private void startMessageWrite(bool immediate_write)
{
MessageAndSerializerFunc holder = null;
if (writing_message || !header_written)
{
return;
}
lock (outbox)
{
if (outbox.Count > 0)
{
writing_message = true;
holder = outbox.Dequeue();
}
if (outbox.Count < max_queue)
{
queue_full = false;
}
}
if (holder != null)
{
if (holder.msg.Serialized == null)
{
holder.msg.Serialized = holder.serfunc();
}
stats.messages_sent++;
//EDB.WriteLine("Message backlog = " + (triedtosend - stats.messages_sent));
stats.bytes_sent += holder.msg.Serialized.Length;
stats.message_data_sent += holder.msg.Serialized.Length;
connection.write(holder.msg.Serialized, holder.msg.Serialized.Length, onMessageWritten, immediate_write);
}
}
internal void publish(MessageAndSerializerFunc msg)
{
lock (publish_queue_mutex)
{
publish_queue.Enqueue(msg);
}
}
internal override void enqueueMessage(MessageAndSerializerFunc holder)
{
lock (drop_mutex)
{
if (dropped) return;
}
if (subscriber != null)
subscriber.handleMessage(holder.msg, holder.serialize, holder.nocopy);
}
internal bool EnqueueMessage(MessageAndSerializerFunc holder)
{
lock (subscriber_links_mutex)
{
if (Dropped)
{
return(false);
}
}
uint seq = incrementSequence();
if (HasHeader)
{
object h = holder.msg.GetType().GetField("header").GetValue(holder.msg);
m.Header header;
if (h == null)
{
header = new m.Header();
}
else
{
header = (m.Header)h;
}
header.seq = seq;
if (header.stamp == null)
{
header.stamp = ROS.GetTime();
}
if (header.frame_id == null)
{
header.frame_id = "";
}
holder.msg.GetType().GetField("header").SetValue(holder.msg, header);
}
holder.msg.connection_header = connection_header.Values;
lock (subscriber_links_mutex)
foreach (SubscriberLink sub_link in subscriber_links)
{
sub_link.enqueueMessage(holder);
}
if (Latch)
{
last_message = new MessageAndSerializerFunc(holder.msg, holder.serfunc, false, true);
}
return(true);
}
internal override void enqueueMessage(MessageAndSerializerFunc holder)
{
lock (drop_mutex)
{
if (dropped)
{
return;
}
}
if (subscriber != null)
{
subscriber.handleMessage(holder.msg, holder.serialize, holder.nocopy);
}
}
internal override void enqueueMessage(MessageAndSerializerFunc holder)
{
lock (outbox)
{
if (max_queue > 0 && outbox.Count >= max_queue)
{
outbox.Dequeue();
queue_full = true;
}
else
{
queue_full = false;
}
outbox.Enqueue(holder);
}
startMessageWrite(false);
}
internal virtual void enqueueMessage(MessageAndSerializerFunc holder)
{
throw new NotImplementedException();
}
internal bool EnqueueMessage(MessageAndSerializerFunc holder)
{
lock (subscriber_links_mutex)
{
if (Dropped) return false;
}
uint seq = incrementSequence();
if (HasHeader)
{
object h = holder.msg.GetType().GetField("header").GetValue(holder.msg);
m.Header header;
if (h == null)
header = new m.Header();
else
header = (m.Header) h;
header.seq = seq;
if (header.stamp == null)
{
header.stamp = ROS.GetTime();
}
if (header.frame_id == null)
{
header.frame_id = "";
}
holder.msg.GetType().GetField("header").SetValue(holder.msg, header);
}
holder.msg.connection_header = connection_header.Values;
lock (subscriber_links_mutex)
foreach (SubscriberLink sub_link in subscriber_links)
{
sub_link.enqueueMessage(holder);
}
if (Latch)
{
last_message = new MessageAndSerializerFunc(holder.msg, holder.serfunc, false, true);
}
return true;
}
internal void publish(MessageAndSerializerFunc msg)
{
lock (publish_queue_mutex)
{
publish_queue.Enqueue(msg);
}
}
internal virtual void enqueueMessage(MessageAndSerializerFunc holder)
{
throw new NotImplementedException();
}
internal override void enqueueMessage(MessageAndSerializerFunc holder)
{
lock (outbox)
{
if (max_queue > 0 && outbox.Count >= max_queue)
{
outbox.Dequeue();
queue_full = true;
}
else
queue_full = false;
outbox.Enqueue(holder);
}
startMessageWrite(false);
}
