| public read ( int size, ReadFinishedFunc finished_func ) : void | ||
| size | int | |
| finished_func | ReadFinishedFunc | |
| return | void | |
public bool initialize(Connection connection)
{
#if DEBUG
EDB.WriteLine("Init transport publisher link: " + parent.name);
#endif
this.connection = connection;
connection.DroppedEvent += onConnectionDropped;
if (connection.transport.getRequiresHeader())
{
connection.setHeaderReceivedCallback(onHeaderReceived);
IDictionary header = new Hashtable();
header["topic"] = parent.name;
header["md5sum"] = parent.md5sum;
header["callerid"] = this_node.Name;
header["type"] = parent.datatype;
header["tcp_nodelay"] = "1";
connection.writeHeader(header, onHeaderWritten);
}
else
{
connection.read(4, onMessageLength);
}
return(true);
}
private bool onHeaderReceived(Connection conn, Header header)
{
if (conn != connection)
{
return(false);
}
if (!setHeader(header))
{
drop();
return(false);
}
if (retry_timer != null)
{
ROS.timer_manager.RemoveTimer(ref retry_timer);
}
connection.read(4, onMessageLength);
return(true);
}
public virtual void onRequestLength(Connection conn, ref byte[] buffer, uint size, bool success)
{
if (!success)
{
return;
}
if (conn != connection || size != 4)
{
throw new Exception("Invalid request length read");
}
uint len = BitConverter.ToUInt32(buffer, 0);
if (len > 1000000000)
{
ROS.Error("A message over a gigabyte was predicted... stop... being... bad.");
connection.drop(Connection.DropReason.Destructing);
return;
}
connection.read(len, onRequest);
}
private bool onRequestWritten(Connection conn)
{
connection.read(5, onResponseOkAndLength);
return(true);
}
private void onRequestWritten(Connection conn)
{
connection.read(5, onResponseOkAndLength);
}
