}");
socket.Send(request);
}
private void SendUnAdvertiseOperation(ROSBridgePublisher publisher)
{
string s = ROSBridgeMsg.UnAdvertise(publisher.Topic);
Debug.Log($"Sending: {s}");
_ws?.Send(s);
}
public void CallService(IServiceRequest request)
{
string req = ROSBridgeMsg.CallService(service, request.ToJSONList());
System.Diagnostics.Debug.Print($"Sending: {req}");
socket.Send(req);
}
private void SendAdvertiseOperation(ROSBridgePublisher subscriber)
{
string s = ROSBridgeMsg.Advertise(subscriber.Topic, ((IMsg)Activator.CreateInstance(subscriber.MessageType)).ROSMessageType);
Debug.Log($"Sending: {s}");
_ws?.Send(s);
}
private void SendUnSubscribeOperation(ROSBridgeSubscriber subscriber)
{
string s = ROSBridgeMsg.UnSubscribe(subscriber.Topic);
Debug.Log($"Sending: {s}");
_ws?.Send(s);
}
private void SendSubscribeOperation(ROSBridgeSubscriber subscriber)
{
string s = ROSBridgeMsg.Subscribe(subscriber.Topic, ((IMsg)Activator.CreateInstance(subscriber.MessageType)).ROSMessageType);
Debug.Print($"Sending: {s}");
socket.Send(s);
}
public void CallService(string service, string args)
{
if (_ws != null)
{
string s = ROSBridgeMsg.CallService(service, args);
Debug.Log($"Sending: {s}");
_ws.Send(s);
}
}
public void Publish(IMsg msg)
{
socket.Send(ROSBridgeMsg.Publish(topic, msg.ToYAMLString()));
}
