public void Dispose()
{
if (this.disposed)
{
return;
}
this.disposed = true;
this.CurrentState = RosbridgeMessageDispatcherStates.Stopped;
Task.Run(async() =>
{
if (this.socket != null)
{
await this.socket.DisconnectAsync();
this.socket.Dispose();
this.socket = null;
}
if (this.receivingTask != null)
{
await this.receivingTask;
this.receivingTask = null;
}
this.rosbridgeMessageSerializer = null;
});
GC.SuppressFinalize(this);
}
public RosbridgeMessageDispatcher(ISocket socket, IRosbridgeMessageSerializer rosbridgeMessageSerializer)
{
if (socket == null)
{
throw new ArgumentNullException(nameof(socket));
}
if (rosbridgeMessageSerializer == null)
{
throw new ArgumentNullException(nameof(rosbridgeMessageSerializer));
}
this.socket = socket;
this.rosbridgeMessageSerializer = rosbridgeMessageSerializer;
this.CurrentState = RosbridgeMessageDispatcherStates.Stopped;
}
