/// <summary>
/// Add a subscriber callback to this connection. There can be many subscribers.
/// </summary>
/// <typeparam name="Tmsg">Message type used in the callback</typeparam>
/// <param name="sub">Subscriber</param>
/// <param name="callback">Method to call when a message matching the given subscriber is received</param>
public ROSBridgeSubscriber <Tmsg> Subscribe <Tmsg>(string topic, ROSMessageCallback <Tmsg> callback, uint queueSize = 0) where Tmsg : ROSBridgeLib.ROSMessage, new()
{
MessageCallback CB = (ROSMessage msg) =>
{
Tmsg message = msg as Tmsg;
callback(message);
};
var getMessageType = typeof(Tmsg).GetMethod("GetMessageType");
if (getMessageType == null)
{
Debug.LogError("Could not retrieve method GetMessageType() from " + typeof(Tmsg).ToString());
return(null);
}
string messageType = (string)getMessageType.Invoke(null, null);
if (messageType == null)
{
Debug.LogError("Could not retrieve valid message type from " + typeof(Tmsg).ToString());
return(null);
}
ROSBridgeSubscriber <Tmsg> sub = new ROSBridgeSubscriber <Tmsg>(topic, messageType);
_subscribers.Add(sub, CB);
_msgQueue.Add(sub.topic, new RenderQueue <MessageTask>(queueSize));
if (connected)
{
_ws.Send(ROSBridgeMsg.Subscribe(sub.topic, sub.type));
}
return(sub);
}
public void RemoveSubcriber(ROSBridgeSubscriber subscriber)
{
_subscribers.Remove(subscriber);
if (IsConnected)
{
WebSocket.Send(ROSBridgeMsg.UnSubscribe(subscriber.GetMessageTopic()));
}
}
public void AddSubscriber(ROSBridgeSubscriber subscriber)
{
_subscribers.Add(subscriber);
if (IsConnected && !IsDisconnecting)
{
WebSocket.Send(ROSBridgeMsg.Subscribe(subscriber.GetMessageTopic(), subscriber.GetMessageType()));
}
}
void Start()
{
ROSHost = "ws://" + ROSHost;
ros = new ROSBridgeLib.ROSBridgeWebSocketConnection(ROSHost, ROSPort);
pose_sub = ros.Subscribe <SimplePoseArray>("/unity/simple_bot/pose", OnNewPoseMsg);
hand_sub = ros.Subscribe <ROSBridgeLib.simple_unity_bot.HandState>("/unity/simple_bot/hands", OnNewHandMsg);
pose_pub = ros.Advertise <SimplePoseArray>("/unity/simple_bot/target_pose");
hand_pub = ros.Advertise <ROSBridgeLib.simple_unity_bot.HandState>("/unity/simple_bot/hand_targets");
ros.Connect();
}
/// <summary>
/// Remove a subscriber callback from this connection.
/// </summary>
/// <param name="sub"></param>
public void Unsubscribe(ROSBridgeSubscriber sub)
{
if (sub == null)
{
return;
}
_subscribers.Remove(sub);
_msgQueue.Remove(sub.topic);
if (connected)
{
_ws.Send(ROSBridgeMsg.UnSubscribe(sub.topic));
}
}
public MessageTask(ROSBridgeSubscriber subscriber, ROSMessage msg)
{
_subscriber = subscriber;
_msg = msg;
}
public RenderTask(ROSBridgeSubscriber subscriber, string topic, ROSBridgeMsg msg)
{
_subscriber = subscriber;
_topic = topic;
_msg = msg;
}