public MessageTask(ROSBridgeSubscriber subscriber, ROSMessage msg)
{
this.subscriber = subscriber;
this.msg = msg;
}
public abstract string ToMessage(ROSMessage message);
private void OnMessage(string message)
{
if ((message != null) && !message.Equals(string.Empty))
{
Topper topper = new Topper(message);
string op = topper.op;
if ("publish".Equals(op)) // Topic
{
string topic = topper.topic;
string msgParams = string.Empty;
// if we have message parameters, parse them
Match match = Regex.Match(message, @"""msg""\s*:\s*({.*}),");
ROSMessage msg = null;
if (match.Success)
{
msgParams = match.Groups[1].Value;
}
foreach (var sub in this.subscribers)
{
// only consider subscribers with a matching topic
if (topic != sub.Key.Topic)
{
continue;
}
msg = sub.Key.ParseMessage(msgParams);
MessageTask newTask = new MessageTask(sub.Key, msg);
lock (this.lockMsgQueue)
{
this.msgQueue[topic].Enqueue(newTask);
}
}
}
else if (Regex.IsMatch(message, @"""op""\s*:\s*""call_service""")) // Service
{
ServiceHeader header = new ServiceHeader(message);
foreach (var srv in this.serviceProviders)
{
if (srv.Key.Name == header.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, header.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");
}
}