public void Write(BridgeType message, Action completed)
{
var sb = new StringBuilder(4096);
sb.Append('{');
{
sb.Append("\"op\":\"publish\",");
sb.Append("\"topic\":\"");
sb.Append(Topic);
sb.Append("\",");
sb.Append("\"msg\":");
try
{
RosSerialization.Serialize(message, sb);
}
catch (Exception ex)
{
// explicit logging of exception because this method is often called
// from background threads for which Unity does not log exceptions
Debug.LogException(ex);
throw;
}
}
sb.Append('}');
var data = sb.ToString();
Instance.SendAsync(data, completed);
}
public void RegService <ArgDataType, ArgBridgeType, ResDataType, ResBridgeType>(IBridgePlugin plugin, Func <ArgBridgeType, ArgDataType> argConverter, Func <ResDataType, ResBridgeType> resConverter)
{
plugin.AddServiceCreator <ArgDataType, ResDataType>(
(instance, topic, service) =>
{
// this callback is called every time sensor registers service on different topic
(instance as RosBridgeInstance).AddService <ArgBridgeType>(topic,
(rawArg, resultCb) =>
{
// this callback is called every time websocket receives message from rosbridge
var arg = RosSerialization.Unserialize <ArgBridgeType>(rawArg);
var argData = argConverter(arg);
service(argData, resData =>
{
// this callback is called from sensor service callback to return result data back to rosbridge
var res = resConverter(resData);
resultCb(res);
});
}
);
}
);
}
void OnMessage(object sender, MessageEventArgs args)
{
var json = JSONNode.Parse(args.Data);
string op = json["op"];
if (op == "publish")
{
string topic = json["topic"];
Action <JSONNode> callback;
lock (Subscribers)
{
Subscribers.TryGetValue(topic, out callback);
}
if (callback == null)
{
Debug.LogWarning($"Received message on '{topic}' topic which nobody subscribed");
}
else
{
callback(json["msg"]);
}
}
else if (op == "call_service")
{
var topic = json["service"];
var id = json["id"];
Action <JSONNode, Action <object> > callback;
lock (Services)
{
Services.TryGetValue(topic, out callback);
}
if (callback == null)
{
Debug.LogWarning($"Received service message on '{topic}' topic which nobody serves");
}
else
{
callback(json["args"], res =>
{
var sb = new StringBuilder(1024);
sb.Append('{');
{
sb.Append("\"op\":\"service_response\",");
sb.Append("\"id\":");
sb.Append(id.ToString());
sb.Append(",");
sb.Append("\"service\":\"");
sb.Append(topic.Value);
sb.Append("\",");
sb.Append("\"values\":");
try
{
RosSerialization.Serialize(res, sb);
}
catch (Exception ex)
{
// explicit logging of exception because this method is often called
// from background threads for which Unity does not log exceptions
Debug.LogException(ex);
throw;
}
sb.Append(",");
sb.Append("\"result\":true");
}
sb.Append('}');
var data = sb.ToString();
Socket.SendAsync(data, null);
});
}
}
else if (op == "set_level")
{
// ignore these
}
else
{
Debug.LogWarning($"Unknown operation from rosbridge: {op}");
}
}
public void RegSubscriber <DataType, BridgeType>(IBridgePlugin plugin, Func <BridgeType, DataType> converter)
{
plugin.AddType <DataType>(RosUtils.GetMessageType <BridgeType>());
plugin.AddSubscriberCreator <DataType>(
(instance, topic, callback) => (instance as RosBridgeInstance).AddSubscriber <BridgeType>(topic,
rawData => callback(converter(RosSerialization.Unserialize <BridgeType>(rawData)))
)
);
}