Dev_Protocols

RosBridgeClient Protocols

RosBridgeClient is designed to keep the communication protocol generic. New protocols can be added by implementing a simple and minimalistic IProtocol interface:

public interface IProtocol
{
    void Connect();
    void Close();
    bool IsAlive();
    void Send(byte[] data);
    event EventHandler OnReceive;
}

A RosSocket is instantiated by passing in the IProtocol interface implementation that you want to use.

Example:

string uri = "ws://xxx.xxx.xxx.xxx:9090";
RosSocket rosSocket = new RosSocket(new RosBridgeClient.Protocols.WebSocketNetProtocol(uri));

Though ROS# currently comes with two WebSocket-based IProtocol implementations, note that an IProtocol does not necessarily need to be a WebSocket client.

Currently existing IProtocol interface implementations:

1. WebSocketNetProtocol

A WebSocket client that is based on the .NET ClientWebSocket class.

• available since .NET Framework 4.5 only
• requires Windows 8 and above

2. WebSocketSharpProtocol

A wrapper for websocket-sharp.

• the original WebSocket client used in ROS#
• requires additional assembly websocket-sharp.dll
• not compatible with e.g. UWP

Platform Compatibility Overview:

Platform	WebSocketNetProtocol	WebSocketSharpProtocol
Windows 7	no	yes
Windows 8+	yes	yes
Ubuntu	?	yes
UWP	?	no
iOS	?	yes

If you tested a protocol on a new platform, and can contribute with new info in above table, please do!

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© Siemens AG, 2017-2018 Author: Dr. Martin Bischoff ([email protected])