protected virtual void Start()
{
if (this.rosBridgeIP.Equals(string.Empty))
{
this.rosBridgeIP = ConfigManager.Instance.configInfo.rosbridgeIP;
}
if (this.rosBridgePort == 0)
{
this.rosBridgePort = ConfigManager.Instance.configInfo.rosbridgePort;
}
if (!RosConnectionManager.Instance.rosConnections.rosBridgeWebSocketConnectionMap.ContainsKey(topicName))
{
this.webSocketConnection = new SIGVerse.RosBridge.RosBridgeWebSocketConnection(rosBridgeIP, rosBridgePort);
RosConnectionManager.Instance.rosConnections.rosBridgeWebSocketConnectionMap.Add(topicName, this.webSocketConnection);
this.subscriber = this.webSocketConnection.Subscribe <Tmsg>(topicName, this.SubscribeMessageCallback);
// Connect to ROSbridge server
this.webSocketConnection.Connect <Tmsg>();
}
else
{
this.webSocketConnection = RosConnectionManager.Instance.rosConnections.rosBridgeWebSocketConnectionMap[topicName];
this.subscriber = this.webSocketConnection.Subscribe <Tmsg>(topicName, this.SubscribeMessageCallback);
}
}
/// <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 : RosMessage, new()
{
MessageCallback MessageCallback = (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> subscriber = new RosBridgeSubscriber <Tmsg>(topic, messageType);
this.subscribers.Add(subscriber, MessageCallback);
this.msgQueue.Add(subscriber.Topic, new RenderQueue <MessageTask>(queueSize));
if (this.IsConnected)
{
this.webSocket.Send(RosBridgeMsg.Subscribe(subscriber.Topic, subscriber.Type));
}
return(subscriber);
}
/// <summary>
/// Remove a subscriber callback from this connection.
/// </summary>
/// <param name="subscriber"></param>
public void Unsubscribe(RosBridgeSubscriber subscriber)
{
if (subscriber == null)
{
return;
}
this.subscribers.Remove(subscriber);
this.msgQueue.Remove(subscriber.Topic);
if (this.IsConnected)
{
this.webSocket.Send(RosBridgeMsg.UnSubscribe(subscriber.Topic));
}
}
public MessageTask(RosBridgeSubscriber subscriber, RosMessage msg)
{
this.subscriber = subscriber;
this.msg = msg;
}