public LocalSubscriberLink(Publication pub)
{
parent = pub;
topic = parent.Name;
}
public void IncrementSequence(string topic)
{
Publication pub = LookupPublication(topic);
pub?.IncrementSequence();
}
public bool IsLatched(string topic)
{
Publication pub = LookupPublication(topic);
return(pub?.Latch ?? false);
}
/// <summary>
/// Register as a publisher on a topic.
/// </summary>
/// <typeparam name="T"></typeparam>
/// <param name="ops"></param>
/// <param name="callbacks"></param>
/// <returns></returns>
public async Task <bool> Advertise <T>(AdvertiseOptions <T> ops, SubscriberCallbacks callbacks) where T : RosMessage, new()
{
if (!IsValid(ops))
{
return(false);
}
Publication pub = null;
lock (gate)
{
if (shuttingDown)
{
return(false);
}
pub = LookupPublicationWithoutLock(ops.topic);
if (pub != null)
{
if (pub.Md5Sum != ops.md5Sum)
{
this.logger.LogError(
"Tried to advertise on topic [{0}] with md5sum [{1}] and datatype [{2}], but the topic is already advertised as md5sum [{3}] and datatype [{4}]",
ops.topic,
ops.md5Sum,
ops.dataType,
pub.Md5Sum,
pub.DataType
);
return(false);
}
}
else
{
pub = new Publication(
ops.topic,
ops.dataType,
ops.md5Sum,
ops.messageDefinition,
ops.queueSize,
ops.Latch,
ops.hasHeader
);
}
pub.AddCallbacks(callbacks);
advertisedTopics.Add(pub);
}
bool found = false;
Subscription sub = null;
lock (gate)
{
foreach (Subscription s in subscriptions)
{
if (s.Name == ops.topic && Md5SumsMatch(s.Md5Sum, ops.md5Sum) && !s.IsDisposed)
{
found = true;
sub = s;
break;
}
}
}
if (found)
{
sub.AddLocalConnection(pub);
}
var args = new XmlRpcValue(ThisNode.Name, ops.topic, ops.dataType, XmlRpcManager.Instance.Uri);
var result = new XmlRpcValue();
var payload = new XmlRpcValue();
if (!await Master.ExecuteAsync("registerPublisher", args, result, payload, true))
{
this.logger.LogError($"RPC \"registerPublisher\" for topic '{ops.topic}' failed.");
return(false);
}
return(true);
}
