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Don't throw an error when already publishing a topic but return the old publisher.

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Lorenz Moesenlechner 2010-06-04 20:42:19 +00:00
parent ea017bb3f6
commit 9f05f30d25
1 changed files with 9 additions and 11 deletions
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20
core/roslisp/src/client.lisp
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@ -57,17 +57,15 @@ Set up things so that publish may now be called with this topic. Also, returns
(setq topic-type (lookup-topic-type topic-type))
(with-fully-qualified-name topic
(with-mutex (*ros-lock*)
(when (hash-table-has-key *publications* topic)
(roslisp-error "Already publishing on ~a" topic))
(let ((pub (make-publication :pub-topic-type topic-type :subscriber-connections nil :is-latching latch :last-message nil)))
(setf (gethash topic *publications*) pub)
(protected-call-to-master
("registerPublisher" topic topic-type *xml-rpc-caller-api*) c
(remhash topic *publications*)
(roslisp-error "Unable to contact master at ~a for advertising ~a: ~a" *master-uri* topic c))
(ros-debug (roslisp pub) "Advertised ~a of type ~a" topic topic-type)
pub))))
(or (gethash topic *publications*)
(let ((pub (make-publication :pub-topic-type topic-type :subscriber-connections nil :is-latching latch :last-message nil)))
(setf (gethash topic *publications*) pub)
(protected-call-to-master
("registerPublisher" topic topic-type *xml-rpc-caller-api*) c
(remhash topic *publications*)
(roslisp-error "Unable to contact master at ~a for advertising ~a: ~a" *master-uri* topic c))
(ros-debug (roslisp pub) "Advertised ~a of type ~a" topic topic-type)
pub)))))
(defun unadvertise (topic)
(ensure-node-is-running)