public void AddPublisherLink(PublisherLink pub)
{
lock (gate)
{
publisherLinks.Add(pub);
}
}
internal void HandleHeader(PublisherLink link, Header header)
{
lock (gate)
{
if (Md5Sum == "*")
{
Md5Sum = link.Md5Sum;
}
}
}
public void headerReceived(PublisherLink link, Header header)
{
lock ( md5sum_mutex )
{
if (md5sum == "*")
{
md5sum = link.md5sum;
}
}
}
public void RemovePublisherLink(PublisherLink pub)
{
lock (gate)
{
publisherLinks.Remove(pub);
if (pub.Latched)
{
latchedMessages.Remove(pub);
}
}
}
public void removePublisherLink(PublisherLink pub)
{
lock ( publisher_links_mutex )
{
if (publisher_links.Contains(pub))
{
publisher_links.Remove(pub);
}
if (pub.Latched)
{
latched_messages.Remove(pub);
}
}
}
internal long HandleMessage(
RosMessage msg,
bool ser,
bool nocopy,
IDictionary <string, string> connectionHeader,
PublisherLink link
)
{
RosMessage t = null;
long drops = 0;
TimeData receipt_time = ROS.GetTime().data;
if (msg.Serialized != null) // will be null if self-subscribed
{
msg.Deserialize(msg.Serialized);
}
lock (gate)
{
foreach (CallbackInfo info in callbacks)
{
string ti = info.Helper.type;
if (nocopy || ser)
{
t = msg;
t.connection_header = msg.connection_header;
t.Serialized = null;
bool wasFull = false;
bool nonconst_need_copy = callbacks.Count > 1;
info.SubscriptionQueue.AddToCallbackQueue(info.Helper, t, nonconst_need_copy, ref wasFull, receipt_time);
if (wasFull)
{
++drops;
}
else
{
info.CallbackQueue.AddCallback(info.SubscriptionQueue, info.SubscriptionQueue);
}
}
}
}
if (t != null && link.Latched)
{
LatchInfo li = new LatchInfo
{
Message = t,
Link = link,
ConnectionHeader = connectionHeader,
ReceiptTime = receipt_time
};
if (latchedMessages.ContainsKey(link))
{
latchedMessages[link] = li;
}
else
{
latchedMessages.Add(link, li);
}
}
return(drops);
}
public void addPublisherLink(PublisherLink pub)
{
publisher_links.Add(pub);
}
