public static IRosCoreConnectionAction GetTeardownAction(this RosCoreConfigurationOptions options)
{
if (options == null)
{
throw new ArgumentNullException(nameof(options));
}
var strategyName = options.TeardownStrategy?.Trim();
if (strategyName == null)
{
if (options.StartupStrategy != null && options.StartupStrategy.Equals("launch", StringComparison.InvariantCultureIgnoreCase))
{
strategyName = "close";
}
else
{
strategyName = "none";
}
}
if (strategyName.Equals("none", StringComparison.OrdinalIgnoreCase))
{
return(new NoAction());
}
if (strategyName.Equals("close", StringComparison.InvariantCultureIgnoreCase))
{
return(new ShutdownRosCoreAction());
}
if (strategyName.Equals("script", StringComparison.CurrentCultureIgnoreCase))
{
if (options.TeardownScriptPath == null)
{
throw new Exception("No script"); // TODO: Correct exception
}
return(ScriptAction.Create(options.TeardownScriptPath));
}
throw new InvalidOperationException($"The provided roscore teardown strategy {options.TeardownStrategy} is not supported.");
}
