예제 #1
0
        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);
        }
예제 #2
0
 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);
             });
         }
                                                                    );
     }
         );
 }
예제 #3
0
        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}");
            }
        }
예제 #4
0
 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)))
                                                                                                   )
         );
 }