public void incrementSequence(string topic)
{
Publication pub = lookupPublication(topic);
if (pub != null)
{
pub.incrementSequence();
}
}
public void publish(Publication p, IRosMessage msg, SerializeFunc serfunc = null)
{
if (msg == null)
{
return;
}
if (serfunc == null)
{
serfunc = msg.Serialize;
}
if (p.connection_header == null)
{
p.connection_header = new Header {
Values = new Hashtable()
};
p.connection_header.Values["type"] = p.DataType;
p.connection_header.Values["md5sum"] = p.Md5sum;
p.connection_header.Values["message_definition"] = p.MessageDefinition;
p.connection_header.Values["callerid"] = this_node.Name;
p.connection_header.Values["latching"] = p.Latch;
}
if (!ROS.ok || shutting_down)
{
return;
}
if (p.HasSubscribers || p.Latch)
{
bool nocopy = false;
bool serialize = false;
if (msg != null && msg.msgtype() != MsgTypes.Unknown)
{
p.getPublishTypes(ref serialize, ref nocopy, msg.msgtype());
}
else
{
serialize = true;
}
p.publish(new MessageAndSerializerFunc(msg, serfunc, serialize, nocopy));
if (serialize)
{
PollManager.Instance.poll_set.signal();
}
}
else
{
p.incrementSequence();
}
}
