/// <summary>
/// Retrieve a list of topics that this node subscribes to
/// </summary>
/// <param name="callerId"> ROS caller ID. </param>
/// <returns>
/// [0] = int: code <br/>
/// [1] = str: status message <br/>
/// [2] = topicList is a list of topics this node subscribes to and is of the form [ [topic1, topicType1]...[topicN, topicTypeN]]]
/// </returns>
public object[] GetSubscriptions(string callerId)
{
_logger.Debug(m => m("GetSubscriptions(callerId={0})", callerId));
return(new object[]
{
StatusCode.Success,
"Success",
_topicContainer.GetSubscribers().Select(x => new object[] { x.TopicName, x.MessageType }).ToArray()
});
}
public void RemoveSubscriber_Success()
{
var container = new TopicContainer();
ISubscriber sub;
container.HasSubscriber("sub1").Is(false);
container.GetSubscribers().Count.Is(0);
container.AddSubscriber(new Subscriber <std_msgs.String>("sub1", "test")).Is(true);
container.HasSubscriber("sub1").Is(true);
container.GetSubscribers().Count.Is(1);
container.GetSubscriber("sub1", out sub).Is(true);
container.RemoveSubscriber("sub1").Is(true);
container.GetSubscriber("sub1", out sub).Is(false);
container.RemoveSubscriber("sub1").Is(false);
}
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();
}));
}