public void AddPublisher(IRosClient publisher)
{
if (Status == Status.Connected)
{
publisher.OnRosConnected();
}
Publishers.Add(publisher);
}
public static async ValueTask <RosChannelReader> CreateReaderAsync(this IRosClient client, string topic,
CancellationToken token = default)
{
var writer = new RosChannelReader();
await writer.StartAsync(client, topic, token);
return(writer);
}
public static async ValueTask <RosChannelReader <T> > CreateReaderAsync <T>(this IRosClient client, string topic,
CancellationToken token = default)
where T : IMessage, IDeserializable <T>, new()
{
var writer = new RosChannelReader <T>();
await writer.StartAsync(client, topic, token);
return(writer);
}
public override void Start(IRosClient client, string topic)
{
if (client == null)
{
throw new ArgumentNullException(nameof(client));
}
subscriberId = client.Subscribe(topic, Callback, out subscriber);
subscriberToken = subscriber.CancellationToken.Register(OnSubscriberDisposed);
}
public RosTopic(IRosClient rosClient, string topic, string messageType)
{
_rosClient = rosClient;
_guid = Guid.NewGuid().ToString();
Topic = topic;
MessageType = messageType;
Subscribe().Wait();
}
public WillyRosService(IConfiguration configuration, IRosClient rosClient, IHubContext <GpsHub> gpsHubContext, IHubContext <SonarHub> sonarHubContext)
{
RosClient = rosClient;
_configuration = configuration;
_gpsHubContext = gpsHubContext;
_sonarHubContext = sonarHubContext;
_running = true;
// A continuous task keeps the ROS connection in a good state
Task.Run(ClientStateTask);
}
public override async Task StartAsync(IRosClient client, string topic, CancellationToken token = default)
{
if (client == null)
{
throw new ArgumentNullException(nameof(client));
}
if (subscriber != null)
{
throw new InvalidOperationException("Channel has already been started!");
}
var(newId, newSubscriber) = await client.SubscribeAsync <T>(topic, Callback, token : token);
subscriberId = newId;
subscriber = newSubscriber;
subscriberToken = subscriber.CancellationToken.Register(OnSubscriberDisposed);
}
/// <summary>
/// Initializes the channel, and calls <see cref="Start"/> with the arguments.
/// </summary>
/// <param name="client">A connected IRosClient</param>
/// <param name="topic">The topic to listen to</param>
public RosChannelReader(IRosClient client, string topic)
{
Start(client, topic);
}
/// <summary>
/// Creates a channel reader for the given topic and message type.
/// </summary>
/// <param name="client">The ROS client</param>
/// <param name="topic">The topic name</param>
/// <typeparam name="T">The message type</typeparam>
/// <returns>The channel reader</returns>
public static RosChannelReader <T> CreateReader <T>(this IRosClient client, string topic)
where T : IMessage, IDeserializable <T>, new()
{
return(new RosChannelReader <T>(client, topic));
}
/// <summary>
/// Creates a channel reader for the given topic. Returns whatever message type is published there.
/// </summary>
/// <param name="client">The ROS client</param>
/// <param name="topic">The topic name</param>
/// <returns>The channel reader</returns>
public static RosChannelReader CreateReader(this IRosClient client, string topic)
{
return(new RosChannelReader(client, topic));
}