public YarpPort(string name, YarpNetwork network)
: base(name)
{
if (network == null) throw new ArgumentNullException("network");
this.network = network;
this.port = BufferedPort_Bottle_New();
BufferedPort_Bottle_Open(port, Name);
}
public Session(Timer timer, IEnumerable<string> portStrings)
{
List<string> textPortStrings = new List<string>();
List<string> yarpPortStrings = new List<string>();
List<string> rosPortStrings = new List<string>();
foreach (string portString in portStrings)
{
if (portString.Length < 2) throw new InvalidOperationException("\"" + portString + "\" is not a valid port string");
switch (portString.Substring(0, 2))
{
case "t:": textPortStrings.Add(portString.Substring(2)); break;
case "y:": yarpPortStrings.Add(portString.Substring(2)); break;
case "r:": rosPortStrings.Add(portString.Substring(2)); break;
default: throw new InvalidOperationException("\"" + portString + "\" is not a valid port string");
}
}
if (yarpPortStrings.Any()) this.yarpNetwork = new YarpNetwork();
if (rosPortStrings.Any()) this.rosNetwork = new RosNetwork();
List<Receiver> receivers = new List<Receiver>();
foreach (string portString in textPortStrings)
{
string name = portString.Split(':').First();
Port port = name == "-" ? new TextReaderPort() : new TextReaderPort(name);
receivers.Add(new Receiver(port, timer, portString));
}
foreach (string portString in yarpPortStrings)
{
string name = portString.Split(':').First();
Port port = new YarpReaderPort(name, yarpNetwork);
receivers.Add(new Receiver(port, timer, portString));
}
foreach (string portString in rosPortStrings)
{
string name = portString.Split(':').First();
Port port = new RosPort(name, rosNetwork);
receivers.Add(new Receiver(port, timer, portString));
}
this.receivers = receivers;
if (receivers.Count(receiver => receiver.HasTimer) > 1) throw new ArgumentException("More than one timer stream was found.");
this.capture = new Capture
(
from receiver in receivers
select new PortData(receiver.PortName, receiver.PortStreams)
);
}