Separated topic and service into separate managers, implemented IService

Core/IService.cs

@@ -0,0 +1,25 @@
+using SimpleJSON;
+
+namespace ROSBridgeLib.Core
+{
+    public delegate void ServiceResponseCallback<in T>(T response) where T : IServiceResponse;
+
+    public interface IServiceRequest
+    {
+        /// <summary>
+        /// Must serialize as a list of variables.
+        /// <para/> https://github.com/RobotWebTools/rosbridge_suite/blob/master/ROSBRIDGE_PROTOCOL.md
+        /// </summary>
+        /// <returns>a json formatted list of this request's variables</returns>
+        string ToJSONList();
+    }
+
+    public interface IServiceResponse
+    {
+        /// <summary>
+        /// Deserialize the message to the values implemented by this response.
+        /// </summary>
+        /// <param name="msg"></param>
+        void Deserialize(JSONNode msg);
+    }
+}

Core/ROSBridgeServiceClient.cs

@@ -0,0 +1,87 @@
+using System;
+using SimpleJSON;
+using UnityEngine;
+using WebSocketSharp;
+
+namespace ROSBridgeLib.Core
+{
+    public class ROSBridgeServiceClient
+    {
+        protected WebSocket socket;
+        protected string service;
+        protected Type serviceResponseType;
+
+        public event ServiceResponseCallback<IServiceResponse> ResponseReceived; 
+
+        public string Service
+        {
+            get { return service; }
+        }
+
+        public Type ServiceResponseType
+        {
+            get { return serviceResponseType; }
+        }
+
+        public ROSBridgeServiceClient(WebSocket socket, string service, Type serviceResponseType)
+        {
+            this.socket = socket;
+            this.service = service;
+            this.serviceResponseType = serviceResponseType;
+        }
+
+        public void CallService(IServiceRequest request)
+        {
+            string req = ROSBridgeMsg.CallService(service, request.ToJSONList());
+            System.Diagnostics.Debug.Print($"Sending: {req}");
+            socket.Send(req);
+        }
+
+        public void ProcessRawResponse(JSONNode rawResponse)
+        {
+            IServiceResponse response = (IServiceResponse)Activator.CreateInstance(serviceResponseType);
+            response.Deserialize(rawResponse);
+            ProcessResponse(response);
+        }
+
+        protected virtual void ProcessResponse(IServiceResponse response)
+        {
+            ResponseReceived?.Invoke(response);
+        }
+    }
+
+
+    ////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+
+
+    public class ROSBridgeServiceClient<T_REQ, U_RES> : ROSBridgeServiceClient
+        where T_REQ : IServiceRequest where U_RES : IServiceResponse
+    {
+        public new event ServiceResponseCallback<U_RES> ResponseReceived;
+
+        public ROSBridgeServiceClient(WebSocket socket, string service)
+            : base(socket, service, typeof(U_RES))
+        { }
+
+        protected override void ProcessResponse(IServiceResponse response)
+        {
+            base.ProcessResponse(response);
+            ResponseReceived?.Invoke((U_RES)response);
+        }
+
+        public void CallService(T_REQ request)
+        {
+            base.CallService(request);
+        }
+
+        public void AddServiceResponse(ServiceResponseCallback<U_RES> callback)
+        {
+            ResponseReceived += callback;
+        }
+
+        public void RemoveServiceResponse(ServiceResponseCallback<U_RES> callback)
+        {
+            ResponseReceived -= callback;
+        }
+    }
+}