internal bool addCallback <M>(SubscriptionCallbackHelper <M> helper, string md5sum, CallbackQueueInterface queue,
uint queue_size, bool allow_concurrent_callbacks, string topiclol) where M : IRosMessage, new()
{
lock (md5sum_mutex)
{
if (this.md5sum == "*" && md5sum != "*")
{
this.md5sum = md5sum;
}
}
if (md5sum != "*" && md5sum != this.md5sum)
{
return(false);
}
lock (callbacks_mutex)
{
CallbackInfo <M> info = new CallbackInfo <M> {
helper = helper, callback = queue, subscription_queue = new Callback <M>(helper.callback().func, topiclol, queue_size, allow_concurrent_callbacks)
};
//if (!helper.isConst())
//{
++nonconst_callbacks;
//}
callbacks.Add(info);
if (latched_messages.Count > 0)
{
lock (publisher_links_mutex)
{
foreach (PublisherLink link in publisher_links)
{
if (link.Latched)
{
if (latched_messages.ContainsKey(link))
{
LatchInfo latch_info = latched_messages[link];
IMessageDeserializer des = new IMessageDeserializer(helper, latch_info.message,
latch_info.connection_header);
bool was_full = false;
((Callback <M>)info.subscription_queue).push((SubscriptionCallbackHelper <M>)info.helper, (MessageDeserializer <M>)des, true,
ref was_full,
latch_info.receipt_time);
((Callback <M>)info.subscription_queue).topic = topiclol;
if (!was_full)
{
info.callback.addCallback(info.subscription_queue, info.Get());
}
}
}
}
}
}
}
return(true);
}
public AsyncSpinner(int tc, CallbackQueueInterface queue)
{
throw new NotImplementedException();
}
internal bool addCallback <M>(SubscriptionCallbackHelper <M> helper, string md5sum, CallbackQueueInterface queue,
uint queue_size, bool allow_concurrent_callbacks, string topiclol) where M : IRosMessage, new()
{
lock (md5sum_mutex)
{
if (this.md5sum == "*" && md5sum != "*")
{
this.md5sum = md5sum;
}
}
if (md5sum != "*" && md5sum != this.md5sum)
{
return(false);
}
lock (callbacks_mutex)
{
CallbackInfo <M> info = new CallbackInfo <M> {
helper = helper, callback = queue, subscription_queue = new Callback <M>(helper.callback().func, topiclol, queue_size, allow_concurrent_callbacks)
};
//if (!helper.isConst())
//{
++nonconst_callbacks;
//}
callbacks.Add(info);
if (latched_messages.Count > 0)
{
MsgTypes ti = info.helper.type;
lock (publisher_links_mutex)
{
foreach (PublisherLink link in publisher_links)
{
if (link.Latched)
{
if (latched_messages.ContainsKey(link))
{
LatchInfo latch_info = latched_messages[link];
bool was_full = false;
bool nonconst_need_copy = false; //callbacks.Count > 1;
info.subscription_queue.pushitgood(info.helper, latched_messages[link].message, nonconst_need_copy, ref was_full, ROS.GetTime().data);
if (!was_full)
{
info.callback.addCallback(info.subscription_queue, info.Get());
}
}
}
}
}
}
}
return(true);
}
public AsyncSpinner(int tc, CallbackQueueInterface queue)
{
throw new NotImplementedException();
}
public CallbackQueueInterface.ICallbackInfo spliceout(CallbackQueueInterface.ICallbackInfo info)
{
lock(_queue)
{
if (!_queue.Contains(info))
return null;
_queue.RemoveAt(_queue.IndexOf(info));
return info;
}
}
public void enqueue(CallbackQueueInterface.ICallbackInfo info)
{
if (info.Callback == null)
return;
lock(_queue)
_queue.Add(info);
}
//internal ftw?
public ServicePublication(string name, string md5Sum, string datatype, string reqDatatype, string resDatatype, ServiceCallbackHelper <MReq, MRes> helper, CallbackQueueInterface callback, object trackedObject)
{
if (name == null)
{
throw new Exception("NULL NAME?!");
}
// TODO: Complete member initialization
this.name = name;
md5sum = md5Sum;
this.datatype = datatype;
req_datatype = reqDatatype;
res_datatype = resDatatype;
this.helper = helper;
this.callback = callback;
tracked_object = trackedObject;
if (trackedObject != null)
{
has_tracked_object = true;
}
}
public CallbackQueueInterface.ICallbackInfo spliceout(CallbackQueueInterface.ICallbackInfo info)
{
if (!_queue.Contains(info))
return null;
_queue = new ConcurrentQueue<CallbackQueueInterface.ICallbackInfo>(_queue.Except(new[] {info}));
return info;
}
public void enqueue(CallbackQueueInterface.ICallbackInfo info)
{
if (info.Callback == null)
return;
if (!_queue.Contains(info))
{
_queue.Enqueue(info);
}
else
{
Console.WriteLine("ADDING A DUPLICATE CALLBACKINFO TO THE QUEUE");
}
}
