public Task StopAsync()
{
if (this.disposed)
{
throw new ObjectDisposedException(nameof(RosbridgeMessageDispatcher));
}
if (this.CurrentState != RosbridgeMessageDispatcherStates.Started)
{
throw new RosbridgeMessageDispatcherNotInStartedStateException();
}
this.CurrentState = RosbridgeMessageDispatcherStates.Stopping;
return(Task.Run(async() =>
{
if (this.socket != null)
{
await this.socket.DisconnectAsync();
}
if (this.receivingTask != null)
{
await this.receivingTask;
this.receivingTask = null;
}
this.CurrentState = RosbridgeMessageDispatcherStates.Stopped;
}));
}
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 Task StartAsync()
{
if (this.disposed)
{
throw new ObjectDisposedException(nameof(RosbridgeMessageDispatcher));
}
if (this.CurrentState != RosbridgeMessageDispatcherStates.Stopped)
{
throw new RosbridgeMessageDispatcherNotInStoppedStateException();
}
Task startingTask = Task.Run(async() =>
{
this.CurrentState = RosbridgeMessageDispatcherStates.Starting;
try
{
await this.socket.ConnectAsync();
}
catch
{
this.CurrentState = RosbridgeMessageDispatcherStates.Stopped;
throw;
}
this.CurrentState = RosbridgeMessageDispatcherStates.Started;
});
this.receivingTask = startingTask.ContinueWith(async(socketStartingTask) =>
{
while (this.socket.IsConnected && this.CurrentState == RosbridgeMessageDispatcherStates.Started)
{
byte[] serializedMessage = await this.socket.ReceiveAsync();
JObject jsonMessage = this.rosbridgeMessageSerializer.Deserialize(serializedMessage);
this.RosbridgeMessageReceived?.Invoke(this, new RosbridgeMessageReceivedEventArgs(jsonMessage));
}
});
return(startingTask);
}
