/// <summary>
/// Performs application-defined tasks associated with freeing, releasing, or resetting unmanaged resources.
/// </summary>
public void Dispose()
{
if (connection != null && !connection.dropped)
{
connection.drop(Connection.DropReason.Destructing);
connection = null;
}
}
public void Dispose()
{
dropping = true;
if (retry_timer != null)
{
ROS.timer_manager.RemoveTimer(ref retry_timer);
}
connection.drop(Connection.DropReason.Destructing);
}
public virtual void drop()
{
if (connection.sendingHeaderError)
{
connection.DroppedEvent -= onConnectionDropped;
}
else
{
connection.drop(Connection.DropReason.Destructing);
}
}
private void processNextCall()
{
bool empty = false;
lock (call_queue_mutex)
{
if (current_call != null)
{
return;
}
if (call_queue.Count > 0)
{
current_call = call_queue.Dequeue();
}
else
{
empty = true;
}
}
if (empty)
{
if (persistent)
{
connection.drop(Connection.DropReason.Destructing);
}
}
else
{
IRosMessage request;
lock (call_queue_mutex)
{
request = current_call.req;
}
request.Serialize();
connection.write(request.Serialized, (uint)request.Serialized.Length, onRequestWritten);
}
}
private void onHeaderLengthRead(Connection conn, ref byte[] data, uint size, bool success)
{
if (conn != this)
{
throw new Exception("THAT EVENT IS NOT FOR MEEE!");
}
if (size != 4)
{
throw new Exception("THAT SIZE ISN'T 4! SDKJSDLKJHSDLKJSHD");
}
if (!success)
{
return;
}
uint len = BitConverter.ToUInt32(data, 0);
if (len > 1000000000)
{
conn.drop(DropReason.HeaderError);
}
read(len, onHeaderRead);
}
private void onHeaderLengthRead(Connection conn, ref byte[] data, uint size, bool success)
{
if (conn != this) throw new Exception("THAT EVENT IS NOT FOR MEEE!");
if (size != 4) throw new Exception("THAT SIZE ISN'T 4! SDKJSDLKJHSDLKJSHD");
if (!success)
{
return;
}
uint len = BitConverter.ToUInt32(data, 0);
if (len > 1000000000)
{
conn.drop(DropReason.HeaderError);
}
read(len, onHeaderRead);
}
