RosBridgeClient Refactoring (cf. #59)

Libraries/README.md

@@ -0,0 +1,16 @@
+# [Libraries](https://github.com/siemens/ros-sharp/tree/master/Libraries) #
+ the .NET solution [RosSharp.sln](https://github.com/siemens/ros-sharp/tree/master/Libraries/RoRosSharp.sln) consists of the following projects:
+
+ * [RosBridgeClient](https://github.com/siemens/ros-sharp/tree/master/Libraries/RosBridgeClient): .NET API to [ROS](http://www.ros.org/) via [rosbridge_suite](http://wiki.ros.org/rosbridge_suite)
+ * [RosBridgeClientTest](https://github.com/siemens/ros-sharp/tree/master/Libraries/RosBridgeClientTest): NUnit and Console Application tests for RosBridgeClient
+ * [UrdfImporter](https://github.com/siemens/ros-sharp/tree/master/Libraries/UrdfImporter): URDF file parser for .NET applications
+
+Both libraries `RosBridgeClient.dll` and `UrdfImporter.dll` are required [plugins](https://github.com/siemens/ros-sharp/Unity3D/Assets/RosSharp/Plugins/) for the Unity project [Unity3D](https://github.com/siemens/ros-sharp/tree/master/Unity3D).
+
+__Please see the [Wiki](https://github.com/siemens/ros-sharp/wiki) for further info.__
+
+---
+
+© Siemens AG, 2017-2018
+
+Author: Dr. Martin Bischoff ([email protected])

RosBridgeClient/Operation.cs → Libraries/RosBridgeClient/Communication.cs

@@ -5,67 +5,66 @@
 Licensed under the Apache License, Version 2.0 (the "License");
 you may not use this file except in compliance with the License.
 You may obtain a copy of the License at
-
 <http://www.apache.org/licenses/LICENSE-2.0>.
-
 Unless required by applicable law or agreed to in writing, software
 distributed under the License is distributed on an "AS IS" BASIS,
 WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 See the License for the specific language governing permissions and
 limitations under the License.
 */
 
+
 namespace RosSharp.RosBridgeClient
 {
-public class Operation
+    internal abstract class Communication
     {
-        public virtual string op { get { return "undefined"; } } // required
-        public string id; // optional
+        public abstract string op { get; } // required
+        public virtual string id { get; } // optional
 
-        public Operation(string Id=null)
+        internal Communication(string id = null)
         {
-            id = Id;
+            this.id = id;
         }
     }
 
-    public class Adverisement : Operation
+    internal class Advertisement : Communication
     {
         public override string op { get { return "advertise"; } } // required
         public string topic; // required
         public string type; // required
 
-        public Adverisement(string Id, string Topic, string Type) : base(Id)
+        internal Advertisement(string id, string topic, string type) : base(id)
         {
-            topic = Topic;
-            type = Type;
+            this.topic = topic;
+            this.type = type;
         }
     }
 
-    public class Unadverisement : Operation
+    internal class Unadverisement : Communication
     {
         public override string op { get { return "unadvertise"; } } // required
         public string topic; // required
 
-        public Unadverisement(string Id, string Topic) : base(Id)
+        internal Unadverisement(string id, string topic) : base(id)
         {
-            topic = Topic;
+            this.topic = topic;
         }
     }
 
-    public class Publication : Operation
+    internal class Publication<T> : Communication where T: Message
     {
         public override string op { get { return "publish"; } } // required
         public string topic; // required
-        public Message msg; // required
+        public T msg; // required
 
-        public Publication(string Id, string Topic, Message MessageContents) : base(Id)
+        internal Publication(string id, string topic, T msg) : base(id)
         {
-            topic = Topic;
-            msg = MessageContents;
+            this.topic = topic;
+            this.msg = msg;
         }
     }
 
-    public class Subscription : Operation
+    internal class Subscription : Communication
     {
         public override string op { get { return "subscribe"; } } // required
         public string topic; // required
@@ -75,80 +74,78 @@ public class Subscription : Operation
         public int fragment_size; // optional
         public string compression; // optional
 
-        public Subscription(string Id, string Topic, string Type, int Throttle_rate = 0, int Queue_length = 1, int Fragment_size = int.MaxValue, string Compression = "none") : base(Id)
+        internal Subscription(string id, string topic, string type, int throttle_rate = 0, int queue_length = 1, int fragment_size = int.MaxValue, string compression = "none") : base(id)
         {
-            topic = Topic;
-            type = Type;
-            throttle_rate = Throttle_rate;
-            queue_length = Queue_length;
-            fragment_size = Fragment_size;
-            compression = Compression;
+            this.topic = topic;
+            this.type = type;
+            this.throttle_rate = throttle_rate;
+            this.queue_length = queue_length;
+            this.fragment_size = fragment_size;
+            this.compression = compression;
         }
     }
 
-    public class Unsubscription : Operation
+    internal class Unsubscription : Communication
     {
         public override string op { get { return "unsubscribe"; } } // required
         public string topic; // required
 
-        public Unsubscription(string Id, string Topic) : base(Id)
+        internal Unsubscription(string id, string topic) : base(id)
         {
-            topic = Topic;
+            this.topic = topic;
         }
     }
 
-    public class ServiceCall : Operation
+    internal class ServiceCall<T> : Communication where T : Message
     {
         public override string op { get { return "call_service"; } } // required
         public string service; // required
-        public object args; // optional
+        public T args; // optional
         public int fragment_size; // optional
         public string compression; // optional
 
-        public ServiceCall(string Id, string Service, object Args = null, int Fragment_size = int.MaxValue, string Compression = "none") : base(Id)
+        public ServiceCall(string id, string service, T args, int fragment_size = int.MaxValue, string compression = "none") : base(id)
         {
-            service = Service;
-            args = Args;
-            fragment_size = Fragment_size;
-            compression = Compression;
+            this.service = service;
+            this.args = args;
+            this.fragment_size = fragment_size;
+            this.compression = compression;
         }
     }
 
-    public class ServiceResponse : Operation
+    internal class ServiceResponse<T> : Communication where T : Message
     {
         public override string op { get { return "service_response"; } } // required
         public string service; // required
-        public object values; // optional
-        public bool result;
+        public T values; // optional
+        public bool result; // required
 
-        public ServiceResponse(string Id, string Service, object Values, bool Result) : base(Id)
+        internal ServiceResponse(string id, string service, T values, bool Result) : base(id)
         {
-            service = Service;
-            values = Values;
+            this.service = service;
+            this.values = values;
             result = Result;
         }
     }
-    public class ServiceAdvertisement : Operation
+    internal class ServiceAdvertisement : Communication
     {
         public override string op { get { return "advertise_service"; } } // required
         public string type; // required
         public string service; // required
 
-
-        public ServiceAdvertisement(string Id, string Service, string Type) : base(Id)
+        internal ServiceAdvertisement(string service, string type) 
         {
-            service = Service;
-            type = Type;
-            Id = id;
+            this.service = service;
+            this.type = type;
         }
     }
-    public class ServiceUnadvertisement : Operation
+    internal class ServiceUnadvertisement : Communication
     {
         public override string op { get { return "unadvertise_service"; } } // required
         public string service; // required
 
-        public ServiceUnadvertisement(string Id, string Service) : base(Id)
-        {
+        internal ServiceUnadvertisement(string Service)
+        { 
             service = Service;
         }
     }