static void Subscribe(IRosbridgeMessageDispatcher messageDispatcher)
{
RosSubscriber <Twist> subscriber = new RosSubscriber <Twist>(messageDispatcher, "/turtle1/cmd_vel");
subscriber.RosMessageReceived += (s, e) => { Console.WriteLine(e.RosMessage); };
subscriber.SubscribeAsync();
}
protected bool Subscribe <T>(string name, string topic, double rate, out RosSubscriber <T> subscriber)
where T : IRosClassInterface, new()
{
if (prevTimeStamp.ContainsKey(name))
{
subscriber = default(RosSubscriber <T>);
return(false);
}
prevTimeStamp[name] = Time.unscaledDeltaTime;
period[name] = 1 / rate;
subscriber = new RosSubscriber <T>(name, topic, 1);
return(true);
}
protected bool Unsubscribe <T>(RosSubscriber <T> subscriber)
where T : IRosClassInterface, new()
{
if (prevTimeStamp.ContainsKey(subscriber.name))
{
prevTimeStamp.Remove(subscriber.name);
period.Remove(subscriber.name);
subscriber.Terminate();
subscriber = null;
return(true);
}
return(false);
}
protected bool Receive <T>(RosSubscriber <T> subscriber, out T message)
where T : IRosClassInterface, new()
{
System.Double currTimeStamp = Time.unscaledTime;
if (subscriber.MsgReady &&
(currTimeStamp - prevTimeStamp[subscriber.name] > period[subscriber.name]))
{
message = subscriber.GetNewMessage();
return(true);
}
message = default(T);
return(false);
}
