public void AddService <ArgBridgeType>(string topic, Action <JSONNode, Action <object> > callback) { var argType = RosUtils.GetMessageType <ArgBridgeType>(); if (Services.ContainsKey(topic)) { throw new InvalidOperationException($"Service on {topic} topic is already registered"); } var j = new JSONObject(); j.Add("op", "advertise_service"); j.Add("type", argType); j.Add("service", topic); var data = j.ToString(); lock (Setup) { if (Status == Status.Connected) { Socket.SendAsync(data, null); } Setup.Add(data); } lock (Services) { Services.Add(topic, callback); } }
public void AddSubscriber <BridgeType>(string topic, Action <JSONNode> callback) { var messageType = RosUtils.GetMessageType <BridgeType>(); var j = new JSONObject(); j.Add("op", "subscribe"); j.Add("topic", topic); j.Add("type", messageType); var data = j.ToString(); lock (Setup) { if (Status == Status.Connected) { Socket.SendAsync(data, null); } Setup.Add(data); } lock (Subscribers) { Subscribers.Add(topic, callback); } }
public virtual void Register(IBridgePlugin plugin) { // point cloud is special, as we use special writer for performance reasons plugin.AddType <PointCloudData>(RosUtils.GetMessageType <Ros.PointCloud2>()); plugin.AddPublisherCreator <PointCloudData>( (instance, topic) => { var rosInstance = instance as RosBridgeInstance; rosInstance.AddPublisher <Ros.PointCloud2>(topic); var writer = new RosPointCloudWriter(rosInstance, topic); return(new Publisher <PointCloudData>((data, completed) => writer.Write(data, completed))); } ); RegPublisher <ImageData, Ros.CompressedImage>(plugin, Conversions.ConvertFrom); RegPublisher <CameraInfoData, Ros.CameraInfo>(plugin, Conversions.ConvertFrom); RegPublisher <Detected2DObjectData, Lgsvl.Detection2DArray>(plugin, Conversions.ConvertFrom); RegPublisher <ClockData, Ros.Clock>(plugin, Conversions.ConvertFrom); RegSubscriber <VehicleStateData, Lgsvl.VehicleStateDataRos>(plugin, Conversions.ConvertTo); RegSubscriber <Detected2DObjectArray, Lgsvl.Detection2DArray>(plugin, Conversions.ConvertTo); RegSubscriber <Detected3DObjectArray, Lgsvl.Detection3DArray>(plugin, Conversions.ConvertTo); // std_srvs/Empty RegService <EmptySrv, Ros.Empty, EmptySrv, Ros.Empty>(plugin, Conversions.ConvertTo, Conversions.ConvertFrom); // std_srvs/SetBool RegService <SetBoolSrv, Ros.SetBool, SetBoolSrv, Ros.SetBoolResponse>(plugin, Conversions.ConvertTo, Conversions.ConvertFrom); // std_srvs/Trigger RegService <EmptySrv, Ros.Empty, TriggerSrv, Ros.Trigger>(plugin, Conversions.ConvertTo, Conversions.ConvertFrom); }
public override void Register(IBridgePlugin plugin) { base.Register(plugin); // gps data is special, because it actually sends two Ros.Sentence messages for each data point from simulator plugin.AddType <GpsData>(RosUtils.GetMessageType <Ros.Sentence>()); plugin.AddPublisherCreator( (instance, topic) => { var rosInstance = instance as RosBridgeInstance; rosInstance.AddPublisher <Ros.Sentence>(topic); var writer = new RosNmeaWriter(rosInstance, topic); return(new Publisher <GpsData>((data, completed) => writer.Write(data, completed))); } ); RegPublisher <CanBusData, Lgsvl.CanBusDataRos>(plugin, Conversions.RosConvertFrom); RegPublisher <DetectedRadarObjectData, Lgsvl.DetectedRadarObjectArray>(plugin, Conversions.RosConvertFrom); RegPublisher <GpsOdometryData, Ros.Odometry>(plugin, Conversions.ConvertFrom); RegPublisher <ImuData, Ros.Imu>(plugin, Conversions.ConvertFrom); RegPublisher <Detected3DObjectData, Lgsvl.Detection3DArray>(plugin, Conversions.ConvertFrom); RegPublisher <SignalDataArray, Lgsvl.SignalArray>(plugin, Conversions.ConvertFrom); RegPublisher <UltrasonicData, Lgsvl.Ultrasonic>(plugin, Conversions.ConvertFrom); RegPublisher <VehicleOdometryData, Lgsvl.VehicleOdometry>(plugin, Conversions.ConvertFrom); RegSubscriber <VehicleControlData, Lgsvl.VehicleControlDataRos>(plugin, Conversions.ConvertTo); }
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))) ) ); }
public void RegPublisher <DataType, BridgeType>(IBridgePlugin plugin, Func <DataType, BridgeType> converter) { plugin.AddType <DataType>(RosUtils.GetMessageType <BridgeType>()); plugin.AddPublisherCreator <DataType>( (instance, topic) => { var rosInstance = instance as RosBridgeInstance; rosInstance.AddPublisher <BridgeType>(topic); var writer = new RosWriter <BridgeType>(rosInstance, topic); return(new Publisher <DataType>((data, completed) => writer.Write(converter(data), completed))); } ); }
public void AddPublisher <BridgeType>(string topic) { var messageType = RosUtils.GetMessageType <BridgeType>(); var j = new JSONObject(); j.Add("op", "advertise"); j.Add("topic", topic); j.Add("type", messageType); var data = j.ToString(); lock (Setup) { if (Status == Status.Connected) { Socket.SendAsync(data, null); } Setup.Add(data); } }