/// <summary>
/// Create a ROS Topic Publisher
/// </summary>
/// <typeparam name="TMessage"> Topic Message Type </typeparam>
/// <param name="topicName"> Topic Name </param>
/// <param name="latching"> true: send the latest published message when subscribed topic </param>
/// <returns> Publisher </returns>
public Task <Publisher <TMessage> > PublisherAsync <TMessage>(string topicName, bool latching = false)
where TMessage : IMessage, new()
{
if (_disposed)
{
throw new ObjectDisposedException("Node");
}
if (_topicContainer.HasPublisher(topicName))
{
throw new InvalidOperationException(topicName + " is already created.");
}
_logger.InfoFormat("Create Publisher: {0}", topicName);
var publisher = new Publisher <TMessage>(topicName, NodeId, latching);
_topicContainer.AddPublisher(publisher);
publisher.Disposing += DisposePublisherAsync;
var tcpRosListener = new TcpRosListener(0);
_slaveServer.AddListener(topicName, tcpRosListener);
var acceptDisposable = tcpRosListener.AcceptAsync()
.Do(_ => _logger.Debug("Accepted for Publisher"))
.Subscribe(socket => publisher.AddTopic(socket),
ex => _logger.Error("Accept Error", ex));
_publisherDisposables.Add(topicName, acceptDisposable);
var tcs = new TaskCompletionSource <Publisher <TMessage> >();
_logger.Debug("RegisterPublisher");
_masterClient
.RegisterPublisherAsync(NodeId, topicName, publisher.MessageType, _slaveServer.SlaveUri)
.ContinueWith(task =>
{
_logger.Debug("Registered Publisher");
if (task.Status == TaskStatus.RanToCompletion)
{
publisher.UpdateSubscribers(task.Result);
tcs.SetResult(publisher);
}
else if (task.Status == TaskStatus.Faulted)
{
_logger.Error("RegisterPublisher: Failure", task.Exception.InnerException);
tcs.SetException(task.Exception.InnerException);
}
});
return(tcs.Task);
}
public void Initialize()
{
Ros.MasterUri = new Uri("http://localhost:11311/");
Ros.HostName = "localhost";
var topicContainer = new TopicContainer();
topicContainer.AddPublisher(new Publisher <std_msgs.String>("/test_topic", "test"));
var tcpListener = new TcpRosListener(0);
_slaveServer = new SlaveServer("test", 0, topicContainer);
_slaveServer.AddListener("/test_topic", tcpListener);
}
public void Initialize()
{
Ros.MasterUri = new Uri("http://localhost:11311/");
Ros.HostName = "localhost";
Ros.TopicTimeout = 3000;
Ros.XmlRpcTimeout = 3000;
_container = new TopicContainer();
var listener = new TcpRosListener(0);
_slaveServer = new SlaveServer("test", 0, _container);
_slaveServer.AddListener("test", listener);
_slaveClient = new SlaveClient(_slaveServer.SlaveUri);
}
