/// <summary>
/// Should be called at least once each frame. Calls any available callbacks for received messages.
/// Note: MUST be called from Unity's main thread!
/// </summary>
public void Render()
{
float start = Time.realtimeSinceStartup; // time at start of this frame
float max_dur = 0.5f * Time.fixedDeltaTime; // max time we want to spend working
float dur = 0.0f; // time spent so far processing messages
while (dur < max_dur)
{
// get queued work to do
List <MessageTask> msg_tasks = MessagePump();
List <ServiceTask> svc_tasks = ServicePump();
// bail if we have no work to do
if (msg_tasks.Count == 0 && svc_tasks.Count == 0)
{
break;
}
// call all msg subsriber callbacks
foreach (var t in msg_tasks)
{
_subscribers[t.getSubscriber()](t.getMsg());
}
// call all svc handlers
foreach (var svc in svc_tasks)
{
ServiceResponse response = null;
// invoke service handler
bool success = _serviceServers[svc.Service](svc.Request, out response);
Debug.Log("Sending service response: \n" + ROSBridgeMsg.ServiceResponse(success, svc.Service.topic, svc.id, JsonUtility.ToJson(response)));
// send response
_ws.SendAsync(ROSBridgeMsg.ServiceResponse(success, svc.Service.topic, svc.id, JsonUtility.ToJson(response)), null);
}
dur = Time.realtimeSinceStartup - start;
}
}
