private void RosbridgeMessageReceivedHandler(object sender, RosbridgeMessageReceivedEventArgs args)
{
if (args != null)
{
RosMessageReceivedEventArgs rosMessageReceivedEventArgs = this.HandleRosbridgeMessage(args.RosbridgeMessage);
if (rosMessageReceivedEventArgs != null)
{
RosMessageReceived?.Invoke(this, rosMessageReceivedEventArgs);
}
}
}
private void RosbridgeMessageReceived(object sender, RosbridgeMessageReceivedEventArgs args)
{
if (null != args)
{
RosPublishMessage receivedPublishMessage = args.RosbridgeMessage.ToObject <RosPublishMessage>();
if (null != RosMessageReceived && null != receivedPublishMessage && !string.IsNullOrEmpty(receivedPublishMessage.Topic) && receivedPublishMessage.Topic.Equals(this.Topic))
{
TRosMessage receivedRosMessage = receivedPublishMessage.Message.ToObject <TRosMessage>();
RosMessageReceived(this, new RosMessageReceivedEventArgs <TRosMessage>(receivedRosMessage));
}
}
}