public override Writer <T> AddWriter <T>(string topic)
{
if (Socket.ReadyState != WebSocketState.Open)
{
throw new InvalidOperationException("socket not open");
}
var type = GetMessageType <T>();
var sb = new StringBuilder(256);
sb.Append('{');
{
sb.Append("\"op\":\"advertise\",");
sb.Append("\"topic\":\"");
sb.Append(topic);
sb.Append("\",");
sb.Append("\"type\":\"");
sb.Append(type);
sb.Append("\"");
}
sb.Append('}');
TopicPublishers.Add(new Topic()
{
Name = topic,
Type = type,
});
Socket.SendAsync(sb.ToString(), ok => { });
return(new RosWriter <T>(this, topic));
}
public override Writer <T> AddWriter <T>(string topic)
{
var msgType = typeof(T).ToString();
string descriptorName = NameByMsgType[msgType];
FileDescriptorProto descriptor = DescriptorByName[descriptorName].Item2;
var descriptors = new List <byte[]>();
GetDescriptors(descriptors, descriptor);
int count = descriptors.Count;
var data = new List <byte>(4096);
data.Add((byte)Op.RegisterDesc);
data.Add((byte)(count >> 0));
data.Add((byte)(count >> 8));
data.Add((byte)(count >> 16));
data.Add((byte)(count >> 24));
foreach (var s in descriptors)
{
int bytes = s.Length;
data.Add((byte)(bytes >> 0));
data.Add((byte)(bytes >> 8));
data.Add((byte)(bytes >> 16));
data.Add((byte)(bytes >> 24));
data.AddRange(s);
}
var channel = System.Text.Encoding.ASCII.GetBytes(topic);
byte[] descriptorData = DescriptorByName[descriptorName].Item1;
var typeb = System.Text.Encoding.ASCII.GetBytes(msgType);
data.Add((byte)Op.AddWriter);
data.Add((byte)(channel.Length >> 0));
data.Add((byte)(channel.Length >> 8));
data.Add((byte)(channel.Length >> 16));
data.Add((byte)(channel.Length >> 24));
data.AddRange(channel);
data.Add((byte)(typeb.Length >> 0));
data.Add((byte)(typeb.Length >> 8));
data.Add((byte)(typeb.Length >> 16));
data.Add((byte)(typeb.Length >> 24));
data.AddRange(typeb);
TopicPublishers.Add(new Topic()
{
Name = topic,
Type = typeof(T).ToString(),
});
SendAsync(data.ToArray());
return(new CyberWriter <T>(this, topic));
}
public override Writer <T> AddWriter <T>(string topic)
{
var descriptor = MessageHelper <T> .Descriptor;
var descriptors = new List <byte[]>();
GetDescriptors(descriptors, descriptor.File);
int count = descriptors.Count;
var data = new List <byte>(4096);
data.Add((byte)Op.RegisterDesc);
data.Add((byte)(count >> 0));
data.Add((byte)(count >> 8));
data.Add((byte)(count >> 16));
data.Add((byte)(count >> 24));
foreach (var s in descriptors)
{
int bytes = s.Length;
data.Add((byte)(bytes >> 0));
data.Add((byte)(bytes >> 8));
data.Add((byte)(bytes >> 16));
data.Add((byte)(bytes >> 24));
data.AddRange(s);
}
var channel = System.Text.Encoding.ASCII.GetBytes(topic);
var typeb = System.Text.Encoding.ASCII.GetBytes(descriptor.FullName);
data.Add((byte)Op.AddWriter);
data.Add((byte)(channel.Length >> 0));
data.Add((byte)(channel.Length >> 8));
data.Add((byte)(channel.Length >> 16));
data.Add((byte)(channel.Length >> 24));
data.AddRange(channel);
data.Add((byte)(typeb.Length >> 0));
data.Add((byte)(typeb.Length >> 8));
data.Add((byte)(typeb.Length >> 16));
data.Add((byte)(typeb.Length >> 24));
data.AddRange(typeb);
TopicPublishers.Add(new Topic()
{
Name = topic,
Type = typeof(T).ToString(),
});
SendAsync(data.ToArray());
return(new CyberWriter <T>(this, topic));
}
void OnClose(object sender, CloseEventArgs args)
{
//if (!args.WasClean)
//{
// UnityEngine.Debug.LogError(args.Reason);
//}
Subscriptions.Clear();
Services.Clear();
QueuedActions.Clear();
QueuedSends.Clear();
TopicSubscriptions.Clear();
TopicPublishers.Clear();
Status = BridgeStatus.Disconnected;
}
public override void Disconnect()
{
if (Socket == null)
{
return;
}
QueuedActions.Clear();
Buffer.Clear();
lock (Readers)
{
Readers.Clear();
}
Status = BridgeStatus.Disconnected;
TopicSubscriptions.Clear();
TopicPublishers.Clear();
Socket.Close();
Socket = null;
}
