public void AddSubscriber_AlreadyAdded()
{
var container = new TopicContainer();
ISubscriber sub;
container.HasSubscriber("sub1").Is(false);
container.GetSubscribers().Count.Is(0);
container.AddSubscriber(new Subscriber <std_msgs.String>("sub1", "test")).Is(true);
container.HasSubscriber("sub1").Is(true);
container.GetSubscribers().Count.Is(1);
container.GetSubscriber("sub1", out sub).Is(true);
container.AddSubscriber(new Subscriber <std_msgs.String>("sub1", "test")).Is(false);
container.HasSubscriber("sub1").Is(true);
container.GetSubscribers().Count.Is(1);
container.GetSubscriber("sub1", out sub).Is(true);
}
/// <summary>
/// Create a ROS Topic Subscriber
/// </summary>
/// <typeparam name="TMessage"> Topic Message Type </typeparam>
/// <param name="topicName"> Topic Name </param>
/// <param name="nodelay"> false: Socket uses the Nagle algorithm </param>
/// <returns> Subscriber </returns>
public Task <Subscriber <TMessage> > SubscriberAsync <TMessage>(string topicName, bool nodelay = true)
where TMessage : IMessage, new()
{
if (_disposed)
{
throw new ObjectDisposedException("Node");
}
if (_topicContainer.HasSubscriber(topicName))
{
throw new InvalidOperationException(topicName + " is already created.");
}
_logger.InfoFormat("Create Subscriber: {0}", topicName);
var subscriber = new Subscriber <TMessage>(topicName, NodeId, nodelay);
_topicContainer.AddSubscriber(subscriber);
subscriber.Disposing += DisposeSubscriberAsync;
var tcs = new TaskCompletionSource <Subscriber <TMessage> >();
_logger.Debug("RegisterSubscriber");
_masterClient
.RegisterSubscriberAsync(NodeId, topicName, subscriber.MessageType, _slaveServer.SlaveUri)
.ContinueWith(task =>
{
_logger.Debug("Registered Subscriber");
if (task.Status == TaskStatus.RanToCompletion)
{
((ISubscriber)subscriber).UpdatePublishers(task.Result);
tcs.SetResult(subscriber);
}
else if (task.Status == TaskStatus.Faulted)
{
tcs.SetException(task.Exception.InnerException);
_logger.Error("RegisterSubscriber: Failure", task.Exception.InnerException);
}
});
return(tcs.Task);
}