ROSBridgeMsg.cs

using System.Collections;
using System.Text;
using SimpleJSON;

/**
 * This (mostly empty) class is the parent class for all RosBridgeMsg's (the actual message) from
 * ROS. As the message can be empty....
 * <p>
 * This could be omitted I suppose, but it is retained here as (i) it nicely parallels the
 * ROSBRidgePacket class which encapsulates the top of the ROSBridge messages which are not
 * empty, and (ii) someday ROS may actually define a  minimal message.
 * 
 * Version History
 * 3.1 - changed methods to start with an upper case letter to be more consistent with c#
 * style.
 * 3.0 - modification from hand crafted version 2.0
 * 
 * @author Michael Jenkin, Robert Codd-Downey and Andrew Speers
 * @version 3.1
 */

public class ROSBridgeMsg  {

	public ROSBridgeMsg() {}


	public virtual string ToYAMLString() {
		StringBuilder x = new StringBuilder();
		x.Append("{");
		x.Append("}");
		return x.ToString();
	}

	public static string Advertise(string messageTopic, string messageType) {
		return "{\"op\": \"advertise\", \"topic\": \"" + messageTopic + "\", \"type\": \"" + messageType + "\"}";
	}
	
	public static string UnAdvertise(string messageTopic) {
		return "{\"op\": \"unadvertise\", \"topic\": \"" + messageTopic + "\"}";
	}
	
	public static string Publish(string messageTopic, string message) {
		return "{\"op\": \"publish\", \"topic\": \"" + messageTopic + "\", \"msg\": " + message + "}";
	}
	
	public static string Subscribe(string messageTopic) {
		return "{\"op\": \"subscribe\", \"topic\": \"" + messageTopic +  "\"}";
	}
	
	public static string Subscribe(string messageTopic, string messageType) {
		return "{\"op\": \"subscribe\", \"topic\": \"" + messageTopic +  "\", \"type\": \"" + messageType + "\"}";
	}
	
	public static string UnSubscribe(string messageTopic) {
		return "{\"op\": \"unsubscribe\", \"topic\": \"" + messageTopic +  "\"}";
	}

    public static string CallService(string service, string id, string args)
    {
        if ((id == null) || id.Equals(""))
            return CallService(service, args);
        else
            return "{\"op\": \"call_service\", \"service\": \"" + service + "\", \"id\": \"" + id + "\", \"args\" : " + args + "}";
    }
	
	public static string CallService(string service, string args) {
        if ((args == null) || args.Equals(""))
            return CallService(service);
        else
            return "{\"op\": \"call_service\", \"service\": \"" + service + "\", \"args\" : " + args + "}";
	}
	
	public static string CallService(string service) {
		return "{\"op\": \"call_service\", \"service\": \"" + service +  "\"}";
	}
	
}