private IEnumerator <RosActionCall> GetEnumeratorForRelativeActionNamePattern()
{
var goals = ActionMessages.GoalMessages.ToList();
var globalActionMessages = new ConcurrentDictionary <string, ActionMessagesCollection>();
foreach (var goal in goals)
{
var globalActionName = goal.Topic.Substring(0, goal.Topic.LastIndexOf("/", StringComparison.InvariantCulture));
var actionMessages = globalActionMessages.GetOrAdd(globalActionName,
actionName => ActionMessagesCollection.Create(actionName, ActionMessages));
yield return(new RosActionCall(goal, actionMessages));
}
}
public static ActionMessagesCollection Create(string actionNamePattern, IEnumerable <IRecordedMessage> messages)
{
if (actionNamePattern == null)
{
throw new ArgumentNullException(nameof(actionNamePattern));
}
if (messages == null)
{
throw new ArgumentNullException(nameof(messages));
}
actionNamePattern = actionNamePattern.Trim();
if (string.Empty.Equals(actionNamePattern))
{
throw new InvalidRosNamePatternException("ROS name pattern must not be empty", nameof(actionNamePattern));
}
if (actionNamePattern.EndsWith("/"))
{
throw new InvalidRosNamePatternException(
"ROS name pattern must not end with a namespace separator ('/')", nameof(actionNamePattern));
}
var actionName = actionNamePattern.Substring(actionNamePattern.LastIndexOf("/", StringComparison.InvariantCulture) + 1);
if (RosNameRegex.ContainsPlaceholders(actionName))
{
throw new InvalidRosNamePatternException("ROS action name must not contain any placeholders", nameof(actionNamePattern));
}
var actionTopicsPattern = actionNamePattern + "/*";
var actionMessages = messages
.InTopic(actionTopicsPattern);
var actionMessagesCollection = new ActionMessagesCollection(actionNamePattern, actionMessages);
return(actionMessagesCollection);
}
public RosActionCall(IRecordedMessage <ActionGoal> goal, ActionMessagesCollection actionMessages)
{
_goal = goal ?? throw new ArgumentNullException(nameof(goal));
_actionMessages = actionMessages ?? throw new ArgumentNullException(nameof(actionMessages));
}
public ActionCallCollection(ActionMessagesCollection actionMessages)
{
ActionMessages = actionMessages ?? throw new ArgumentNullException(nameof(actionMessages));
}
