public static void UnsubscribeEvent(string name, MessageEventDelegate action)
{
if (dic.ContainsKey(name) && dic[name].Contains(action))
{
dic[name].Remove(action);
}
}
protected void RaiseMessageEvent(string message)
{
/// To avoid a race condition where the last handler can be removed
/// between the null check and the invocation of the event, event
/// sources should also create a copy of the event before performing
/// the null check and raising the event.
MessageEventDelegate temp = MessageEvent;
if (temp != null)
{
MessageEventArgs e = new MessageEventArgs(message);
temp(this, e);
}
}
public static void SubscribeEvent(string name, MessageEventDelegate action)
{
if (!dic.ContainsKey(name))
{
//throw new System.Exception("Event '" + name + "' hasn't been invoked previously");
dic.Add(name, new List <MessageEventDelegate>());
}
if (!dic[name].Contains(action))
{
dic[name].Add(action);
}
else
{
throw new System.Exception("Event '" + name + "' has already been subscribed to with the specified action.");
}
}
Subscriber <MessageEvent <M> > queue_subscribe <M> (string topic, uint queue_size, MessageEventDelegate <M> msgEvent, CallbackQueueInterface queue) where M : IRosMessage, new()
// Subscriber<M, T> queue_subscribe (string topic, uint queue_size, void(T::*fp)(const ros::MessageEvent<M const>&), T* obj, ros::CallbackQueueInterface* queue)
{
SubscribeOptions <MessageEvent <M> > ops = new SubscribeOptions <MessageEvent <M> > (topic, queue_size, new CallbackDelegate <MessageEvent <M> > (msgEvent));
ops.callback_queue = queue;
ops.topic = topic;
ops.queue_size = queue_size;
// md5 and datatype get generated in constructor
// ops.md5sum = ros::message_traits::md5sum<M>();
// ops.datatype = ros::message_traits::datatype<M>();
ops.helper = new SubscriptionCallbackHelper <MessageEvent <M> > (Messages.MsgTypes.MessageEvent, new CallbackDelegate <MessageEvent <M> > (msgEvent));
// ops.helper = ros::SubscriptionCallbackHelperPtr(
// new ros::SubscriptionCallbackHelperT<const ros::MessageEvent<M const>& >(
// boost::bind(fp, obj, _1)
// )
// );
return(nodeHandle.subscribe(ops));
}
