public void read(uint size, ReadFinishedFunc finished_func)
{
if (dropped || sendingHeaderError)
{
return;
}
lock (read_mutex)
{
if (read_callback != null)
{
throw new Exception("NOYOUBLO");
}
read_callback = finished_func;
if (size == 4)
{
read_buffer = length_buffer;
}
else
{
if (real_read_buffer == null || real_read_buffer.Length != size)
{
real_read_buffer = new byte[size];
}
read_buffer = real_read_buffer;
}
read_size = size;
read_filled = 0;
transport.enableRead();
readTransport();
}
}
public void read(int size, ReadFinishedFunc finished_func)
{
if (dropped || sendingHeaderError)
{
return;
}
lock ( read_callback_mutex )
{
if (read_callback != null)
{
throw new InvalidOperationException("Multiple concurrent read operations are not allowed (read_callback is not null).");
}
read_callback = finished_func;
}
if (size == 4)
{
read_buffer = length_buffer;
}
else
{
if (real_read_buffer == null || real_read_buffer.Length != size)
{
real_read_buffer = new byte[size];
}
read_buffer = real_read_buffer;
}
read_size = size;
read_filled = 0;
transport.enableRead();
readTransport();
}
private void readTransport()
{
//EDB.WriteLine("READ - "+transport.poll_set);
if (dropped || reading) return;
lock (read_mutex)
{
reading = true;
ReadFinishedFunc callback;
uint size;
while (!dropped && read_callback != null)
{
if (read_buffer == null || read_callback == null)
throw new Exception("YOU SUCK!");
uint to_read = read_size - read_filled;
if (to_read > 0)
{
int bytes_read = transport.read(ref read_buffer, read_filled, to_read);
if (dropped)
return;
if (bytes_read < 0)
{
callback = read_callback;
read_callback = null;
byte[] buffer = read_buffer;
read_buffer = null;
size = read_size;
read_size = 0;
read_filled = 0;
callback(this, ref buffer, size, false);
break;
}
read_filled += (uint) bytes_read;
}
else
break;
if (read_filled == read_size && !dropped)
{
callback = read_callback;
size = read_size;
byte[] buffer = read_buffer;
read_buffer = null;
read_callback = null;
read_size = 0;
callback(this, ref buffer, size, true);
}
else
break;
}
if (read_callback == null)
transport.disableRead();
reading = false;
}
}
public void read(uint size, ReadFinishedFunc finished_func)
{
if (dropped || sendingHeaderError) return;
lock (read_mutex)
{
if (read_callback != null)
throw new Exception("NOYOUBLO");
read_callback = finished_func;
if (size == 4)
read_buffer = length_buffer;
else
{
if (real_read_buffer == null || real_read_buffer.Length != size)
real_read_buffer = new byte[size];
read_buffer = real_read_buffer;
}
read_size = size;
read_filled = 0;
transport.enableRead();
readTransport();
}
}
private void readTransport()
{
//EDB.WriteLine("READ - "+transport.poll_set);
if (dropped || reading)
{
return;
}
lock (read_mutex)
{
reading = true;
ReadFinishedFunc callback;
uint size;
while (!dropped && read_callback != null)
{
if (read_buffer == null || read_callback == null)
{
throw new Exception("YOU SUCK!");
}
uint to_read = read_size - read_filled;
if (to_read > 0)
{
int bytes_read = transport.read(ref read_buffer, read_filled, to_read);
if (dropped)
{
return;
}
if (bytes_read < 0)
{
callback = read_callback;
read_callback = null;
byte[] buffer = read_buffer;
read_buffer = null;
size = read_size;
read_size = 0;
read_filled = 0;
callback(this, ref buffer, size, false);
break;
}
read_filled += (uint)bytes_read;
}
else
{
break;
}
if (read_filled == read_size && !dropped)
{
callback = read_callback;
size = read_size;
byte[] buffer = read_buffer;
read_buffer = null;
read_callback = null;
read_size = 0;
callback(this, ref buffer, size, true);
}
else
{
break;
}
}
if (read_callback == null)
{
transport.disableRead();
}
reading = false;
}
}
private void readTransport()
{
lock (reading)
{
//EDB.WriteLine("READ - "+transport.poll_set);
if (dropped) return;
ScopedTimer.Ping();
ReadFinishedFunc callback;
lock (read_callback_mutex)
callback = read_callback;
int size;
while (!dropped && callback != null)
{
ScopedTimer.Ping();
int to_read = read_size - read_filled;
if (to_read > 0 && read_buffer == null)
throw new Exception("Trying to read "+to_read+" bytes with a null read_buffer!");
if (callback == null)
lock (read_callback_mutex)
callback = read_callback;
if (callback == null)
throw new Exception("Cannot determine which read_callback to invoke?!");
if (to_read > 0)
{
ScopedTimer.Ping();
int bytes_read = transport.read(read_buffer, read_filled, to_read);
if (dropped)
{
if (read_callback == null)
transport.disableRead();
break;
}
if (bytes_read < 0)
{
ScopedTimer.Ping();
read_callback = null;
byte[] buffer = read_buffer;
read_buffer = null;
size = read_size;
read_size = 0;
read_filled = 0;
#if BEGIN_INVOKE
callback.BeginInvoke(this, buffer, size, false, readTransportComplete, callback);
#else
if (!callback(this, buffer, size, false))
{
Console.WriteLine("Callbacks invoked by connection errored");
}
callback = null;
lock(read_callback_mutex)
if (read_callback==null)
transport.disableRead();
#endif
break;
}
lock (read_callback_mutex)
callback = read_callback;
read_filled += bytes_read;
}
else
{
lock (read_callback_mutex)
if (read_callback == null)
transport.disableRead();
break;
}
if (read_filled == read_size && !dropped)
{
size = read_size;
byte[] buffer = read_buffer;
read_buffer = null;
lock (read_callback_mutex)
read_callback = null;
read_size = 0;
#if BEGIN_INVOKE
callback.BeginInvoke(this, buffer, size, true, readTransportComplete, callback);
#else
if (!callback(this, buffer, size, true))
{
Console.WriteLine("Callbacks invoked by connection errored");
}
lock (read_callback_mutex)
if (read_callback == null)
transport.disableRead();
#endif
callback = null;
}
else
{
lock (read_callback_mutex)
if (read_callback == null)
transport.disableRead();
break;
}
}
}
}
private void readTransport()
{
lock (reading)
{
//EDB.WriteLine("READ - "+transport.poll_set);
if (dropped)
{
return;
}
ScopedTimer.Ping();
ReadFinishedFunc callback;
lock (read_callback_mutex)
callback = read_callback;
int size;
while (!dropped && callback != null)
{
ScopedTimer.Ping();
int to_read = read_size - read_filled;
if (to_read > 0 && read_buffer == null)
{
throw new Exception("Trying to read " + to_read + " bytes with a null read_buffer!");
}
if (callback == null)
{
lock (read_callback_mutex)
callback = read_callback;
}
if (callback == null)
{
throw new Exception("Cannot determine which read_callback to invoke?!");
}
if (to_read > 0)
{
ScopedTimer.Ping();
int bytes_read = transport.read(read_buffer, read_filled, to_read);
if (dropped)
{
if (read_callback == null)
{
transport.disableRead();
}
break;
}
if (bytes_read < 0)
{
ScopedTimer.Ping();
read_callback = null;
byte[] buffer = read_buffer;
read_buffer = null;
size = read_size;
read_size = 0;
read_filled = 0;
#if BEGIN_INVOKE
callback.BeginInvoke(this, buffer, size, false, readTransportComplete, callback);
#else
if (!callback(this, buffer, size, false))
{
Console.WriteLine("Callbacks invoked by connection errored");
}
callback = null;
lock (read_callback_mutex)
if (read_callback == null)
{
transport.disableRead();
}
#endif
break;
}
lock (read_callback_mutex)
callback = read_callback;
read_filled += bytes_read;
}
else
{
lock (read_callback_mutex)
if (read_callback == null)
{
transport.disableRead();
}
break;
}
if (read_filled == read_size && !dropped)
{
size = read_size;
byte[] buffer = read_buffer;
read_buffer = null;
lock (read_callback_mutex)
read_callback = null;
read_size = 0;
#if BEGIN_INVOKE
callback.BeginInvoke(this, buffer, size, true, readTransportComplete, callback);
#else
if (!callback(this, buffer, size, true))
{
Console.WriteLine("Callbacks invoked by connection errored");
}
lock (read_callback_mutex)
if (read_callback == null)
{
transport.disableRead();
}
#endif
callback = null;
}
else
{
lock (read_callback_mutex)
if (read_callback == null)
{
transport.disableRead();
}
break;
}
}
}
}
private void readTransport()
{
lock ( reading )
{
//ROS.Debug()( $"[{ThisNode.Name}] READ - {transport.poll_set}" );
if (dropped)
{
return;
}
ReadFinishedFunc callback;
lock (read_callback_mutex)
callback = read_callback;
int size;
while (!dropped && callback != null)
{
int to_read = read_size - read_filled;
if (to_read > 0 && read_buffer == null)
{
throw new Exception($"[{ThisNode.Name}] Trying to read {to_read} bytes with a null read_buffer.");
}
if (callback == null)
{
lock (read_callback_mutex)
callback = read_callback;
}
if (callback == null)
{
throw new Exception($"[{ThisNode.Name}] Cannot determine which read_callback to invoke.");
}
if (to_read > 0)
{
int bytes_read = transport.read(read_buffer, read_filled, to_read);
if (dropped)
{
if (read_callback == null)
{
transport.disableRead();
}
break;
}
if (bytes_read < 0)
{
read_callback = null;
byte[] buffer = read_buffer;
read_buffer = null;
size = read_size;
read_size = 0;
read_filled = 0;
if (!callback(this, buffer, size, false))
{
ROS.Error()($"[{ThisNode.Name}] Callbacks invoked by connection errored");
}
callback = null;
lock ( read_callback_mutex )
{
if (read_callback == null)
{
transport.disableRead();
}
break;
}
}
lock ( read_callback_mutex )
{
callback = read_callback;
}
read_filled += bytes_read;
}
else
{
lock ( read_callback_mutex )
{
if (read_callback == null)
{
transport.disableRead();
}
}
break;
}
if (read_filled == read_size && !dropped)
{
size = read_size;
byte[] buffer = read_buffer;
read_buffer = null;
lock ( read_callback_mutex )
{
read_callback = null;
}
read_size = 0;
if (!callback(this, buffer, size, true))
{
ROS.Error()($"[{ThisNode.Name}] Callbacks invoked by connection errored");
}
lock ( read_callback_mutex )
{
if (read_callback == null)
{
transport.disableRead();
}
}
callback = null;
}
else
{
lock ( read_callback_mutex )
{
if (read_callback == null)
{
transport.disableRead();
}
}
break;
}
}
}
}