internal void drop()
{
lock (client_links_mutex)
{
isDropped = true;
}
dropAllConnections();
callback.removeByID(ROS.getPID());
}
public void setupTLS()
{
if (tls == null)
{
tls = new TLS
{
calling_in_this_thread = ROS.getPID()
}
}
;
}
public void addCallbacks(SubscriberCallbacks callbacks)
{
lock (callbacks_mutex)
{
this.callbacks.Add(callbacks);
if (callbacks.connect != null && callbacks.Callback != null)
{
lock (subscriber_links_mutex)
{
foreach (SubscriberLink i in subscriber_links)
{
CallbackInterface cb = new PeerConnDisconnCallback(callbacks.connect, i);
callbacks.Callback.addCallback(cb, ROS.getPID());
}
}
}
}
}
public UInt64 Get()
{
return(ROS.getPID());
}
public virtual void addCallback(CallbackInterface callback)
{
addCallback(callback, ROS.getPID());
}
public bool call(IRosMessage req, ref IRosMessage resp)
{
CallInfo info = new CallInfo {
req = req, resp = resp, success = false, finished = false, call_finished = false, caller_thread_id = ROS.getPID()
};
bool immediate = false;
lock (call_queue_mutex)
{
if (connection.dropped)
{
info.call_finished = true;
return(false);
}
if (call_queue.Count == 0 && header_written && header_read)
{
immediate = true;
}
call_queue.Enqueue(info);
}
if (immediate)
{
processNextCall();
}
while (!info.finished)
{
info.finished_condition.WaitOne();
}
lock (info.finished_mutex)
{
info.call_finished = true;
}
if (info.exception.Length > 0)
{
ROS.Error("Service call failes: service [{0}] responded with an error: {1}", name, info.exception);
}
return(info.success);
}
public override void processRequest(ref byte[] buf, int num_bytes, IServiceClientLink link)
{
CallbackInterface cb = new ServiceCallback(this, helper, buf, num_bytes, link, has_tracked_object, tracked_object);
callback.addCallback(cb, ROS.getPID());
}
