internal bool addCallback <M>(SubscriptionCallbackHelper <M> helper, string md5sum, CallbackQueueInterface queue, uint queue_size, bool allow_concurrent_callbacks, string topiclol) where M : IRosMessage, new() { lock (md5sum_mutex) { if (this.md5sum == "*" && md5sum != "*") { this.md5sum = md5sum; } } if (md5sum != "*" && md5sum != this.md5sum) { return(false); } lock (callbacks_mutex) { CallbackInfo <M> info = new CallbackInfo <M> { helper = helper, callback = queue, subscription_queue = new Callback <M>(helper.callback().func, topiclol, queue_size, allow_concurrent_callbacks) }; //if (!helper.isConst()) //{ ++nonconst_callbacks; //} callbacks.Add(info); if (latched_messages.Count > 0) { lock (publisher_links_mutex) { foreach (PublisherLink link in publisher_links) { if (link.Latched) { if (latched_messages.ContainsKey(link)) { LatchInfo latch_info = latched_messages[link]; IMessageDeserializer des = new IMessageDeserializer(helper, latch_info.message, latch_info.connection_header); bool was_full = false; ((Callback <M>)info.subscription_queue).push((SubscriptionCallbackHelper <M>)info.helper, (MessageDeserializer <M>)des, true, ref was_full, latch_info.receipt_time); ((Callback <M>)info.subscription_queue).topic = topiclol; if (!was_full) { info.callback.addCallback(info.subscription_queue, info.Get()); } } } } } } } return(true); }
public override void pushitgood(ISubscriptionCallbackHelper helper, IMessageDeserializer deserializer, bool nonconst_need_copy, ref bool was_full, TimeData receipt_time) { lock (queue_mutex) { if (was_full) { was_full = false; } if (fullNoLock()) { queue.Dequeue(); --queue_size; _full = true; if (was_full) { was_full = true; } } else { _full = false; } Item i = new Item { helper = helper, deserializer = deserializer, nonconst_need_copy = nonconst_need_copy, receipt_time = receipt_time }; queue.Enqueue(i); ++queue_size; } }
internal ulong handleMessage(IRosMessage msg, bool ser, bool nocopy, IDictionary connection_header, PublisherLink link) { lock (callbacks_mutex) { ulong drops = 0; cached_deserializers.Clear(); TimeData receipt_time = ROS.GetTime().data; foreach (ICallbackInfo info in callbacks) { MsgTypes ti = info.helper.type; if (nocopy || ser) { IMessageDeserializer deserializer = null; if (cached_deserializers.ContainsKey(ti)) { deserializer = cached_deserializers[ti]; } else { deserializer = MakeDeserializer(ti, info.helper, msg, connection_header); cached_deserializers.Add(ti, deserializer); } bool was_full = false; bool nonconst_need_copy = callbacks.Count > 1; //info.helper.callback().func(msg); //info.helper.callback().pushitgood(info.helper, deserializer, nonconst_need_copy, ref was_full, receipt_time); info.subscription_queue.pushitgood(info.helper, deserializer, nonconst_need_copy, ref was_full, receipt_time); //push(info.helper, deserializer, nonconst_need_copy, ref was_full,receipt_time); if (was_full) { ++drops; } else { info.callback.addCallback(info.subscription_queue, info.Get()); } } } if (link.Latched) { LatchInfo li = new LatchInfo { message = msg, link = link, connection_header = connection_header, receipt_time = receipt_time }; if (latched_messages.ContainsKey(link)) { latched_messages[link] = li; } else { latched_messages.Add(link, li); } } cached_deserializers.Clear(); return(drops); } }
public virtual void pushitgood(ISubscriptionCallbackHelper helper, IMessageDeserializer deserializer, bool nonconst_need_copy, ref bool was_full, TimeData receipt_time) { throw new NotImplementedException(); }