/// <summary>
/// Create a Proxy Object for ROS Service
/// </summary>
/// <typeparam name="TService"> Service Type </typeparam>
/// <param name="serviceName"> Service Name </param>
/// <returns> Proxy Object </returns>
public Task <TService> ServiceProxyAsync <TService>(string serviceName)
where TService : IService, new()
{
if (_disposed)
{
throw new ObjectDisposedException("Node");
}
if (_serviceProxies.ContainsKey(serviceName))
{
throw new InvalidOperationException(serviceName + " is already created.");
}
_logger.InfoFormat("Create ServiceProxy: {0}", serviceName);
var tcs = new TaskCompletionSource <TService>();
_masterClient
.LookupServiceAsync(NodeId, serviceName)
.ContinueWith(lookupTask =>
{
_logger.Debug("Registered Subscriber");
if (lookupTask.Status == TaskStatus.RanToCompletion)
{
_serviceProxyFactory.CreateAsync <TService>(serviceName, lookupTask.Result)
.ContinueWith(createTask =>
{
if (createTask.Status == TaskStatus.RanToCompletion)
{
var proxy = createTask.Result;
proxy.Disposing += DisposeProxyAsync;
_serviceProxies.Add(serviceName, proxy);
tcs.SetResult(proxy.Service);
}
else if (createTask.Status == TaskStatus.Faulted)
{
tcs.SetException(createTask.Exception.InnerException);
}
});
}
else if (lookupTask.Status == TaskStatus.Faulted)
{
tcs.SetException(lookupTask.Exception.InnerException);
_logger.Error("RegisterSubscriber: Failure", lookupTask.Exception.InnerException);
}
});
return(tcs.Task);
}
