public bool Connect()
{
if (!this.rosClient.SetupSocket())
{
Logger.Log("Failed to set up socket");
return(false);
}
string eventPubMessage = RosbridgeUtilities.GetROSJsonAdvertiseMsg(
Constants.STORYBOOK_EVENT_TOPIC, Constants.STORYBOOK_EVENT_MESSAGE_TYPE);
string pageInfoPubMessage = RosbridgeUtilities.GetROSJsonAdvertiseMsg(
Constants.STORYBOOK_PAGE_INFO_TOPIC, Constants.STORYBOOK_PAGE_INFO_MESSAGE_TYPE);
string statePubMessage = RosbridgeUtilities.GetROSJsonAdvertiseMsg(
Constants.STORYBOOK_STATE_TOPIC, Constants.STORYBOOK_STATE_MESSAGE_TYPE);
string subMessage = RosbridgeUtilities.GetROSJsonSubscribeMsg(
Constants.STORYBOOK_COMMAND_TOPIC, Constants.STORYBOOK_COMMAND_MESSAGE_TYPE);
// Send all advertisements to publish and subscribe to appropriate channels.
this.connected = this.rosClient.SendMessage(eventPubMessage) &&
this.rosClient.SendMessage(pageInfoPubMessage) &&
this.rosClient.SendMessage(statePubMessage) &&
this.rosClient.SendMessage(subMessage);
// If connection successful, begin sending state messages.
if (this.connected)
{
Logger.Log("Starting to send state messages");
this.publishStateTimer.Elapsed += this.sendStorybookState;
this.publishStateTimer.Start();
}
return(this.connected);
}
private void setupPubSub()
{
Logger.Log("-- Setup Pub/Sub for Ros Manager --");
string eventPubMessage = RosbridgeUtilities.GetROSJsonAdvertiseMsg(
Constants.STORYBOOK_EVENT_TOPIC, Constants.STORYBOOK_EVENT_MESSAGE_TYPE);
string pageInfoPubMessage = RosbridgeUtilities.GetROSJsonAdvertiseMsg(
Constants.STORYBOOK_PAGE_INFO_TOPIC, Constants.STORYBOOK_PAGE_INFO_MESSAGE_TYPE);
string statePubMessage = RosbridgeUtilities.GetROSJsonAdvertiseMsg(
Constants.STORYBOOK_STATE_TOPIC, Constants.STORYBOOK_STATE_MESSAGE_TYPE);
string subMessage = RosbridgeUtilities.GetROSJsonSubscribeMsg(
Constants.STORYBOOK_COMMAND_TOPIC, Constants.STORYBOOK_COMMAND_MESSAGE_TYPE);
// Send all advertisements to publish and subscribe to appropriate channels.
this.connected = this.rosClient.SendMessage(eventPubMessage) &&
this.rosClient.SendMessage(pageInfoPubMessage) &&
this.rosClient.SendMessage(statePubMessage) &&
this.rosClient.SendMessage(subMessage);
}