/// <summary>
/// Checks if the given topic is valid.
/// </summary>
/// <typeparam name="T">Advertise Options </typeparam>
/// <param name="ops"></param>
/// <returns></returns>
private bool IsValid <T>(AdvertiseOptions <T> ops) where T : RosMessage, new()
{
if (ops.dataType == "*")
{
throw new Exception("Advertising with * as the datatype is not allowed. Topic [" + ops.topic + "]");
}
if (ops.md5Sum == "*")
{
throw new Exception("Advertising with * as the md5sum is not allowed. Topic [" + ops.topic + "]");
}
if (ops.md5Sum == "")
{
throw new Exception("Advertising on topic [" + ops.topic + "] with an empty md5sum");
}
if (ops.dataType == "")
{
throw new Exception("Advertising on topic [" + ops.topic + "] with an empty datatype");
}
if (string.IsNullOrEmpty(ops.messageDefinition))
{
this.logger.LogWarning(
"Advertising on topic [" + ops.topic +
"] with an empty message definition. Some tools may not work correctly"
);
}
return(true);
}
/// <summary>
/// Creates a publisher with the given advertise options
/// </summary>
/// <typeparam name="M">Type of topic</typeparam>
/// <param name="ops">Advertise options</param>
/// <returns>A publisher with the specified options</returns>
public Publisher <M> advertise <M>(AdvertiseOptions <M> ops) where M : RosMessage, new()
{
ops.topic = resolveName(ops.topic);
if (ops.callbackQueue == null)
{
ops.callbackQueue = Callback;
}
var callbacks = new SubscriberCallbacks(ops.connectCB, ops.disconnectCB, ops.callbackQueue);
if (TopicManager.Instance.advertise(ops, callbacks))
{
var pub = new Publisher <M>(ops.topic, ops.md5Sum, ops.dataType, this, callbacks);
lock ( gate )
{
collection.Publishers.Add(pub);
}
return(pub);
}
ROS.Error()($"[{ThisNode.Name}] Advertisement of publisher has failed");
return(null);
}
/// <summary>
/// Creates a publisher with the given advertise options
/// </summary>
/// <typeparam name="M">Type of topic</typeparam>
/// <param name="ops">Advertise options</param>
/// <returns>A publisher with the specified options</returns>
public async Task <Publisher <M> > AdvertiseAsync <M>(AdvertiseOptions <M> ops)
where M : RosMessage, new()
{
ops.topic = ResolveName(ops.topic);
if (ops.callbackQueue == null)
{
ops.callbackQueue = Callback;
}
var callbacks = new SubscriberCallbacks(ops.connectCB, ops.disconnectCB, ops.callbackQueue);
if (await TopicManager.Instance.Advertise(ops, callbacks))
{
var pub = new Publisher <M>(ops.topic, ops.md5Sum, ops.dataType, this, callbacks);
lock (gate)
{
collection.Publishers.Add(pub);
}
return(pub);
}
logger.LogError("Advertisement of publisher has failed");
return(null);
}
/// <summary>
/// Register as a publisher on a topic.
/// </summary>
/// <typeparam name="T"></typeparam>
/// <param name="ops"></param>
/// <param name="callbacks"></param>
/// <returns></returns>
public bool advertise <T>(AdvertiseOptions <T> ops, SubscriberCallbacks callbacks) where T : RosMessage, new()
{
if (!isValid(ops))
{
return(false);
}
Publication pub = null;
lock ( advertisedTopicsMutex )
{
if (shuttingDown)
{
return(false);
}
pub = lookupPublicationWithoutLock(ops.topic);
if (pub != null)
{
if (pub.Md5sum != ops.md5Sum)
{
ROS.Error()($"[{ThisNode.Name}] Tried to advertise on topic [{ops.topic}] with md5sum [{ops.md5Sum}] and datatype [{ops.dataType}], but the topic is already advertised as md5sum [{pub.Md5sum}] and datatype [{pub.DataType}]");
return(false);
}
}
else
{
pub = new Publication(ops.topic, ops.dataType, ops.md5Sum, ops.messageDefinition, ops.queueSize,
ops.latch, ops.hasHeader);
}
pub.addCallbacks(callbacks);
advertisedTopics.Add(pub);
}
bool found = false;
Subscription sub = null;
lock ( subcriptionsMutex )
{
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);
}
var args = new XmlRpcValue(ThisNode.Name, ops.topic, ops.dataType, XmlRpcManager.Instance.Uri);
var result = new XmlRpcValue();
var payload = new XmlRpcValue();
if (!Master.execute("registerPublisher", args, result, payload, true))
{
ROS.Error()($"[{ThisNode.Name}] RPC \"registerService\" for service {ops.topic} failed.");
return(false);
}
return(true);
}
public Publisher <M> Advertise <M>(AdvertiseOptions <M> ops) where M : RosMessage, new() => AdvertiseAsync <M>(ops).Result;
/// <summary>
/// Register as a publisher on a topic.
/// </summary>
/// <typeparam name="T"></typeparam>
/// <param name="ops"></param>
/// <param name="callbacks"></param>
/// <returns></returns>
public async Task <bool> Advertise <T>(AdvertiseOptions <T> ops, SubscriberCallbacks callbacks) where T : RosMessage, new()
{
if (!IsValid(ops))
{
return(false);
}
Publication pub = null;
lock (gate)
{
if (shuttingDown)
{
return(false);
}
pub = LookupPublicationWithoutLock(ops.topic);
if (pub != null)
{
if (pub.Md5Sum != ops.md5Sum)
{
this.logger.LogError(
"Tried to advertise on topic [{0}] with md5sum [{1}] and datatype [{2}], but the topic is already advertised as md5sum [{3}] and datatype [{4}]",
ops.topic,
ops.md5Sum,
ops.dataType,
pub.Md5Sum,
pub.DataType
);
return(false);
}
}
else
{
pub = new Publication(
ops.topic,
ops.dataType,
ops.md5Sum,
ops.messageDefinition,
ops.queueSize,
ops.Latch,
ops.hasHeader
);
}
pub.AddCallbacks(callbacks);
advertisedTopics.Add(pub);
}
bool found = false;
Subscription sub = null;
lock (gate)
{
foreach (Subscription s in subscriptions)
{
if (s.Name == ops.topic && Md5SumsMatch(s.Md5Sum, ops.md5Sum) && !s.IsDisposed)
{
found = true;
sub = s;
break;
}
}
}
if (found)
{
sub.AddLocalConnection(pub);
}
var args = new XmlRpcValue(ThisNode.Name, ops.topic, ops.dataType, XmlRpcManager.Instance.Uri);
var result = new XmlRpcValue();
var payload = new XmlRpcValue();
if (!await Master.ExecuteAsync("registerPublisher", args, result, payload, true))
{
this.logger.LogError($"RPC \"registerPublisher\" for topic '{ops.topic}' failed.");
return(false);
}
return(true);
}
