/// <summary>
/// Register as a publisher on a topic.
/// </summary>
/// <typeparam name="T"></typeparam>
/// <param name="ops"></param>
/// <param name="callbacks"></param>
/// <returns></returns>
public bool advertise <T>(AdvertiseOptions <T> ops, SubscriberCallbacks callbacks) where T : IRosMessage, new()
{
if (!isValid(ops))
{
return(false);
}
Publication pub = null;
lock (advertised_topics_mutex)
{
if (shutting_down)
{
return(false);
}
pub = lookupPublicationWithoutLock(ops.topic);
if (pub != null)
{
if (pub.Md5sum != ops.md5sum)
{
EDB.WriteLine
("Tried to advertise on topic [{0}] with md5sum [{1}] and datatype [{2}], but the topic is already advertised as md5sum [{3}] and datatype [{4}]",
ops.topic, ops.md5sum,
ops.datatype, pub.Md5sum, pub.DataType);
return(false);
}
}
else
{
pub = new Publication(ops.topic, ops.datatype, ops.md5sum, ops.message_definition, ops.queue_size,
ops.latch, ops.has_header);
}
pub.addCallbacks(callbacks);
advertised_topics.Add(pub);
}
bool found = false;
Subscription sub = null;
lock (subs_mutex)
{
foreach (Subscription s in subscriptions)
{
if (s.name == ops.topic && md5sumsMatch(s.md5sum, ops.md5sum) && !s.IsDropped)
{
found = true;
sub = s;
break;
}
}
}
if (found)
{
sub.addLocalConnection(pub);
}
XmlRpcValue args = new XmlRpcValue(this_node.Name, ops.topic, ops.datatype, XmlRpcManager.Instance.uri),
result = new XmlRpcValue(),
payload = new XmlRpcValue();
master.execute("registerPublisher", args, result, payload, true);
return(true);
}
public LocalSubscriberLink(Publication pub)
{
parent = pub;
topic = parent.Name;
}
public LocalSubscriberLink(Publication pub)
{
parent = pub;
topic = parent.Name;
}
public bool handleHeader(Header header)
{
if (!header.Values.Contains("topic"))
{
string msg = "Header from subscriber did not have the required element: topic";
EDB.WriteLine(msg);
connection.sendHeaderError(ref msg);
return false;
}
string name = (string) header.Values["topic"];
string client_callerid = (string) header.Values["callerid"];
Publication pt = TopicManager.Instance.lookupPublication(name);
if (pt == null)
{
string msg = "received a connection for a nonexistent topic [" + name + "] from [" +
connection.transport + "] [" + client_callerid + "]";
EDB.WriteLine(msg);
connection.sendHeaderError(ref msg);
return false;
}
string error_message = "";
if (!pt.validateHeader(header, ref error_message))
{
connection.sendHeaderError(ref error_message);
EDB.WriteLine(error_message);
return false;
}
destination_caller_id = client_callerid;
connection_id = ConnectionManager.Instance.GetNewConnectionID();
name = pt.Name;
parent = pt;
lock (parent)
{
max_queue = parent.MaxQueue;
}
IDictionary m = new Hashtable();
m["type"] = pt.DataType;
m["md5sum"] = pt.Md5sum;
m["message_definition"] = pt.MessageDefinition;
m["callerid"] = this_node.Name;
m["latching"] = pt.Latch;
connection.writeHeader(m, onHeaderWritten);
pt.addSubscriberLink(this);
#if DEBUG
EDB.WriteLine("Finalize transport subscriber link for " + name);
#endif
return true;
}
public void publish(string topic, IRosMessage message, ref Publication p)
{
publish(topic, message.Serialize, message, ref p);
}
public void publish(string topic, IRosMessage message)
{
Publication p = null;
publish(topic, message.Serialize, message, ref p);
}
public void publish <M>(string topic, M message) where M : IRosMessage, new()
{
Publication p = null;
publish(topic, message.Serialize, message, ref p);
}
