//--------------------------------------------------------------------------------------------------------------
// TODO: extending this for more messages
// {"topic": "/camera/rgb/image_rect_color/compressed",
// "msg": {
// "header": {
// "stamp": {
// "secs": 1479891554,
// "nsecs": 542033426},
// "frame_id": "camera_rgb_optical_frame",
// "seq": 10393},
// "data": "/9j/4AAQSkZJRgABAQAAAQABAAD/2wBDAAYEBQYFBAYGBQYHBwYIChAKCgkJChQODw}}
private void DeserializeJSONstring(string message)
{
Debug.Log("Try to deserialize: " + message);
rosPublishIncoming = (RosPublish)JsonConvert.DeserializeObject <RosMessage>(message, rosMessageConverter);
//Debug.Log (rosPublish.topic);
if (rosPublishIncoming.topic.Equals("/joint_states"))
{
//Debug.Log ("received joint states");
latestJointState = (JointState)rosPublishIncoming.msg;
// TODO latency evaluation
//if(testLatency){
// if(latestJointState.header.frame_id == "Latency Test"){
// TODO storing this information to a file
DateTime currentTime = DateTime.Now;
int secs = currentTime.Second;
int nsecs = currentTime.Millisecond;
//Debug.Log(""+latestJointState.header.frame_id+" "+latestJointState.header.seq+" "+latestJointState.header.stamp.secs+":"+latestJointState.header.stamp.nsecs );
//Debug.Log ("received: " + secs + ":" + nsecs);
string dataLine = "" + (latestJointState.header.stamp.secs * 1000 + latestJointState.header.stamp.nsecs) + "," + (secs * 1000 + nsecs) + "," + ((secs * 1000 + nsecs) - (latestJointState.header.stamp.secs * 1000 + latestJointState.header.stamp.nsecs));
//Debug.Log ("dataline " + dataLine);
latencyData.Add(dataLine);
//streamWriter.WriteLine ("" + latestJointState.header.stamp.secs * 1000 + latestJointState.header.stamp.nsecs + "," + secs * 1000 + nsecs + "," + ((secs * 1000 + nsecs) - (latestJointState.header.stamp.secs * 1000 + latestJointState.header.stamp.nsecs)));
//streamWriter.Close ();
// }
//}
}
// else if (rosPublishIncoming.topic.Equals("/camera/rgb/image_rect_color/compressed")) {
else if (rosPublishIncoming.topic.Equals("/usb_cam/image_raw/compressed"))
{
latestImage = (CompressedImage)rosPublishIncoming.msg;
}
}
// die andere Richtung wäre auch schön, damit man auch Nachrichten an ROS senden kann
public string startSerializing(RosMessage message)
{
//todo
JointState js = new JointState();
RosPublish publishMessage = (RosPublish)message;
MessageData msg = publishMessage.msg;
if (msg.GetType() == typeof(JointState))
{
js = (JointState)msg;
}
return(serializeJointState(js));
}
// die andere Richtung wäre auch schön, damit man auch Nachrichten an ROS senden kann
public string startSerializing(RosMessage message)
{
//todo
JointTrajectory jt = new JointTrajectory();
RosPublish publishMessage = (RosPublish)message;
MessageData msg = publishMessage.msg;
if (msg.GetType() == typeof(JointTrajectory))
{
jt = (JointTrajectory)msg;
}
return(serializeJointTrajectory(jt));
}
