protected void InitServerAndClient(string address, int port)
{
if (_server != null)
{
_server.Dispose();
_server = null;
}
_server = new TcpSlaveServer(port, address, ServerConfiguration.Default, new NetworkLocalizer(Thread.CurrentThread.CurrentUICulture.Name));
_client = new Client("");
_client.ConnectTo(_server);
}
public Task DisposeAsync()
{
if (_disposed)
{
throw new ObjectDisposedException("Node");
}
_disposed = true;
var tasks = new List <Task>();
tasks.AddRange(_topicContainer.GetPublishers().Select(pub => pub.DisposeAsync()));
tasks.AddRange(_topicContainer.GetSubscribers().Select(sub => sub.DisposeAsync()));
tasks.AddRange(_serviceProxies.Values.Select(proxy => proxy.DisposeAsync()));
tasks.AddRange(_serviceServers.Values.Select(service => service.DisposeAsync()));
tasks.AddRange(_parameters.Values.Select(param => param.DisposeAsync()));
return(Task.Factory.StartNew(() =>
{
try
{
Task.WaitAll(tasks.ToArray());
}
catch (Exception ex)
{
_logger.Error("Node Dispose Error", ex);
}
var handler = Disposing;
Disposing = null;
if (handler != null)
{
handler(NodeId);
}
_slaveServer.Dispose();
}));
}
public void Cleanup()
{
_slaveServer.Dispose();
Ros.Dispose();
}
