private CallOneResult CallOne(TLS tls)
{
CallbackInfo info = tls.Head;
if (info == null)
{
return(CallOneResult.Empty);
}
IDInfo idinfo = null;
idinfo = GetIdInfo(info.RemovalId);
if (idinfo != null)
{
CallbackInterface cb = info.Callback;
lock (idinfo.calling_rw_mutex)
{
CallbackInterface.CallResult result = CallbackInterface.CallResult.Invalid;
tls.SpliceOut(info);
if (!info.MarkedForRemoval)
{
try
{
result = cb.Call();
}
catch (Exception ex)
{
ROS.Error()($"[{ThisNode.Name}] Error during callback. Error: {ex.ToString()}, Stacktrace: {ex.StackTrace}");
}
}
if (result == CallbackInterface.CallResult.TryAgain && !info.MarkedForRemoval)
{
lock ( mutex )
{
callbacks.Add(info);
count++;
}
return(CallOneResult.TryAgain);
}
}
return(CallOneResult.Called);
}
CallbackInfo cbi = tls.SpliceOut(info);
if (cbi != null)
{
cbi.Callback.Call();
}
return(CallOneResult.Called);
}
public CallOneResult CallOne(TLS tls)
{
CallbackInfo info = tls.Head;
if (info == null)
{
return(CallOneResult.Empty);
}
IDInfo idinfo = null;
idinfo = GetIdInfo(info.RemovalId);
if (idinfo != null)
{
CallbackInterface cb = info.Callback;
lock (idinfo.calling_rw_mutex)
{
CallbackInterface.CallResult result = CallbackInterface.CallResult.Invalid;
tls.SpliceOut(info);
if (!info.MarkedForRemoval)
{
result = cb.Call();
}
if (result == CallbackInterface.CallResult.TryAgain && !info.MarkedForRemoval)
{
lock ( mutex )
{
callbacks.Add(info);
count++;
}
return(CallOneResult.TryAgain);
}
}
return(CallOneResult.Called);
}
CallbackInfo cbi = tls.SpliceOut(info);
if (cbi != null)
{
cbi.Callback.Call();
}
return(CallOneResult.Called);
}
public CallOneResult CallOne()
{
CallbackInfo call;
lock (gate)
{
if (!enabled)
{
return(CallOneResult.Disabled);
}
if (callbacks.Count == 0)
{
return(CallOneResult.Empty);
}
call = callbacks.Front;
callbacks.PopFront();
calling += 1;
}
var owner = call.Owner;
try
{
CallbackInterface cb = call.Callback;
var result = CallbackInterface.CallResult.Invalid;
if (owner != null)
{
Monitor.Enter(owner);
}
try
{
result = cb.Call();
}
catch (Exception ex)
{
ROS.Error()("Error during callback. Error: %s, Stacktrace: %s", ex.ToString(), ex.StackTrace);
}
if (result == CallbackInterface.CallResult.TryAgain)
{
lock (gate)
{
callbacks.PushBack(call);
}
return(CallOneResult.TryAgain);
}
return(CallOneResult.Called);
}
finally
{
if (owner != null)
{
Monitor.Exit(owner);
}
lock (gate)
{
calling -= 1;
}
}
}
