private void Run() { _ws = new WebSocket(_host + ":" + _port); _ws.OnMessage += (sender, e) => this.OnMessage(e.Data); _ws.Connect(); foreach (Type p in _subscribers) { _ws.Send(ROSBridgeMsg.Subscribe(GetMessageTopic(p), GetMessageType(p))); Debug.Log("Sending " + ROSBridgeMsg.Subscribe(GetMessageTopic(p), GetMessageType(p))); } foreach (Type p in _publishers) { _ws.Send(ROSBridgeMsg.Advertise(GetMessageTopic(p), GetMessageType(p))); Debug.Log("Sending " + ROSBridgeMsg.Advertise(GetMessageTopic(p), GetMessageType(p))); } foreach (Pair <Type, String> p in _publishersNew) { _ws.Send(ROSBridgeMsg.Advertise(p.Second, GetMessageType(p.First))); Debug.Log("Sending " + ROSBridgeMsg.Publish(p.Second, GetMessageType(p.First))); } while (true) { Thread.Sleep(1000); } }
public void Publish(String topic, ROSBridgeMsg msg) { if (_ws != null) { string s = ROSBridgeMsg.Publish(topic, msg.ToYAMLString()); _ws.Send(s); } }
public void Publish(String topic, ROSBridgeMsg msg) { if (WebSocket != null && !IsDisconnecting) { string s = ROSBridgeMsg.Publish(topic, msg.ToYAMLString()); // Debug.Log("Sending " + s); WebSocket.Send(s); } }
public void Publish(String topic, ROSBridgeMsg msg) { // if(_ws != null && _ws.IsConnected && _ws.IsAlive) { //this call take a lot of time if (_ws != null) { string s = ROSBridgeMsg.Publish(topic, msg.ToYAMLString()); // UnityEngine.Debug.Log ("Sending " + s); _ws.Send(s); } }
public void Publish(String topic, ROSBridgeMsg msg) { if (_ws != null) { string s = ROSBridgeMsg.Publish(topic, msg.ToYAMLString()); if (_debug) { Debug.Log(s); } //Debug.Log ("Sending " + s); _ws.Send(s); } }
public void Publish(String topic, ROSBridgeMsg msg, bool debug_log = true) { #if UNITY_EDITOR if (_ws != null) { string s = ROSBridgeMsg.Publish(topic, msg.ToYAMLString()); if (debug_log) { Debug.Log("Sending " + s); } _ws.Send(s); } #endif #if !UNITY_EDITOR if (messageWebSocket != null) { string s = ROSBridgeMsg.Publish(topic, msg.ToYAMLString()); dataWriter.WriteString(s); dataWriter.StoreAsync(); } #endif }