/// <summary>
/// Wrap a timer a with added functionality, and make sure it dies with this TimerManager
/// This DOES NOT START IT.
/// </summary>
/// <param name="cb">
/// The callback of the wrapped timer
/// </param>
/// <param name="d">
/// The delay it should have
/// </param>
/// <param name="p">
/// The period it should have
/// </param>
public WrappedTimer StartTimer(TimerCallback cb, int d = Timeout.Infinite, int p = Timeout.Infinite)
{
WrappedTimer wt = MakeTimer(cb, d, p);
wt.Start();
return(wt);
}
/// <summary>
/// Wrap and start timer a with added functionality, and make sure it dies with this TimerManager
/// This DOES NOT START IT.
/// </summary>
/// <param name="cb">
/// The callback of the wrapped timer
/// </param>
/// <param name="d">
/// The delay it should have
/// </param>
/// <param name="p">
/// The period it should have
/// </param>
public WrappedTimer MakeTimer(TimerCallback cb, int d = Timeout.Infinite, int p = Timeout.Infinite)
{
WrappedTimer wt = new WrappedTimer(cb, d, p);
MakeTimer(wt);
return(wt);
}
private void onConnectionDropped(Connection conn, Connection.DropReason reason)
{
ROS.Debug()($"[{ThisNode.Name}] TransportPublisherLink: onConnectionDropped from remote {conn.RemoteString} with reason {reason.ToString()}");
if (dropping || conn != connection)
{
return;
}
if (reason == Connection.DropReason.TransportDisconnect)
{
needs_retry = true;
next_retry = DateTime.UtcNow.Add(retry_period);
if (retry_timer == null)
{
retry_timer = ROS.timerManager.StartTimer(onRetryTimer, 100);
}
else
{
retry_timer.Restart();
}
}
else
{
if (reason == Connection.DropReason.HeaderError)
{
ROS.Error()($"[{ThisNode.Name}] Error in the Header: {( parent != null ? parent.name : "unknown" )}");
}
drop();
}
}
public void Start()
{
PollManager.Instance.AddPollThreadListener(RemoveDroppedConnections);
listener = new TcpListener(IPAddress.Any, Network.TcpRosServerPort);
listener.Start(16);
acceptor = ROS.timerManager.StartTimer(CheckAndAccept, 100, 100);
}
/// <summary>
/// Add a wrapped timer to the hashset
/// </summary>
/// <param name="t">the wrapped timer</param>
public void MakeTimer(WrappedTimer t)
{
lock (timerList)
{
if (timerList.Contains(t))
{
throw new Exception("The same timer cannot be tracked twice");
}
timerList.Add(t);
}
}
/// <summary>
/// Add a wrapped timer to the hashset
/// </summary>
/// <param name="t">the wrapped timer</param>
public void MakeTimer(WrappedTimer t)
{
lock ( heardof )
{
if (heardof.Contains(t))
{
throw new Exception("The same timer cannot be tracked twice");
}
heardof.Add(t);
}
}
/// <summary>
/// Stop tracking a timer, and kill it
/// </summary>
/// <param name="t">The timer to forget and kill</param>
public void RemoveTimer(ref WrappedTimer t)
{
lock (timerList)
{
if (timerList.Contains(t))
{
timerList.Remove(t);
}
}
t.Dispose();
t = null;
}
/// <summary>
/// Stop tracking a timer, and kill it
/// </summary>
/// <param name="t">The timer to forget and kill</param>
public void RemoveTimer(ref WrappedTimer t)
{
lock ( heardof )
{
if (heardof.Contains(t))
{
heardof.Remove(t);
}
}
t.Dispose();
t = null;
}
