public void SetPublisher(LocalSubscriberLink link)
{
lock (gate)
{
var headerFields = new Dictionary <string, string>
{
["topic"] = Parent.Name,
["md5sum"] = Parent.Md5Sum,
["callerid"] = ThisNode.Name,
["type"] = Parent.DataType,
["tcp_nodelay"] = "1"
};
SetHeader(new Header(headerFields));
}
}
public void setPublisher(LocalSubscriberLink pub_link)
{
lock ( parent )
{
var header = new Dictionary <string, string>();
header["topic"] = parent.name;
header["md5sum"] = parent.md5sum;
header["callerid"] = ThisNode.Name;
header["type"] = parent.datatype;
header["tcp_nodelay"] = "1";
setHeader(new Header {
Values = header
});
}
}
public void AddLocalConnection(Publication pub)
{
lock (gate)
{
if (IsDisposed)
{
return;
}
logger.LogInformation("Creating intraprocess link for topic [{0}]", Name);
var pub_link = new LocalPublisherLink(this, XmlRpcManager.Instance.Uri);
var sub_link = new LocalSubscriberLink(pub);
pub_link.SetPublisher(sub_link);
sub_link.SetSubscriber(pub_link);
AddPublisherLink(pub_link);
pub.AddSubscriberLink(sub_link);
}
}
public void addLocalConnection(Publication pub)
{
lock ( publisher_links_mutex )
{
if (_dropped)
{
return;
}
ROS.Info()($"[{ThisNode.Name}] Creating intraprocess link for topic [{name}]");
var pub_link = new LocalPublisherLink(this, XmlRpcManager.Instance.Uri);
var sub_link = new LocalSubscriberLink(pub);
pub_link.setPublisher(sub_link);
sub_link.SetSubscriber(pub_link);
addPublisherLink(pub_link);
pub.addSubscriberLink(sub_link);
}
}
