public RegistrationManager()
{
nodes = new Dictionary <string, NodeRef>();
//thread_pool
publishers = new Registrations(Registrations.TOPIC_PUBLICATIONS);
subscribers = new Registrations(Registrations.TOPIC_SUBSCRIPTIONS);
services = new Registrations(Registrations.SERVICE);
param_subscribers = new Registrations(Registrations.PARAM_SUBSCRIPTIONS);
}
public void _notify(Registrations r, Func <String, String, List <String>, List <String> > task, String key, List <String> value, List <String> node_apis)
{
foreach (String node_api in node_apis)
{
// if (node_api != null && node_uris.Count > 0)
//{
task(node_api, key, value);
//}
}
}
public ROSMasterHandler()
{
reg_manager = new RegistrationManager();
publishers = reg_manager.publishers;
subscribers = reg_manager.subscribers;
services = reg_manager.services;
param_subscribers = reg_manager.param_subscribers;
topic_types = new Dictionary <String, String>();
param_server = new rosmaster.ParamDictionary(reg_manager);
}
public ROSMasterHandler()
{
reg_manager = new RegistrationManager();
publishers = reg_manager.publishers;
subscribers = reg_manager.subscribers;
services = reg_manager.services;
param_subscribers = reg_manager.param_subscribers;
topic_types = new Dictionary<String, String>();
param_server = new rosmaster.ParamDictionary(reg_manager);
}
public void _register(Registrations r, String key, String caller_id, String caller_api, String service_api = null)
{
bool changed = false;
NodeRef node_ref = _register_node_api(caller_id, caller_api, ref changed);
node_ref.add(r.type, key);
if (changed)
{
publishers.unregister_all(caller_id);
subscribers.unregister_all(caller_id);
services.unregister_all(caller_id);
param_subscribers.unregister_all(caller_id);
}
r.register(key, caller_id, caller_api, service_api);
}
public ReturnStruct _unregister(Registrations r, String key, String caller_id, String caller_api, String service_api = null)
{
ReturnStruct ret;
if (nodes.ContainsKey(caller_id))
{
NodeRef node_ref = nodes[caller_id];
ret = r.unregister(key, caller_id, caller_api, service_api);
if (ret.statusCode == 1)
{
node_ref.remove(r.type, key);
}
if (node_ref.is_empty())
{
nodes.Remove(caller_id);
}
}
else
{
ret = new ReturnStruct(0, String.Format("[{0}] is not a registered node", caller_id), new XmlRpc_Wrapper.XmlRpcValue(1));
}
return(ret); // new ReturnStruct(code, msg, new XmlRpc_Wrapper.XmlRpcValue(ret));
}
public void _notify(Registrations r, Func< String, String, List<String>, List<String>> task, String key, List<String> value, List<String> node_apis)
{
foreach (String node_api in node_apis)
{
// if (node_api != null && node_uris.Count > 0)
//{
task(node_api, key, value);
//}
}
}
public ReturnStruct _unregister(Registrations r, String key, String caller_id, String caller_api, String service_api = null)
{
ReturnStruct ret;
if (nodes.ContainsKey(caller_id))
{
NodeRef node_ref = nodes[caller_id];
ret = r.unregister(key, caller_id, caller_api, service_api);
if (ret.statusCode == 1)
{
node_ref.remove(r.type, key);
}
if (node_ref.is_empty())
{
nodes.Remove(caller_id);
}
}
else
{
ret = new ReturnStruct(0, String.Format("[{0}] is not a registered node",caller_id), new XmlRpc_Wrapper.XmlRpcValue(1));
}
return ret; // new ReturnStruct(code, msg, new XmlRpc_Wrapper.XmlRpcValue(ret));
}
public void _register(Registrations r, String key, String caller_id, String caller_api, String service_api = null)
{
bool changed = false;
NodeRef node_ref = _register_node_api(caller_id, caller_api, ref changed);
node_ref.add(r.type,key);
if (changed)
{
publishers.unregister_all(caller_id);
subscribers.unregister_all(caller_id);
services.unregister_all(caller_id);
param_subscribers.unregister_all(caller_id);
}
r.register(key, caller_id, caller_api, service_api);
}
public RegistrationManager()
{
nodes = new Dictionary<string, NodeRef>();
//thread_pool
publishers = new Registrations(Registrations.TOPIC_PUBLICATIONS);
subscribers = new Registrations(Registrations.TOPIC_SUBSCRIPTIONS);
services = new Registrations(Registrations.SERVICE);
param_subscribers = new Registrations(Registrations.PARAM_SUBSCRIPTIONS);
}
