ADIS_Projects/ADIS_Csharp/RobotLib/DevBase.cs

using RobotLib.Communication;
using System.Collections.Generic;
using System.Diagnostics;

namespace RobotLib
{
    public abstract class DevBase
    {
        protected NLog.Logger log { get; private set; }

        /// <summary>
        /// Creates a base class.
        /// </summary>
        /// <param name="com">communication instance</param>
        public DevBase(IPublisherSubscriber com) : this(com, new List<string>()) { }
        
        /// <summary>
        /// Creates a base class and initializes interested Topics.
        /// </summary>
        /// <param name="com">connunication instance</param>
        /// <param name="interestedTopics">topics that shall be subscribed to</param>
        public DevBase(IPublisherSubscriber com, List<string> interestedTopics)
        {
            log = NLog.LogManager.GetLogger(GetType().ToString());

            Com = com;
            InterestedTopics = interestedTopics;
            foreach (var topic in InterestedTopics)
            {
                this.Com.Subscribe(topic);
            }
            com.NewMessageArrived += Com_NewMessageArrived;
        }


        protected List<string> InterestedTopics { get; }
        protected IPublisherSubscriber Com { get; }

        protected void Com_NewMessageArrived(object sender, SubscribedMsgArrivedEventArgs e)
        {
            if (InterestedTopics.Contains(e.Topic))
            {
                ParseMessage(e.Topic, e.Message);
            }
        }

        protected void SendMessage(string topic, string message)
        {
            if (Com.IsConnected)
            {
                Com.Publish(topic, message);
            }
            else
            {
                log.Warn("Not connected! Could not send message: " + message);
            }
        }
        protected virtual void ParseMessage(string fromTopic, string message) { }

        public virtual void Refresh() { }

    }
}