private void Run()
{
_ws = new WebSocket(_host + ":" + _port);
_ws.OnMessage += (sender, e) => this.OnMessage(e.Data);
_ws.OnError += _ws_OnError;
_ws.OnOpen += _ws_OnOpen;
_ws.Connect();
while (!connected)
{
Thread.Sleep(10);
}
foreach (var sub in _subscribers)
{
_ws.Send(ROSBridgeMsg.Subscribe(sub.Key.topic, sub.Key.type));
Debug.Log("Sending: " + ROSBridgeMsg.Subscribe(sub.Key.topic, sub.Key.type));
}
foreach (var p in _publishers)
{
_ws.Send(ROSBridgeMsg.AdvertiseTopic(p.topic, p.type));
Debug.Log("Sending " + ROSBridgeMsg.AdvertiseTopic(p.topic, p.type));
}
foreach (var srv in _serviceServers)
{
_ws.Send(ROSBridgeMsg.AdvertiseService(srv.Key.topic, srv.Key.type));
Debug.Log("Sending: " + ROSBridgeMsg.AdvertiseService(srv.Key.topic, srv.Key.type));
}
while (_connected)
{
Thread.Sleep(10);
}
}
/// <summary>
/// Add a publisher to this connection. There can be many publishers.
/// </summary>
/// <typeparam name="Tpub">Publisher type to advertise</typeparam>
/// <param name="topic">Topic to advertise on</param>
/// <returns>A publisher which can be used to broadcast data on the given topic</returns>
public ROSBridgePublisher <Tmsg> Advertise <Tmsg>(string topic) where Tmsg : ROSMessage
{
ROSBridgePublisher <Tmsg> pub = (ROSBridgePublisher <Tmsg>)Activator.CreateInstance(typeof(ROSBridgePublisher <Tmsg>), new object[] { topic });
pub.SetBridgeConnection(this);
_publishers.Add(pub);
if (connected)
{
_ws.Send(ROSBridgeMsg.AdvertiseTopic(pub.topic, pub.type));
}
return(pub);
}
