/// <summary>
/// Remove this particular regex/subscriber pair (UNTESTED AND API
/// MAY CHANGE). If regex is null, all subscriptions for 'sub' are
/// cancelled. If subscriber is null, any previous subscriptions
/// matching the regular expression will be cancelled. If both
/// 'sub' and 'regex' are null, all subscriptions will be
/// cancelled.
/// </summary>
/// <param name="regex">regular expression determining the channels to unsubscribe</param>
/// <param name="sub">unsubscribing object</param>
public void Unsubscribe(string regex, LCMSubscriber sub)
{
if (this.closed)
{
throw new SystemException();
}
Console.WriteLine("Unsubscribing: {0}", regex);
lock (this)
{
foreach (Provider p in providers)
{
p.Unsubscribe(regex);
}
}
// TODO: need providers to unsubscribe?
// TODO: providers don't seem to use anything beyond first channel
lock (subscriptions)
{
// Find and remove subscriber from list
foreach (SubscriptionRecord sr in subscriptions.ToArray())
{
if ((sub == null || sr.lcsub == sub) && (regex == null || sr.regex.Equals(regex)))
{
subscriptions.Remove(sr);
}
}
// Find and remove subscriber from map
List <SubscriptionRecord> srecs;
foreach (string channel in subscriptionsMap.Keys)
{
if (subscriptionsMap.TryGetValue(channel, out srecs))
{
foreach (SubscriptionRecord sr in srecs.ToArray())
{
if ((sub == null || sr.lcsub == sub) && (regex == null || sr.regex.Equals(regex)))
{
srecs.Remove(sr);
}
}
}
}
}
}
/// <summary>
/// Subscribe to all channels whose name matches the regular
/// expression. Note that to subscribe to all channels, you must
/// specify ".*", not "*".
/// </summary>
/// <param name="regex">regular expression determining the channels to subscribe</param>
/// <param name="sub">subscribing object providing callback</param>
public void Subscribe(string regex, LCMSubscriber sub)
{
if (this.closed)
{
throw new SystemException();
}
SubscriptionRecord srec = new SubscriptionRecord();
srec.regex = regex;
srec.pat = new Regex(regex);
srec.lcsub = sub;
lock (this)
{
foreach (Provider p in providers)
{
p.Subscribe(regex);
}
}
lock (subscriptions)
{
if (!subscriptions.Exists(s => s.regex == srec.regex && s.lcsub == srec.lcsub))
{
subscriptions.Add(srec);
List <SubscriptionRecord> subs;
Console.WriteLine("Subscribing: {0}", srec);
foreach (string channel in subscriptionsMap.Keys)
{
if (srec.pat.IsMatch(channel))
{
if (subscriptionsMap.TryGetValue(channel, out subs))
{
subs.Add(srec);
}
}
}
}
}
}
/// <summary>
/// A convenience function that subscribes to all LCM channels.
/// </summary>
/// <param name="sub">subscribing object providing callback</param>
public void SubscribeAll(LCMSubscriber sub)
{
Subscribe(".*", sub);
}
/// <summary>
/// Remove this particular regex/subscriber pair (UNTESTED AND API
/// MAY CHANGE). If regex is null, all subscriptions for 'sub' are
/// cancelled. If subscriber is null, any previous subscriptions
/// matching the regular expression will be cancelled. If both
/// 'sub' and 'regex' are null, all subscriptions will be
/// cancelled.
/// </summary>
/// <param name="regex">regular expression determining the channels to unsubscribe</param>
/// <param name="sub">unsubscribing object</param>
public void Unsubscribe(string regex, LCMSubscriber sub)
{
if (this.closed)
{
throw new SystemException();
}
lock (this)
{
foreach (Provider p in providers)
{
p.Unsubscribe(regex);
}
}
// TODO: need providers to unsubscribe?
// TODO: providers don't seem to use anything beyond first channel
lock (subscriptions)
{
// Find and remove subscriber from list
foreach (SubscriptionRecord sr in subscriptions.ToArray())
{
if ((sub == null || sr.lcsub == sub) && (regex == null || sr.regex.Equals(regex)))
{
subscriptions.Remove(sr);
}
}
// Find and remove subscriber from map
List<SubscriptionRecord> srecs;
foreach (string channel in subscriptionsMap.Keys)
{
if (subscriptionsMap.TryGetValue(channel, out srecs))
{
foreach (SubscriptionRecord sr in srecs.ToArray())
{
if ((sub == null || sr.lcsub == sub) && (regex == null || sr.regex.Equals(regex)))
{
srecs.Remove(sr);
}
}
}
}
}
}
/// <summary>
/// A convenience function that subscribes to all LCM channels.
/// </summary>
/// <param name="sub">subscribing object providing callback</param>
public void SubscribeAll(LCMSubscriber sub)
{
Subscribe(".*", sub);
}
/// <summary>
/// Subscribe to all channels whose name matches the regular
/// expression. Note that to subscribe to all channels, you must
/// specify ".*", not "*".
/// </summary>
/// <param name="regex">regular expression determining the channels to subscribe</param>
/// <param name="sub">subscribing object providing callback</param>
public void Subscribe(string regex, LCMSubscriber sub)
{
if (this.closed)
{
throw new SystemException();
}
SubscriptionRecord srec = new SubscriptionRecord();
srec.regex = regex;
srec.pat = new Regex(regex);
srec.lcsub = sub;
lock (this)
{
foreach (Provider p in providers)
{
p.Subscribe(regex);
}
}
lock (subscriptions)
{
subscriptions.Add(srec);
List<SubscriptionRecord> subs;
foreach (string channel in subscriptionsMap.Keys)
{
if (srec.pat.IsMatch(channel))
{
if (subscriptionsMap.TryGetValue(channel, out subs))
{
subs.Add(srec);
}
}
}
}
}
