public void RemovePublisher_Success()
{
var container = new TopicContainer();
IPublisher pub;
container.HasPublisher("pub1").Is(false);
container.GetPublishers().Count.Is(0);
container.AddPublisher(new Publisher <std_msgs.String>("pub1", "test")).Is(true);
container.HasPublisher("pub1").Is(true);
container.GetPublishers().Count.Is(1);
container.GetPublisher("pub1", out pub).Is(true);
container.RemovePublisher("pub1").Is(true);
container.GetPublisher("pub1", out pub).Is(false);
container.RemovePublisher("pub1").Is(false);
}
private Task DisposePublisherAsync(string topicName)
{
_logger.Debug(m => m("Disposing Publisher[{0}]", topicName));
return(_masterClient
.UnregisterPublisherAsync(NodeId, topicName, _slaveServer.SlaveUri)
.ContinueWith(task =>
{
if (task.IsFaulted)
{
_logger.Error("UnregisterPublisher: Failure", task.Exception.InnerException);
}
_topicContainer.RemovePublisher(topicName);
_slaveServer.RemoveListener(topicName);
_publisherDisposables[topicName].Dispose();
_publisherDisposables.Remove(topicName);
_logger.Debug(m => m("UnregisterPublisher: [{0}]", topicName));
}));
}