private void Run()
{
_ws = new WebSocket(_host + ":" + _port);
_ws.OnMessage += (sender, e) => OnMessage(e.Data);
_ws.Connect();
foreach (var p in _subscribers)
{
_ws.Send(ROSBridgeMsg.Subscribe(GetMessageTopic(p),
GetMessageType(p)));
Debug.Log("Sending " +
ROSBridgeMsg.Subscribe(GetMessageTopic(p),
GetMessageType(p)));
}
foreach (var p in _publishers)
{
_ws.Send(ROSBridgeMsg.Advertise(GetMessageTopic(p),
GetMessageType(p)));
Debug.Log("Sending " +
ROSBridgeMsg.Advertise(GetMessageTopic(p),
GetMessageType(p)));
}
while (true)
{
Thread.Sleep(10000);
}
}
public void CallService(string service, string args)
{
if (_ws != null)
{
var s = ROSBridgeMsg.CallService(service, args);
Debug.Log("Sending " + s);
_ws.Send(s);
}
}
public void Publish(string topic, ROSBridgeMsg msg)
{
if (_ws != null)
{
var s = ROSBridgeMsg.Publish(topic, msg.ToYAMLString());
//Debug.Log ("Sending " + s);
_ws.Send(s);
}
}
/**
* Disconnect from the remote ros environment.
*/
public void Disconnect()
{
_myThread.Abort();
foreach (var p in _subscribers)
{
_ws.Send(ROSBridgeMsg.UnSubscribe(GetMessageTopic(p)));
}
//Debug.Log ("Sending " + ROSBridgePacket.unSubscribe(getMessageTopic(p)));
foreach (var p in _publishers)
{
_ws.Send(ROSBridgeMsg.UnAdvertise(GetMessageTopic(p)));
}
//Debug.Log ("Sending " + ROSBridgePacket.unAdvertise (getMessageTopic(p)));
_ws.Close();
}
public static void callBack(ROSBridgeMsg msg)
{
}
private static void Update(Type t, ROSBridgeMsg msg)
{
t.GetMethod("CallBack",
BindingFlags.Public | BindingFlags.Static |
BindingFlags.FlattenHierarchy).Invoke(null, new object[] { msg });
}
public RenderTask(Type subscriber, string topic, ROSBridgeMsg msg)
{
_subscriber = subscriber;
_topic = topic;
_msg = msg;
}