public async Task <string> QueryPagedAsync([FromQuery] TopicParam param)
{
var filter = param.SearchLambda <Topic, TopicParam>();
var result = await _topicRepository.QueryPagedAsync(param.PageNum, param.PageSize, null, filter);
var pageData = new PagedDto <Topic>
{
Code = 200,
Msg = "获取数据成功",
Total = result.TotalResults,
PageSize = param.PageSize,
Data = result.Items.ToList()
};
var json = pageData.ToString();
return(json);
}
public Task <IObservable <TMessage> > StartAsync(TopicParam param, bool nodelay = true)
{
_client = new TcpRosClient();
var tcs = new TaskCompletionSource <IObservable <TMessage> >();
_client.ConnectAsync(param.HostName, param.PortNumber)
.ContinueWith(connectTask =>
{
_logger.Debug("StartAsync Connected");
if (connectTask.Status == TaskStatus.RanToCompletion)
{
try
{
ConnectToPublisherAsync(nodelay).ContinueWith(connectedTask =>
{
_logger.Debug("StartAsync ConnectToPublisherAsync");
if (connectedTask.Status == TaskStatus.RanToCompletion)
{
tcs.SetResult(connectedTask.Result);
}
else if (connectedTask.Status == TaskStatus.Faulted)
{
tcs.SetException(connectedTask.Exception.InnerException);
}
});
}
catch (Exception ex)
{
_logger.Error("Connect Error", ex);
tcs.SetException(ex);
}
}
else if (connectTask.Status == TaskStatus.Faulted)
{
tcs.SetException(connectTask.Exception.InnerException);
}
});
return(tcs.Task);
}
private void ConnectServer(TopicParam param, Uri slaveUri)
{
var server = new RosTopicServer <TMessage>(NodeId, TopicName, slaveUri);
lock (_rosTopicServers)
{
_rosTopicServers.Add(server);
}
server.StartAsync(param, _nodelay).ContinueWith(
startTask =>
{
if (startTask.Status == TaskStatus.RanToCompletion)
{
var lazyDisposable = new SingleAssignmentDisposable();
var subs = startTask.Result;
var d = subs.Subscribe(
x => _aggregateSubject.OnNext(x),
ex =>
{
lock (_rosTopicServers)
{
var index = _rosTopicServers.FindIndex(x => x.SlaveUri == slaveUri);
if (index != -1)
{
_rosTopicServers.RemoveAt(index);
_connectionCounterSubject.OnNext(_rosTopicServers.Count);
lazyDisposable.Dispose();
}
}
//_aggregateSubject.OnError(ex);
}, () =>
{
lock (_rosTopicServers)
{
var index = _rosTopicServers.FindIndex(x => x.SlaveUri == slaveUri);
if (index != -1)
{
_rosTopicServers.RemoveAt(index);
_connectionCounterSubject.OnNext(_rosTopicServers.Count);
lazyDisposable.Dispose();
}
}
//_aggregateSubject.OnCompleted();
});
lazyDisposable.Disposable = Disposable.Create(() =>
{
d.Dispose();
lock (_disposables)
{
_disposables.Remove(d);
}
});
lock (_disposables)
{
_disposables.Add(d);
}
lock (_rosTopicServers)
{
_connectionCounterSubject.OnNext(_rosTopicServers.Count);
}
}
else if (startTask.Status == TaskStatus.Faulted)
{
_logger.Error("ConnectServer Error", startTask.Exception.InnerException);
}
});
}
