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 CallService(string service) // added FBF 20/09/2017 include Callservice without parameters
{
if (_ws != null)
{
string s = ROSBridgeMsg.CallService(service);
Debug.Log("Sending " + s);
_ws.Send(s);
}
}
public void CallService(string service, string args)
{
if (WebSocket != null && !IsDisconnecting)
{
string s = ROSBridgeMsg.CallService(service, args);
//Debug.Log("Sending " + s);
WebSocket.Send(s);
}
}
/// <summary>
/// Perform a service call with a callback for the response.
/// </summary>
/// <param name="handler">The callback function to invoke when the response of the service call arrives.</param>
/// <param name="service_name">The name of the service to be called.</param>
/// <param name="id">The ID by which this call is distinguished both to the server and by this class.</param>
/// <param name="args">The formatted argument string, as specified by the ROSBridge protocol.</param>
/// <see cref="https://github.com/RobotWebTools/rosbridge_suite/blob/groovy-devel/ROSBRIDGE_PROTOCOL.md"/>
public void CallService(JSONServiceResponseHandler handler, string service_name, string id, string args = "[]")
{
if (_ws != null)
{
_pendingServiceResponses[id] = handler;
string s = ROSBridgeMsg.CallService(service_name, id, args);
Debug.Log("Sending " + s);
_ws.Send(s);
}
}
public void CallService(string service, string args)
{
#if UNITY_EDITOR
if (_ws != null)
{
string s = ROSBridgeMsg.CallService(service, args);
Debug.Log("Sending " + s);
_ws.Send(s);
}
#endif
#if !UNITY_EDITOR
if (messageWebSocket != null)
{
string s = ROSBridgeMsg.CallService(service, args);
dataWriter.WriteString(s);
dataWriter.StoreAsync();
}
#endif
}
