private async Task StartReadHeader(Connection connection)
{
try
{
var headerFields = await connection.ReadHeader(cancel);
if (headerFields.ContainsKey("topic"))
{
TransportSubscriberLink subscriberLink = new TransportSubscriberLink();
subscriberLink.Initialize(connection, new Header(headerFields));
}
else if (headerFields.ContainsKey("service"))
{
IServiceClientLink serviceClientLink = new IServiceClientLink();
serviceClientLink.Initialize(connection, new Header(headerFields));
}
else
{
throw new RosException("Received a connection for a type other than topic or service.");
}
}
catch (Exception e)
{
logger.LogWarning(e, e.Message);
connection.Dispose();
}
}
public bool OnConnectionHeaderReceived(Connection conn, Header header)
{
bool ret = false;
if (header.Values.ContainsKey("topic"))
{
TransportSubscriberLink sub_link = new TransportSubscriberLink();
ret = sub_link.Initialize(conn);
ret &= sub_link.HandleHeader(header);
}
else if (header.Values.ContainsKey("service"))
{
IServiceClientLink iscl = new IServiceClientLink();
ret = iscl.initialize(conn);
ret &= iscl.handleHeader(header);
}
else
{
ROS.Warn()($"[{ThisNode.Name}] Got a connection for a type other than topic or service from [{conn.RemoteString}].");
return(false);
}
//ROS.Debug()( $"[{ThisNode.Name}] CONNECTED [{val}]. WIN." );
return(ret);
}