/// <summary>
/// Initializes ROS so nodehandles and nodes can exist
/// </summary>
/// <param name="remapping_args"> dictionary of remapping args </param>
/// <param name="name"> node name </param>
/// <param name="options"> options? </param>
internal static void Init(IDictionary remapping_args, string name, int options)
{
// if we haven't sunk our fangs into the processes jugular so we can tell
// when it has stopped kicking, do so now
if (!atexit_registered)
{
atexit_registered = true;
Process.GetCurrentProcess().EnableRaisingEvents = true;
Process.GetCurrentProcess().Exited += (o, args) => _shutdown();
}
// this needs to exist for connections and stuff to happen
if (GlobalCallbackQueue == null)
{
GlobalCallbackQueue = new CallbackQueue();
}
// kick the tires and light the fires
if (!initialized)
{
init_options = options;
_ok = true;
network.init(remapping_args);
master.init(remapping_args);
this_node.Init(name, remapping_args, options);
Param.init(remapping_args);
initialized = true;
GlobalNodeHandle = new NodeHandle(this_node.Namespace, remapping_args);
}
}
public override void spin(CallbackQueue callbackInterface)
{
if (callbackInterface == null)
callbackInterface = ROS.GlobalCallbackQueue;
NodeHandle spinnerhandle = new NodeHandle();
while (spinnerhandle.ok)
{
callbackInterface.callAvailable(ROS.WallDuration);
}
}
public override void spin(CallbackQueue callbackInterface)
{
if (callbackInterface == null)
{
callbackInterface = ROS.GlobalCallbackQueue;
}
NodeHandle spinnerhandle = new NodeHandle();
while (spinnerhandle.ok)
{
callbackInterface.callAvailable(ROS.WallDuration);
}
}
private void destruct()
{
collection.Dispose();
collection = null;
lock (nh_refcount_mutex)
{
--nh_refcount;
}
_callback = null;
if (nh_refcount == 0 && node_started_by_nh)
{
ROS.shutdown();
}
}
/// <summary>
/// Creates a subscriber
/// </summary>
/// <typeparam name="M">Topic type</typeparam>
/// <param name="topic">Topic name</param>
/// <param name="queue_size">How many messages to qeueue</param>
/// <param name="cb">Function to fire when a message is recieved</param>
/// <param name="allow_concurrent_callbacks">Probably breaks things when true</param>
/// <returns>A subscriber</returns>
public Subscriber <M> subscribe <M>(string topic, uint queue_size, CallbackInterface cb, bool allow_concurrent_callbacks)
where M : IRosMessage, new()
{
if (_callback == null)
{
_callback = ROS.GlobalCallbackQueue;
}
SubscribeOptions <M> ops = new SubscribeOptions <M>(topic, queue_size, cb.func)
{
callback_queue = _callback, allow_concurrent_callbacks = allow_concurrent_callbacks
};
ops.callback_queue.addCallback(cb);
return(subscribe(ops));
}
/// <summary>
/// Creates a subscriber
/// </summary>
/// <typeparam name="M">Topic type</typeparam>
/// <param name="topic">Topic name</param>
/// <param name="queue_size">How many messages to qeueue</param>
/// <param name="cb">Function to fire when a message is recieved</param>
/// <param name="thisisveryverybad">internal use</param>
/// <returns>A subscriber</returns>
public Subscriber <M> subscribe <M>(string topic, uint queue_size, CallbackInterface cb, string thisisveryverybad)
where M : IRosMessage, new()
{
if (_callback == null)
{
_callback = ROS.GlobalCallbackQueue;
}
SubscribeOptions <M> ops = new SubscribeOptions <M>(topic, queue_size, cb.func)
{
callback_queue = _callback
};
ops.callback_queue.addCallback(cb);
return(subscribe(ops));
}
public virtual void spin(CallbackQueue queue)
{
}
public virtual void spin(CallbackQueue queue)
{
}
public static AdvertiseOptions <M> Create <M>(string topic, int q_size, SubscriberStatusCallback connectcallback,
SubscriberStatusCallback disconnectcallback, CallbackQueue queue)
where M : IRosMessage, new()
{
return(new AdvertiseOptions <M>(topic, q_size, connectcallback, disconnectcallback)
{
callback_queue = queue
});
}
/// <summary>
/// Initializes ROS so nodehandles and nodes can exist
/// </summary>
/// <param name="remapping_args"> dictionary of remapping args </param>
/// <param name="name"> node name </param>
/// <param name="options"> options? </param>
internal static void Init(IDictionary remapping_args, string name, int options)
{
// if we haven't sunk our fangs into the processes jugular so we can tell
// when it has stopped kicking, do so now
if (!atexit_registered)
{
atexit_registered = true;
Process.GetCurrentProcess().EnableRaisingEvents = true;
Process.GetCurrentProcess().Exited += (o, args) => _shutdown();
}
// this needs to exist for connections and stuff to happen
if (GlobalCallbackQueue == null)
{
GlobalCallbackQueue = new CallbackQueue();
}
// kick the tires and light the fires
if (!initialized)
{
init_options = options;
_ok = true;
network.init(remapping_args);
master.init(remapping_args);
this_node.Init(name, remapping_args, options);
Param.init(remapping_args);
initialized = true;
GlobalNodeHandle = new NodeHandle(this_node.Namespace, remapping_args);
}
}
