/// <summary>
/// Disconnect from the remote ros environment.
/// </summary>
public void Disconnect()
{
if (!this.IsConnected)
{
return;
}
// this.sendMsgThread.Abort();
this.isConnected = false;
Thread.Sleep(15);
foreach (var sub in this.subscribers)
{
this.webSocket.Send(RosBridgeMsg.UnSubscribe(sub.Key.Topic));
}
foreach (var pub in this.publishers)
{
this.webSocket.Send(RosBridgeMsg.UnAdvertiseTopic(pub.Topic));
pub.Unadvertise();
}
foreach (var srv in this.serviceProviders)
{
this.webSocket.Send(RosBridgeMsg.UnadvertiseService(srv.Key.Name));
}
this.webSocket.Close();
this.msgQueue.Clear();
}
/// <summary>
/// Remove a publisher from this connection
/// </summary>
/// <param name="publisher"></param>
public void Unadvertise(RosBridgePublisher publisher)
{
if (this.IsConnected)
{
this.webSocket.Send(RosBridgeMsg.UnAdvertiseTopic(publisher.Topic));
}
publisher.Unadvertise();
this.publishers.Remove(publisher);
}