public void Disconnect()
{
_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();
}
/**
* 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);
string topic = GetMessageTopic(subscriber);
m_SubscribedTopics.Remove(topic);
if (_running)
{
//since multiple subscribers can subscribe to same topic, only send unsubscribe if no more subscribers on this topic
if (!m_SubscribedTopics.Contains(topic))
{
Debug.Log("[ROS WEBSOCKET]Not subcribing anymore to " + topic);
_ws.Send(ROSBridgeMsg.UnSubscribe(topic));
}
}
}
/**
* Disconnect from the remote ros environment.
*/
public void Disconnect()
{
Debug.Log("[ROS WEBSOCKET] Disconnecting from ROS");
_myThread.Abort();
foreach (Type p in _subscribers)
{
string topic = GetMessageTopic(p);
//remove this subscriber
if (m_SubscribedTopics.Contains(topic))
{
m_SubscribedTopics.Remove(topic);
}
//if no mo subscribers on this topic
if (!m_SubscribedTopics.Contains(topic))
{
Debug.Log("[ROS WEBSOCKET] not subscribing anymore to " + topic);
_ws.Send(ROSBridgeMsg.UnSubscribe(topic));
}
}
foreach (Type p in _publishers)
{
string topic = GetMessageTopic(p);
//remove this advertiser
if (m_AnnouncedTopics.Contains(topic))
{
m_AnnouncedTopics.Remove(topic);
}
//if no more advertiser on this topic
if (!m_AnnouncedTopics.Contains(topic))
{
Debug.Log("[ROS WEBSOCKET] not publishing on topic: " + topic);
_ws.Send(ROSBridgeMsg.UnAdvertise(topic));
}
}
Debug.Log("[ROS WEBSOCKET] Closing websocket");
_ws.Close();
_running = false;
}