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 4.6 / Net Standard 1.3 and will work with .NET Core 8.0
• Requires System.Threading.Channels

2. WebSocketSharpProtocol

A wrapper for WebSocketSharp-NetStandard.

• The original WebSocket client used in ROS#
• Requires additional assembly websocket-sharp.dll
• Not compatible with e.g. UWP

3. WebSocketUWPProtocol

A WebSocket client for UWP using Windows.NetWorking.Sockets.

• Not included in the main repo, a running ROS# version with this protocol is hosted on @dwhit 's fork.

Platform Compatibility Overview:

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

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

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