public bool subscribe <T>(SubscribeOptions <T> ops) where T : IRosMessage, new()
{
lock (subs_mutex)
{
if (addSubCallback(ops))
{
return(true);
}
if (shutting_down)
{
return(false);
}
}
if (ops.md5sum == "")
{
throw subscribeFail(ops, "with an empty md5sum");
}
if (ops.datatype == "")
{
throw subscribeFail(ops, "with an empty datatype");
}
if (ops.helper == null)
{
throw subscribeFail(ops, "without a callback");
}
string md5sum = ops.md5sum;
string datatype = ops.datatype;
Subscription s = new Subscription(ops.topic, md5sum, datatype);
s.addCallback(ops.helper, ops.md5sum, ops.callback_queue, ops.queue_size, ops.allow_concurrent_callbacks, ops.topic);
if (!registerSubscriber(s, ops.datatype))
{
EDB.WriteLine("Couldn't register subscriber on topic [{0}]", ops.topic);
s.shutdown();
return(false);
}
lock (subs_mutex)
{
subscriptions.Add(s);
}
return(true);
}
public bool addSubCallback <M>(SubscribeOptions <M> ops) where M : IRosMessage, new()
{
bool found = false;
bool found_topic = false;
Subscription sub = null;
if (shutting_down)
{
return(false);
}
foreach (Subscription s in subscriptions)
{
sub = s;
if (!sub.IsDropped && sub.name == ops.topic)
{
found_topic = true;
if (md5sumsMatch(ops.md5sum, sub.md5sum))
{
found = true;
}
break;
}
}
if (found_topic && !found)
{
throw new Exception
("Tried to subscribe to a topic with the same name but different md5sum as a topic that was already subscribed [" +
ops.datatype + "/" + ops.md5sum + " vs. " + sub.datatype + "/" +
sub.md5sum + "]");
}
if (found)
{
if (
!sub.addCallback(ops.helper, ops.md5sum, ops.callback_queue, ops.queue_size,
ops.allow_concurrent_callbacks, ops.topic))
{
return(false);
}
}
return(found);
}
