/// <summary>
/// Disconnect from the remote ros environment.
/// </summary>
public void Disconnect()
{
if (!connected)
{
return;
}
_recvThread.Abort();
foreach (var sub in _subscribers)
{
_ws.Send(ROSBridgeMsg.UnSubscribe(sub.Key.topic));
}
foreach (var p in _publishers)
{
_ws.Send(ROSBridgeMsg.UnAdvertiseTopic(p.topic));
}
foreach (var srv in _serviceServers)
{
_ws.Send(ROSBridgeMsg.UnadvertiseService(srv.Key.topic));
}
_ws.Close();
_msgQueue.Clear();
_connected = false;
}
/**
* Disconnect from the remote ros environment.
*/
public void Disconnect()
{
_applicationIsPlaying = false;
_myThread.Join();
//_myThread.Abort (); // Abort() does not guarantee that the thread is stopped
if (_ws != null)
{
foreach (Type p in _subscribers)
{
try
{
_ws.Send(ROSBridgeMsg.UnSubscribe(GetMessageTopic(p)));
UnityEngine.Debug.Log("Send " + ROSBridgeMsg.UnSubscribe(GetMessageTopic(p)));
} catch
{
UnityEngine.Debug.LogWarning("Sending " + ROSBridgeMsg.UnSubscribe(GetMessageTopic(p)) + " failed.");
}
}
foreach (Type p in _publishers)
{
try
{
_ws.Send(ROSBridgeMsg.UnAdvertise(GetMessageTopic(p)));
UnityEngine.Debug.Log("Send " + ROSBridgeMsg.UnAdvertise(GetMessageTopic(p)));
} catch
{
UnityEngine.Debug.LogWarning("Sending " + ROSBridgeMsg.UnAdvertise(GetMessageTopic(p)) + " failed.");
}
}
}
_ws.Close();
}
/// <summary>
/// Disconnects from the ROS Bridge and unsubscribes from all subscribed topics.
/// </summary>
public void Disconnect()
{
IsDisconnecting = true;
Debug.Log("Disconnecting from " + _host);
_myThread.Abort();
if (WebSocket == null)
{
return;
}
foreach (ROSBridgeSubscriber subscriber in _subscribers)
{
WebSocket.Send(ROSBridgeMsg.UnSubscribe(subscriber.GetMessageTopic()));
Debug.Log("Sending " + ROSBridgeMsg.UnSubscribe(subscriber.GetMessageTopic()));
}
foreach (ROSBridgePublisher publisher in _publishers)
{
WebSocket.Send(ROSBridgeMsg.UnAdvertise(publisher.GetMessageTopic()));
Debug.Log("Sending " + ROSBridgeMsg.UnAdvertise(publisher.GetMessageTopic()));
}
_subscribers.Clear();
_publishers.Clear();
//fix this in a better way
RobotInterface.Instance.StartCoroutine(Example());
WebSocket.Close();
IsConnected = false;
}
/// <summary>
/// Disconnect from the remote ros environment.
/// </summary>
public void Disconnect()
{
_connected = false;
_myThread.Abort();
foreach (string topicName in static_subscribers.Keys)
{
_ws.Send(ROSBridgeMsg.UnSubscribe(topicName));
Debug.Log("Sending " + ROSBridgeMsg.UnSubscribe(topicName));
}
foreach (string topicName in subscribers.Keys)
{
if (!static_subscribers.ContainsKey(topicName))
{
_ws.Send(ROSBridgeMsg.UnSubscribe(topicName));
Debug.Log("Sending " + ROSBridgeMsg.UnSubscribe(topicName));
}
}
foreach (string topicName in static_publishers.Keys)
{
_ws.Send(ROSBridgeMsg.UnAdvertise(topicName));
Debug.Log("Sending " + ROSBridgeMsg.UnAdvertise(topicName));
}
_ws.Close();
static_subscribers.Clear();
static_publishers.Clear();
subscribers.Clear();
}
public void RemoveSubcriber(ROSBridgeSubscriber subscriber)
{
_subscribers.Remove(subscriber);
if (IsConnected)
{
WebSocket.Send(ROSBridgeMsg.UnSubscribe(subscriber.GetMessageTopic()));
}
}
/**
* Removes a subscriber and disconnects him if the connection is already running.
*/
public void RemoveSubscriber(Type subscriber)
{
if (!_subscribers.Contains(subscriber))
{
return;
}
_subscribers.Remove(subscriber);
if (_running)
{
_ws.Send(ROSBridgeMsg.UnSubscribe(GetMessageTopic(subscriber)));
}
}
/**
* Disconnect from the remote ros environment.
*/
public void Disconnect()
{
_myThread.Abort();
foreach (Type p in _subscribers)
{
_ws.Send(ROSBridgeMsg.UnSubscribe(GetMessageTopic(p)));
//Debug.Log ("Sending " + ROSBridgePacket.unSubscribe(getMessageTopic(p)));
}
foreach (Type p in _publishers)
{
_ws.Send(ROSBridgeMsg.UnAdvertise(GetMessageTopic(p)));
//Debug.Log ("Sending " + ROSBridgePacket.unAdvertise (getMessageTopic(p)));
}
_ws.Close();
}
/// <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));
}
}
/// <summary>
/// Unsubscribe from a specific topic
/// TODO: Test this function.
/// </summary>
/// <param name="topicName"></param>
public void RemoveSubscriber(string topicName)
{
if (_connected)
{
if (subscribers.ContainsKey(topicName))
{
_ws.Send(ROSBridgeMsg.UnSubscribe(topicName));
Debug.Log("Sending " + ROSBridgeMsg.UnSubscribe(topicName));
subscribers.Remove(topicName);
}
else
{
Debug.Log("Invalid subscriber topic name key: " + topicName);
}
}
else
{
Debug.Log("ROS Connection is inactive");
}
}
/**
* Disconnect from the remote ros environment.
*/
public void Disconnect()
{
#if UNITY_EDITOR
_myThread.Abort();
foreach (Type p in _subscribers)
{
_ws.Send(ROSBridgeMsg.UnSubscribe(GetMessageTopic(p)));
Debug.Log("Sending " + ROSBridgeMsg.UnSubscribe(GetMessageTopic(p)));
}
foreach (Type p in _publishers)
{
_ws.Send(ROSBridgeMsg.UnAdvertise(GetMessageTopic(p)));
Debug.Log("Sending " + ROSBridgeMsg.UnAdvertise(GetMessageTopic(p)));
}
_ws.Close();
_connected = false;
#endif
#if !UNITY_EDITOR
Debug.Log("Disconnectig...");
foreach (Type p in _subscribers)
{
dataWriter.WriteString(ROSBridgeMsg.UnSubscribe(GetMessageTopic(p)));
dataWriter.StoreAsync();
Debug.Log("Sending " + ROSBridgeMsg.UnSubscribe(GetMessageTopic(p)));
}
foreach (Type p in _publishers)
{
dataWriter.WriteString(ROSBridgeMsg.UnAdvertise(GetMessageTopic(p)));
dataWriter.StoreAsync();
Debug.Log("Sending " + ROSBridgeMsg.UnAdvertise(GetMessageTopic(p)));
}
messageWebSocket.Dispose();
messageWebSocket = null;
_connected = false;
#endif
}
/**
* Unsubcribe this connection.
*/
public void UnSubcribe(Type unsubcriber)
{
_ws.Send(ROSBridgeMsg.UnSubscribe(GetMessageTopic(unsubcriber)));
}