public override void pushitgood(ISubscriptionCallbackHelper helper, IRosMessage message, bool nonconst_need_copy, ref bool was_full, TimeData receipt_time)
{
if (was_full)
{
was_full = false;
}
if (fullNoLock())
{
Item toss;
queue.TryDequeue(out toss);
_full = true;
was_full = true;
}
else
{
_full = false;
}
Item i = new Item
{
helper = helper,
message = message,
nonconst_need_copy = nonconst_need_copy,
receipt_time = receipt_time
};
queue.Enqueue(i);
}
/// <summary>
/// Creates a ROS Subscriber
/// </summary>
/// <param name="topic">Topic name to subscribe to</param>
/// <param name="nodeHandle">nodehandle</param>
/// <param name="cb">callback function to be fired when message is received</param>
public Subscriber(string topic, NodeHandle nodeHandle, ISubscriptionCallbackHelper cb) : base(topic)
{
// TODO: Complete member initialization
this.topic = topic;
nodehandle = new NodeHandle(nodeHandle);
helper = cb;
}
public IMessageDeserializer MakeDeserializer(MsgTypes type, ISubscriptionCallbackHelper helper, IRosMessage m,
IDictionary connection_header)
{
if (type == MsgTypes.Unknown)
{
return(null);
}
//return ROS.MakeDeserializer(ROS.MakeMessage(type));
return
((IMessageDeserializer)
Activator.CreateInstance(
typeof(MessageDeserializer <>).MakeGenericType(
ROS.MakeMessage(type).GetType()), helper, m, connection_header));
}
public void removeCallback(ISubscriptionCallbackHelper helper)
{
lock (callbacks_mutex)
{
foreach (ICallbackInfo info in callbacks)
{
if (info.helper == helper)
{
info.subscription_queue.clear();
info.callback.removeByID(info.Get());
callbacks.Remove(info);
//if (!helper.isConst())
--nonconst_callbacks;
break;
}
}
}
}
public bool unsubscribe(string topic, ISubscriptionCallbackHelper sbch)
{
Subscription sub = null;
lock (subs_mutex)
{
if (shutting_down)
{
return(false);
}
foreach (Subscription s in subscriptions)
{
if (s.name == topic)
{
sub = s;
break;
}
}
}
if (sub == null)
{
return(false);
}
sub.removeCallback(sbch);
if (sub.NumCallbacks == 0)
{
lock (subs_mutex)
{
subscriptions.Remove(sub);
if (!unregisterSubscriber(topic))
{
EDB.WriteLine("Couldn't unregister subscriber for topic [" + topic + "]");
}
}
sub.shutdown();
return(true);
}
return(true);
}
public override void pushitgood(ISubscriptionCallbackHelper helper, IMessageDeserializer deserializer, bool nonconst_need_copy, ref bool was_full, TimeData receipt_time)
{
lock (queue_mutex)
{
if (was_full)
{
was_full = false;
}
if (fullNoLock())
{
queue.Dequeue();
--queue_size;
_full = true;
if (was_full)
{
was_full = true;
}
}
else
{
_full = false;
}
Item i = new Item
{
helper = helper,
deserializer = deserializer,
nonconst_need_copy = nonconst_need_copy,
receipt_time = receipt_time
};
queue.Enqueue(i);
++queue_size;
}
}
public IMessageDeserializer(ISubscriptionCallbackHelper helper, IRosMessage m, IDictionary connection_header)
{
this.helper = helper;
message = m;
this.connection_header = connection_header;
}
public virtual void pushitgood(ISubscriptionCallbackHelper helper, IRosMessage msg, bool nonconst_need_copy, ref bool was_full, TimeData receipt_time)
{
throw new NotImplementedException();
}
