public RosbridgeJson(string jsonString)
{
RosbridgeJson <Tmsg> message = JsonUtility.FromJson <RosbridgeJson <Tmsg> >(jsonString);
this.op = message.op;
this.id = message.id;
this.topic = message.topic;
this.msg = message.msg;
this.type = message.type;
this.service = message.service;
}
private void OnMessage <Tmsg>(string message) where Tmsg : RosMessage
{
// Debug.LogWarning("OnMessage="+message);
if ((message != null) && !message.Equals(string.Empty))
{
Topper topper = new Topper(message);
if ("publish".Equals(topper.op)) // Topic
{
RosbridgeJson <Tmsg> rosbridgeJson = null;
foreach (var sub in this.subscribers)
{
// only consider subscribers with a matching topic
if (topper.topic != sub.Key.Topic)
{
continue;
}
if (rosbridgeJson == null)
{
rosbridgeJson = new RosbridgeJson <Tmsg>(message);
}
MessageTask newTask = new MessageTask(sub.Key, rosbridgeJson.msg);
lock (this.lockMsgQueue)
{
this.msgQueue[rosbridgeJson.topic].Enqueue(newTask);
}
}
}
else if ("call_service".Equals(topper.op)) // Service
{
RosbridgeJson <Tmsg> rosbridgeJson = new RosbridgeJson <Tmsg>(message);
foreach (var srv in this.serviceProviders)
{
if (srv.Key.Name == rosbridgeJson.service)
{
ServiceArgs args = null;
// ServiceResponse response = null;
// if we have args, parse them (args are optional on services, though)
Match match = Regex.Match(message, @"""args""\s*:\s*({.*}),");
if (match.Success)
{
args = srv.Key.ParseRequest(match.Groups[1].Value);
}
// add service request to queue, to be processed later in Render()
lock (this.lockMsgQueue)
{
this.svcQueue[srv.Key.Name].Enqueue(new ServiceTask(srv.Key, args, rosbridgeJson.id));
}
break; // there should only be one server for each service
}
}
}
else
{
Debug.LogWarning("Unhandled message:\n" + message);
}
}
else
{
Debug.Log("Got an empty message from the web socket");
}
}
