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)));
}
foreach (Pair <Type, String> p in _publishersNew)
{
_ws.Send(ROSBridgeMsg.Advertise(p.Second, GetMessageType(p.First)));
Debug.Log("Sending " + ROSBridgeMsg.Publish(p.Second, GetMessageType(p.First)));
}
while (true)
{
Thread.Sleep(1000);
}
}
public void Publish(String topic, ROSBridgeMsg msg)
{
if (_ws != null)
{
string s = ROSBridgeMsg.Publish(topic, msg.ToYAMLString());
_ws.Send(s);
}
}
public void Publish(String topic, ROSBridgeMsg msg)
{
if (WebSocket != null && !IsDisconnecting)
{
string s = ROSBridgeMsg.Publish(topic, msg.ToYAMLString());
// Debug.Log("Sending " + s);
WebSocket.Send(s);
}
}
public void Publish(String topic, ROSBridgeMsg msg)
{
// if(_ws != null && _ws.IsConnected && _ws.IsAlive) { //this call take a lot of time
if (_ws != null)
{
string s = ROSBridgeMsg.Publish(topic, msg.ToYAMLString());
// UnityEngine.Debug.Log ("Sending " + s);
_ws.Send(s);
}
}
public void Publish(String topic, ROSBridgeMsg msg)
{
if (_ws != null)
{
string s = ROSBridgeMsg.Publish(topic, msg.ToYAMLString());
if (_debug)
{
Debug.Log(s);
}
//Debug.Log ("Sending " + s);
_ws.Send(s);
}
}
public void Publish(String topic, ROSBridgeMsg msg, bool debug_log = true)
{
#if UNITY_EDITOR
if (_ws != null)
{
string s = ROSBridgeMsg.Publish(topic, msg.ToYAMLString());
if (debug_log)
{
Debug.Log("Sending " + s);
}
_ws.Send(s);
}
#endif
#if !UNITY_EDITOR
if (messageWebSocket != null)
{
string s = ROSBridgeMsg.Publish(topic, msg.ToYAMLString());
dataWriter.WriteString(s);
dataWriter.StoreAsync();
}
#endif
}
