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  • AsyncGPUReadbackPluginNs
    • AsyncGPUReadbackPlugin
    • AsyncGPUReadbackPluginRequest
  • ZO
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    • ZOBinaryMessagePublisher
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  • ZO.ROS.MessageTypes
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  • ZO.ROS.MessageTypes.ActionLib
    • ActionStatusEnum
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  • ZO.ROS.MessageTypes.Control
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    • UnloadControllerServiceResponse
  • ZO.ROS.MessageTypes.Gazebo
    • SpawnModelServiceRequest
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    • PointMessage
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    • TwistWithCovarianceMessage
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  • ZO.ROS.MessageTypes.Nav
    • OdometryMessage
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    • GetParamNamesResponse
    • GetParamResponse
    • GetParamServiceRequest
    • HasParamResponse
    • HasParamServiceRequest
    • SetParamServiceRequest
  • ZO.ROS.MessageTypes.ROSGraph
    • ClockMessage
  • ZO.ROS.MessageTypes.Sensor
    • CameraInfoMessage
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    • ImuMessage
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    • RegionOfInterestMessage
  • ZO.ROS.MessageTypes.Std
    • DurationMessage
    • EmptyServiceRequest
    • EmptyServiceRespone
    • HeaderMessage
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    • SetBoolServiceRequest
    • SetBoolServiceResponse
    • StringMessage
    • TimeMessage
  • ZO.ROS.MessageTypes.TF2
    • TFMessage
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    • JointTrajectoryMessage
    • JointTrajectoryPointMessage
  • ZO.ROS.MessageTypes.ZOSim
    • ZOSimDeleteModelRequest
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    • ZOSimPrefabSpawnRequest
    • ZOSimPrefabSpawnResponse
    • ZOSimSpawnServiceRequest
    • ZOSimSpawnServiceResponse
  • ZO.ROS.Publisher
    • ZOROSImagePublisher
    • ZOROSIMUPublisher
    • ZOROSIMUPublisher.CoordinateSystemEnum
    • ZOROSJointStatesPublisher
    • ZOROSLaserScanPublisher
    • ZOROSRGBDepthPublisher
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    • ZOROSTransformPublisher
  • ZO.ROS.Unity
    • ZOROSUnityGameObjectBase
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  • ZO.Util.Extensions
    • ZOJSONExtensions
  • ZO.Util.Rendering
    • ZOAsyncGPUReadbackPlugin
    • ZOAsyncGPUReadbackPluginRequest

Class ZOBinaryMessagePublisher

Publisher of binary message over TCP.

Stream format: string: Topic + "\n" int32: size of data byte: data

Inheritance
System.Object
ZOBinaryMessagePublisher
Inherited Members
System.Object.Equals(System.Object)
System.Object.Equals(System.Object, System.Object)
System.Object.GetHashCode()
System.Object.GetType()
System.Object.MemberwiseClone()
System.Object.ReferenceEquals(System.Object, System.Object)
System.Object.ToString()
Namespace: ZO.Networking
Assembly: Unity.ZeroSim.dll
Syntax
public class ZOBinaryMessagePublisher

Properties

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Debug

Declaration
public bool Debug { get; set; }
Property Value
Type Description
System.Boolean
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IPAddress

Declaration
public IPAddress IPAddress { get; set; }
Property Value
Type Description
System.Net.IPAddress
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Port

Declaration
public int Port { get; set; }
Property Value
Type Description
System.Int32
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SubscriberCount

Declaration
public int SubscriberCount { get; }
Property Value
Type Description
System.Int32
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Topic

Declaration
public string Topic { get; set; }
Property Value
Type Description
System.String

Methods

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Finalize()

Declaration
protected void Finalize()
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OnSubscriberConnected(ZOTCPServer, TcpClient)

Dummy OnSubscriberConnected delegate for ZOTCPServer

Declaration
protected virtual Task OnSubscriberConnected(ZOTCPServer tcpServer, TcpClient tcpClient)
Parameters
Type Name Description
ZOTCPServer tcpServer
System.Net.Sockets.TcpClient tcpClient
Returns
Type Description
System.Threading.Tasks.Task
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OnSubscriberDisconnected(ZOTCPServer, TcpClient)

/// Dummy OnSubscriberDisconnected delegate for ZOTCPServer

Declaration
protected virtual Task OnSubscriberDisconnected(ZOTCPServer tcpServer, TcpClient tcpClient)
Parameters
Type Name Description
ZOTCPServer tcpServer
System.Net.Sockets.TcpClient tcpClient
Returns
Type Description
System.Threading.Tasks.Task
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Publish(ArraySegment<Byte>)

Async publish binary message using ArraySegment to hold the data.

Declaration
public virtual Task Publish(ArraySegment<byte> data)
Parameters
Type Name Description
System.ArraySegment<System.Byte> data

the data

Returns
Type Description
System.Threading.Tasks.Task

Task

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Publish(MemoryStream)

Async publish binary message using MemoryStream to hold the data.

Declaration
public virtual Task Publish(MemoryStream stream)
Parameters
Type Name Description
System.IO.MemoryStream stream

The data

Returns
Type Description
System.Threading.Tasks.Task

Task

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RunAsync()

Starts the message publisher as an Async task

Declaration
public Task RunAsync()
Returns
Type Description
System.Threading.Tasks.Task

Task

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SendHeader(UInt32)

Sends header with format: string: Topic + "\n" int32: size of data

Declaration
protected virtual Task SendHeader(uint msgSize)
Parameters
Type Name Description
System.UInt32 msgSize
Returns
Type Description
System.Threading.Tasks.Task
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Stop()

Stops publisher.

Declaration
public void Stop()
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