public Topper(string jsonString)
{
Topper message = JsonUtility.FromJson <Topper>(jsonString);
op = message.op;
topic = message.topic;
}
private void OnMessage(string s)
{
if ((s != null) && !s.Equals(""))
{
Topper mms = new Topper(s);
string op = mms.op;
if ("publish".Equals(op))
{
string topic = mms.topic;
string msg_params = "";
// if we have message parameters, parse them
Match m = Regex.Match(s, @"""msg""\s*:\s*({.*}),");
ROSMessage msg = null;
if (m.Success)
{
msg_params = m.Groups[1].Value;
}
foreach (var sub in _subscribers)
{
// only consider subscribers with a matching topic
if (topic != sub.Key.topic)
{
continue;
}
msg = sub.Key.ParseMessage(msg_params);
MessageTask newTask = new MessageTask(sub.Key, msg);
lock (_readLock)
{
_msgQueue[topic].Enqueue(newTask);
}
}
}
else if (Regex.IsMatch(s, @"""op""\s*:\s*""call_service""")) // op is call_service
{
ServiceHeader hdr = new ServiceHeader(s);
foreach (var srv in _serviceServers)
{
if (srv.Key.topic == hdr.service)
{
ServiceArgs args = null;
ServiceResponse response = null;
// if we have args, parse them (args are optional on services, though)
Match m = Regex.Match(s, @"""args""\s*:\s*({.*}),");
if (m.Success)
{
args = srv.Key.ParseRequest(m.Groups[1].Value);
}
// add service request to queue, to be processed later in Render()
lock (_readLock)
{
_svcQueue[srv.Key.topic].Enqueue(new ServiceTask(srv.Key, args, hdr.id));
}
break; // there should only be one server for each service
}
}
}
else
{
Debug.LogWarning("Unhandled message:\n" + s);
}
}
else
{
Debug.Log("Got an empty message from the web socket");
}
}