public ActionClient(TAction action, string actionName, string serverURL, Protocol protocol = Protocol.WebSocketSharp, RosSocket.SerializerEnum serializer = RosSocket.SerializerEnum.JSON, float secondsTimeout = 5f, float secondsTimestep = 0.2f)
{
this.action = action;
this.actionName = actionName;
this.millisecondsTimeout = (int)(secondsTimeout * 1000);
this.millisecondsTimestep = (int)(secondsTimestep * 1000);
this.serverURL = serverURL;
socket = new RosSocket(ProtocolInitializer.GetProtocol(protocol, serverURL), serializer);
}
public static RosSocket ConnectToRos(Protocols protocolType, string serverUrl, EventHandler onConnected = null, EventHandler onClosed = null, RosSocket.SerializerEnum serializer = RosSocket.SerializerEnum.JSON)
{
RosBridgeClient.Protocols.IProtocol protocol = GetProtocol(protocolType, serverUrl);
protocol.OnConnected += onConnected;
protocol.OnClosed += onClosed;
return(new RosSocket(protocol, serializer));
}
public static RosSocket ConnectToRos(Protocol protocolType, string serverUrl, EventHandler onConnected = null, EventHandler onClosed = null, RosSocket.SerializerEnum serializer = RosSocket.SerializerEnum.Microsoft)
{
IProtocol protocol = ProtocolInitializer.GetProtocol(protocolType, serverUrl);
protocol.OnConnected += onConnected;
protocol.OnClosed += onClosed;
return(new RosSocket(protocol, serializer));
}
private void TransferAsync(Protocols.Protocol protocolType, string serverUrl, int timeout, string urdfPath, string rosPackage, RosSocket.SerializerEnum serializer)
{
RosSocket = RosConnector.ConnectToRos(protocolType, serverUrl, OnConnected, OnClose, serializer);
if (!StatusEvents["connected"].WaitOne(timeout * 1000))
{
Debug.LogWarning("Failed to connect to " + serverUrl + " before timeout.");
RosSocket.Close();
return;
}
string robotName = Path.GetFileName(urdfPath);
UrdfTransferToRos urdfTransferToRos = new UrdfTransferToRos(RosSocket, robotName, urdfPath, rosPackage);
StatusEvents["robotNamePublished"] = urdfTransferToRos.Status["robotNamePublished"];
StatusEvents["robotDescriptionPublished"] = urdfTransferToRos.Status["robotDescriptionPublished"];
StatusEvents["resourceFilesSent"] = urdfTransferToRos.Status["resourceFilesSent"];
urdfTransferToRos.Transfer();
}
public void TransferUrdf(Protocols.Protocol protocolType, string serverUrl, int timeout, string assetPath, string urdfParameter, RosSocket.SerializerEnum serializer)
{
this.timeout = timeout;
this.assetPath = assetPath;
this.urdfParameter = urdfParameter;
// initialize
ResetStatusEvents();
rosSocket = RosConnector.ConnectToRos(protocolType, serverUrl, OnConnected, OnClosed, serializer);
if (!StatusEvents["connected"].WaitOne(timeout * 1000))
{
Debug.LogWarning("Failed to connect to ROS before timeout");
return;
}
ImportAssets();
}
public ActionClient(TAction action, string actionName, string serverURL, Protocol protocol = Protocol.WebSocketSharp, RosSocket.SerializerEnum serializer = RosSocket.SerializerEnum.JSON, float timeStep = 0.2f)
{
this.action = action;
this.actionName = actionName;
this.timeStep = timeStep;
this.serverURL = serverURL;
socket = new RosSocket(ProtocolInitializer.GetProtocol(protocol, serverURL), serializer);
}
public void Transfer(Protocols.Protocol protocolType, string serverUrl, int timeout, string urdfPath, string rosPackage, RosSocket.SerializerEnum serializer)
{
if (Path.GetExtension(urdfPath)?.ToLowerInvariant() != ".urdf")
{
Debug.LogWarning("Please select a valid URDF file to publish.");
return;
}
Thread transferToRos = new Thread(() => TransferAsync(protocolType, serverUrl, timeout, urdfPath, rosPackage, serializer));
transferToRos.Start();
}
public FibonacciActionServer(FibonacciAction action, string actionName, Protocol protocol, string serverURL, RosSocket.SerializerEnum serializer, int timeout, float timeStep) : base(action, actionName, protocol, serverURL, serializer, timeout, timeStep)
{
}
private void OnGUI()
{
GUILayout.Label("URDF Transfer (From ROS to Unity)", EditorStyles.boldLabel);
EditorGUILayout.BeginHorizontal();
address = EditorGUILayout.TextField("Address", address);
EditorGUILayout.EndHorizontal();
showSettings = EditorGUILayout.Foldout(showSettings, "Settings");
if (showSettings)
{
EditorGUILayout.BeginHorizontal();
EditorGUIUtility.labelWidth = 100;
protocolType = (Protocols.Protocol)EditorGUILayout.EnumPopup("Protocol", protocolType);
EditorGUILayout.EndHorizontal();
EditorGUILayout.BeginHorizontal();
EditorGUIUtility.labelWidth = 100;
serializerType = (RosSocket.SerializerEnum)EditorGUILayout.EnumPopup("Serializer", serializerType);
EditorGUILayout.EndHorizontal();
//TODO URDF Parameter
EditorGUILayout.BeginHorizontal();
urdfParameter = EditorGUILayout.TextField("URDF Parameter", urdfParameter);
EditorGUILayout.EndHorizontal();
EditorGUILayout.BeginHorizontal();
timeout = EditorGUILayout.IntField("Timeout [s]", timeout);
EditorGUILayout.EndHorizontal();
EditorGUILayout.BeginHorizontal();
assetPath = EditorGUILayout.TextField("Asset Path", assetPath);
EditorGUILayout.EndHorizontal();
}
EditorGUILayout.BeginHorizontal();
EditorGUILayout.Space();
if (GUILayout.Button("Reset to Default", GUILayout.Width(150)))
{
DeleteEditorPrefs();
GetEditorPrefs();
}
EditorGUILayout.EndHorizontal();
GUILayout.Space(20);
EditorGUILayout.BeginHorizontal();
if (GUILayout.Button("Read Robot Description"))
{
SetEditorPrefs();
Thread rosSocketConnectThread = new Thread(() => transferHandler.TransferUrdf(protocolType, address, timeout, assetPath, urdfParameter, serializerType));
rosSocketConnectThread.Start();
}
EditorGUILayout.EndHorizontal();
GUILayout.Space(20);
EditorGUIUtility.labelWidth = 300;
DrawLabelField("Connected:", "connected");
DrawLabelField("Robot Name Received:", "robotNameReceived");
DrawLabelField("Robot Description Received:", "robotDescriptionReceived");
DrawLabelField("Resource Files Received:", "resourceFilesReceived");
DrawLabelField("Disconnected:", "disconnected");
DrawLabelField("Import Complete:", "importComplete");
}
private void OnGUI()
{
GUILayout.Label("URDF Transfer (From Unity to ROS)", EditorStyles.boldLabel);
EditorGUILayout.BeginHorizontal();
serverUrl = EditorGUILayout.TextField("Server URL", serverUrl);
EditorGUILayout.EndHorizontal();
showSettings = EditorGUILayout.Foldout(showSettings, "Settings");
if (showSettings)
{
EditorGUILayout.BeginHorizontal();
EditorGUIUtility.labelWidth = 100;
protocolType = (Protocols.Protocol)EditorGUILayout.EnumPopup("Protocol", protocolType);
EditorGUILayout.EndHorizontal();
EditorGUILayout.BeginHorizontal();
EditorGUIUtility.labelWidth = 100;
serializerType = (RosSocket.SerializerEnum)EditorGUILayout.EnumPopup("Serializer", serializerType);
EditorGUILayout.EndHorizontal();
EditorGUILayout.BeginHorizontal();
urdfPath = EditorGUILayout.TextField("URDF to export", urdfPath);
if (GUILayout.Button("Select", new GUIStyle(EditorStyles.miniButtonRight)
{
fixedWidth = 75
}))
{
urdfPath = EditorUtility.OpenFilePanel("Select a URDF file", urdfPath, "urdf");
}
EditorGUILayout.EndHorizontal();
EditorGUILayout.BeginHorizontal();
timeout = EditorGUILayout.IntField("Timeout [s]", timeout);
EditorGUILayout.EndHorizontal();
EditorGUILayout.BeginHorizontal();
rosPackage = EditorGUILayout.TextField(
new GUIContent("ROS package",
"The package where all meshes and resources files will be exported to in ROS."),
rosPackage);
EditorGUILayout.EndHorizontal();
}
EditorGUILayout.BeginHorizontal();
EditorGUILayout.Space();
if (GUILayout.Button("Reset to Default", GUILayout.Width(150)))
{
DeleteEditorPrefs();
GetEditorPrefs();
}
EditorGUILayout.EndHorizontal();
GUILayout.Space(10);
EditorGUILayout.BeginHorizontal();
if (GUILayout.Button("Publish Robot Description"))
{
SetEditorPrefs();
transferHandler.Transfer(protocolType, serverUrl, timeout, urdfPath, rosPackage, serializerType);
}
EditorGUILayout.EndHorizontal();
GUILayout.Space(20);
EditorGUIUtility.labelWidth = 225;
DrawLabelField("Connected: ", "connected");
DrawLabelField("Robot name published: ", "robotNamePublished");
DrawLabelField("Robot description published: ", "robotDescriptionPublished");
DrawLabelField("All resources files published: ", "resourceFilesSent");
GUILayout.Space(10);
EditorGUI.BeginDisabledGroup(transferHandler.RosSocket == null || !transferHandler.RosSocket.protocol.IsAlive());
if (GUILayout.Button("Close Connection"))
{
transferHandler.RosSocket?.Close();
}
EditorGUI.EndDisabledGroup();
}
public FileTransferFromRosConsoleClient(FileTransferFromRosAction action, string outPath, string serverURL, Protocol protocol = Protocol.WebSocketSharp, RosSocket.SerializerEnum serializer = RosSocket.SerializerEnum.JSON, float timeStep = 0.2f, int serverWaitTimeout = 3) : base(action, "file_transfer_from_ros", serverURL, protocol, serializer, timeStep)
{
this.outPath = outPath;
this.serverWaitTimeout = serverWaitTimeout;
files = new ConcurrentQueue <FileTransferFromRosFeedback>();
}
public ActionServer(TAction action, string actionName, Protocol protocol, string serverURL, RosSocket.SerializerEnum serializer = RosSocket.SerializerEnum.JSON, int timeout = 10, float timeStep = 0.1f)
{
this.action = action;
this.actionName = actionName;
this.timeStep = timeStep;
this.serverURL = serverURL;
socket = new RosSocket(ProtocolInitializer.GetProtocol(protocol, serverURL), serializer);
}
