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 MessageDeserializer <T> MakeDeserializer <T>(MsgTypes type, SubscriptionCallbackHelper <T> helper, T m,
IDictionary connection_header) where T : IRosMessage, new()
{
if (type == MsgTypes.Unknown)
{
return(null);
}
//return ROS.MakeDeserializer(ROS.MakeMessage(type));
return(new MessageDeserializer <T>(helper, m, connection_header));
}
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)
{
MsgTypes ti = info.helper.type;
lock (publisher_links_mutex)
{
foreach (PublisherLink link in publisher_links)
{
if (link.Latched)
{
if (latched_messages.ContainsKey(link))
{
LatchInfo latch_info = latched_messages[link];
bool was_full = false;
bool nonconst_need_copy = false; //callbacks.Count > 1;
info.subscription_queue.pushitgood(info.helper, latched_messages[link].message, nonconst_need_copy, ref was_full, ROS.GetTime().data);
if (!was_full)
{
info.callback.addCallback(info.subscription_queue, info.Get());
}
}
}
}
}
}
}
return(true);
}
public SubscribeOptions(string topic, uint queue_size, CallbackDelegate <T> CALL = null)
{
// TODO: Complete member initialization
this.topic = topic;
this.queue_size = queue_size;
if (CALL != null)
{
helper = new SubscriptionCallbackHelper <T>(new T().msgtype(), CALL);
}
else
{
helper = new SubscriptionCallbackHelper <T>(new T().msgtype());
}
Type msgtype = new T().GetType();
string[] chunks = msgtype.FullName.Split('.');
datatype = chunks[chunks.Length - 2] + "/" + chunks[chunks.Length - 1];
md5sum = new T().MD5Sum();
}
public MessageDeserializer(SubscriptionCallbackHelper <M> helper, IRosMessage m, IDictionary connection_header)
: base(helper, m, connection_header)
{
}
public CallbackInfo()
{
helper = new SubscriptionCallbackHelper <M>(new M().msgtype);
}
public void push(SubscriptionCallbackHelper <T> helper, MessageDeserializer <T> deserializer, bool nonconst_need_copy,
ref bool was_full, TimeData receipt_time)
{
pushitgood(helper, deserializer, nonconst_need_copy, ref was_full, receipt_time);
}
public void push(SubscriptionCallbackHelper <T> helper, MessageDeserializer <T> deserializer, bool nonconst_need_copy, ref bool was_full)
{
push(helper, deserializer, nonconst_need_copy, ref was_full, new TimeData());
}
