public SubscriberCallbacks(SubscriberStatusCallback connectCB, SubscriberStatusCallback disconnectCB,
CallbackQueueInterface Callback)
{
connect = connectCB;
disconnect = disconnectCB;
this.Callback = Callback;
}
public AdvertiseOptions(
string topic,
int queueSize,
string md5Sum,
string dataType,
string messageDefinition,
SubscriberStatusCallback connectcallback = null,
SubscriberStatusCallback disconnectcallback = null,
ICallbackQueue callbackQueue = null
)
{
this.topic = topic;
this.md5Sum = md5Sum;
this.queueSize = queueSize;
this.callbackQueue = callbackQueue;
T tt = new T();
this.dataType = dataType.Length > 0 ? dataType : tt.MessageType;
this.messageDefinition = string.IsNullOrEmpty(messageDefinition) ? tt.MessageDefinition() : messageDefinition;
this.hasHeader = tt.HasHeader();
this.connectCB = connectcallback;
this.disconnectCB = disconnectcallback;
}
public AdvertiseOptions(string t, int q_size, string md5, string dt, string message_def,
SubscriberStatusCallback connectcallback,
SubscriberStatusCallback disconnectcallback)
{
topic = t;
queue_size = q_size;
md5sum = md5;
T tt = new T();
if (dt.Length > 0)
{
datatype = dt;
}
else
{
datatype = tt.msgtype.ToString().Replace("__", "/");
}
if (message_def.Length == 0)
{
message_definition = tt.MessageDefinition;
}
else
{
message_definition = message_def;
}
has_header = tt.HasHeader;
connectCB = connectcallback;
disconnectCB = disconnectcallback;
}
public SubscriberCallbacks(SubscriberStatusCallback connectCB, SubscriberStatusCallback disconnectCB,
CallbackQueueInterface Callback)
{
connect = connectCB;
disconnect = disconnectCB;
this.Callback = Callback;
}
/// <summary>
/// Creates a publisher with connect and disconnect callbacks, specify latching.
/// </summary>
/// <typeparam name="M">Type of topic</typeparam>
/// <param name="topic">Name of topic</param>
/// <param name="queue_size">How many messages to enqueue if asynchrinous</param>
/// <param name="connectcallback">Callback to fire when this node connects</param>
/// <param name="disconnectcallback">Callback to fire when this node disconnects</param>
/// <param name="l">Boolean determines whether the given publisher will latch or not</param>
/// <returns>A publisher with the specified topic type, name and options</returns>
public Publisher <M> advertise <M>(string topic, int queue_size, SubscriberStatusCallback connectcallback,
SubscriberStatusCallback disconnectcallback, bool l)
where M : IRosMessage, new()
{
return(advertise(new AdvertiseOptions <M>(topic, queue_size, connectcallback, disconnectcallback)
{
latch = l
}));
}
Publisher <M> queue_advertise <M> (string topic, uint queue_size, SubscriberStatusCallback connect_cb, SubscriberStatusCallback disconnect_cb, CallbackQueueInterface queue) where M : IRosMessage, new()
{
AdvertiseOptions <M> ops = new AdvertiseOptions <M> (topic, (int)queue_size, connect_cb, disconnect_cb);
// ops.tracked_object = ros::VoidPtr();
ops.latch = false;
ops.callback_queue = queue;
return(nodeHandle.advertise(ops));
}
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
});
}
public AdvertiseOptions(string t, int q_size, SubscriberStatusCallback connectcallback,
SubscriberStatusCallback disconnectcallback) :
this(
t, q_size, new T().MD5Sum,
new T().msgtype.ToString().Replace("__", "/"),
new T().MessageDefinition,
connectcallback, disconnectcallback)
{
}
public SubscriberCallbacks(
SubscriberStatusCallback connectCB,
SubscriberStatusCallback disconnectCB,
ICallbackQueue callbackQueue
)
{
this.connect = connectCB;
this.disconnect = disconnectCB;
this.CallbackQueue = callbackQueue;
}
public SubscriberCallbacks(
SubscriberStatusCallback onConnect,
SubscriberStatusCallback onDisconnect,
ICallbackQueue callbackQueue
)
{
this.OnConnect = onConnect;
this.OnDisconnect = onDisconnect;
this.CallbackQueue = callbackQueue;
}
/// <summary>
/// Creates a publisher with connect and disconnect callbacks
/// </summary>
/// <typeparam name="M">Type of topic</typeparam>
/// <param name="topic">Name of topic</param>
/// <param name="queue_size">How many messages to enqueue if asynchrinous</param>
/// <param name="connectcallback">Callback to fire when this node connects</param>
/// <param name="disconnectcallback">Callback to fire when this node disconnects</param>
/// <returns>A publisher with the specified topic type, name and options</returns>
public Publisher <M> advertise <M>(string topic, int queue_size, SubscriberStatusCallback connectcallback,
SubscriberStatusCallback disconnectcallback)
where M : IRosMessage, new()
{
if (started_by_visual_studio)
{
return(null);
}
return(advertise <M>(topic, queue_size, connectcallback, disconnectcallback, false));
}
public AdvertiseOptions(string t, int q_size, string md5, string dt, string message_def,
SubscriberStatusCallback connectcallback,
SubscriberStatusCallback disconnectcallback)
{
topic = t;
queue_size = q_size;
md5sum = md5;
T tt = new T();
if (dt.Length > 0)
{
datatype = dt;
}
else
{
datatype = tt.msgtype.ToString().Replace("__", "/");
}
if (message_def.Length == 0)
{
message_definition = tt.MessageDefinition;
}
else
{
message_definition = message_def;
}
List <Type> visited = new List <Type>();
Queue <IRosMessage> frontier = new Queue <IRosMessage>();
IRosMessage current = tt;
do
{
if (frontier.Count > 0)
{
current = frontier.Dequeue();
message_definition += "\n================================================================================\nMSG: " + current.msgtype.ToString().Replace("__", "/") + "\n" + current.MessageDefinition;
}
foreach (MsgFieldInfo fi in current.Fields.Values)
{
if (fi.message_type == MsgTypes.Unknown)
{
continue;
}
IRosMessage field = IRosMessage.generate(fi.message_type);
if (field != null && fi.IsMetaType && !visited.Contains(fi.Type))
{
frontier.Enqueue(field);
visited.Add(fi.Type);
}
}
} while (frontier.Count > 0);
has_header = tt.HasHeader;
connectCB = connectcallback;
disconnectCB = disconnectcallback;
}
public static AdvertiseOptions <M> Create <M>(
string topic,
int queueSize,
SubscriberStatusCallback connectcallback,
SubscriberStatusCallback disconnectcallback,
ICallbackQueue callbackQueue
)
where M : RosMessage, new()
{
return(new AdvertiseOptions <M>(topic, queueSize, connectcallback, disconnectcallback, callbackQueue));
}
public AdvertiseOptions(
string topic,
int queueSize,
SubscriberStatusCallback connectCallback,
SubscriberStatusCallback disconnectCallback,
ICallbackQueue callbackQueue = null
)
: this(
topic,
queueSize,
new T().MD5Sum(),
new T().MessageType,
new T().MessageDefinition(),
connectCallback,
disconnectCallback
)
{
}
public PeerConnDisconnCallback(SubscriberStatusCallback callback, SubscriberLink sub_link)
{
this.callback = callback;
this.sub_link = sub_link;
}
public Publisher <M> Advertise <M>(string topic, int queueSize, SubscriberStatusCallback connectCallback,
SubscriberStatusCallback disconnectCallback, bool latch) where M : RosMessage, new() =>
AdvertiseAsync <M>(topic, queueSize, connectCallback, disconnectCallback, latch).Result;
public PeerConnDisconnCallback(SubscriberStatusCallback callback, SubscriberLink subscriberLink)
{
this.callback = callback;
this.subscriberLink = subscriberLink;
}
/// <summary>
/// Creates a publisher with connect and disconnect callbacks, specify latching.
/// </summary>
/// <typeparam name="M">Type of topic</typeparam>
/// <param name="topic">Name of topic</param>
/// <param name="queueSize">How many messages to enqueue if asynchrinous</param>
/// <param name="connectCallback">Callback to fire when this node connects</param>
/// <param name="disconnectCallback">Callback to fire when this node disconnects</param>
/// <param name="latch">Boolean determines whether the given publisher will latch or not</param>
/// <returns>A publisher with the specified topic type, name and options</returns>
public async Task <Publisher <M> > AdvertiseAsync <M>(string topic, int queueSize, SubscriberStatusCallback connectCallback,
SubscriberStatusCallback disconnectCallback, bool latch)
where M : RosMessage, new()
{
return(await AdvertiseAsync(new AdvertiseOptions <M>(topic, queueSize, connectCallback, disconnectCallback) { Latch = latch }));
}
/// <summary>
/// Creates a publisher with connect and disconnect callbacks
/// </summary>
/// <typeparam name="M">Type of topic</typeparam>
/// <param name="topic">Name of topic</param>
/// <param name="queueSize">How many messages to enqueue if asynchrinous</param>
/// <param name="connectCallback">Callback to fire when this node connects</param>
/// <param name="disconnectCallback">Callback to fire when this node disconnects</param>
/// <returns>A publisher with the specified topic type, name and options</returns>
public async Task <Publisher <M> > AdvertiseAsync <M>(string topic, int queueSize, SubscriberStatusCallback connectCallback,
SubscriberStatusCallback disconnectCallback)
where M : RosMessage, new()
{
return(await AdvertiseAsync <M>(topic, queueSize, connectCallback, disconnectCallback, false));
}
public AdvertiseOptions(string t, int q_size, string md5, string dt, string message_def,
SubscriberStatusCallback connectcallback)
: this(t, q_size, md5, dt, message_def, connectcallback, null)
{
}
/// <summary>
/// Creates a publisher with connect and disconnect callbacks
/// </summary>
/// <typeparam name="M">Type of topic</typeparam>
/// <param name="topic">Name of topic</param>
/// <param name="queueSize">How many messages to enqueue if asynchrinous</param>
/// <param name="connectCallback">Callback to fire when this node connects</param>
/// <param name="disconnectCallback">Callback to fire when this node disconnects</param>
/// <returns>A publisher with the specified topic type, name and options</returns>
public Publisher <M> advertise <M>(string topic, int queueSize, SubscriberStatusCallback connectCallback,
SubscriberStatusCallback disconnectCallback)
where M : RosMessage, new()
{
return(advertise <M>(topic, queueSize, connectCallback, disconnectCallback, false));
}
