/// <summary>
/// 1개이상의 Topic 을 Subscriber 할 경우 사용
/// </summary>
/// <param name="topic"></param>
/// <param name="type"></param>
/// <param name="msgHandler"></param>
/// <returns></returns>
public async Task AddSubscriber(string topic, string type, MessageReceivedHandler msgHandler)
{
try
{
if (!Data.Instance.isConnected)
{
return;
}
bool bcheck = false;
foreach (Subscriber subitem in Data.Instance.subs)
{
//같은 Topic 명이 있을 경우 subscriber에 추가 하지 않음.
if (subitem.Topic == topic)
{
return;
}
}
rosSubscriber sub = new rosSubscriber(topic, type, Data.Instance.md);
Data.Instance.subs.Add(sub);
sub.SetMessageHandler(msgHandler);
await sub.SubscribeAsync();
}
catch (Exception ex)
{
Console.Out.WriteLine("AddSubscriber err :={0}", ex.Message.ToString());
}
}
public async Task DeleteSubscriber(string topic)
{
try
{
int i = 0;
int removeIdx = 0;
for (i = 0; i < Data.Instance.subs.Count; i++)
{
if (null != Data.Instance.subs[i])
{
rosSubscriber sub = (rosSubscriber)Data.Instance.subs[i];
if (Data.Instance.subs[i].Topic == topic)
{
sub.FreeMessageHandler();
await sub.UnsubscribeAsync();
//await Data.Instance.subs[i].UnsubscribeAsync();
removeIdx = i;
}
}
}
Data.Instance.subs.RemoveAt(removeIdx);
}
catch (Exception ex)
{
Console.Out.WriteLine("DeleteSubscriber Topic err :={0}", ex.Message.ToString());
}
/* foreach (rosSubscriber sub in Data.Instance.subs)
* {
* if (null != sub)
* {
* if (sub.Topic == topic)
* {
* sub.FreeMessageHandler();
* await sub.UnsubscribeAsync();
* }
* }
* }*/
}