public bool subscribe <T>(SubscribeOptions <T> ops) where T : IRosMessage, new()
{
lock (subs_mutex)
{
if (addSubCallback(ops))
{
return(true);
}
if (shutting_down)
{
return(false);
}
}
if (ops.md5sum == "")
{
throw subscribeFail(ops, "with an empty md5sum");
}
if (ops.datatype == "")
{
throw subscribeFail(ops, "with an empty datatype");
}
if (ops.helper == null)
{
throw subscribeFail(ops, "without a callback");
}
string md5sum = ops.md5sum;
string datatype = ops.datatype;
Subscription s = new Subscription(ops.topic, md5sum, datatype);
s.addCallback(ops.helper, ops.md5sum, ops.callback_queue, ops.queue_size, ops.allow_concurrent_callbacks, ops.topic);
if (!registerSubscriber(s, ops.datatype))
{
EDB.WriteLine("Couldn't register subscriber on topic [{0}]", ops.topic);
s.shutdown();
return(false);
}
lock (subs_mutex)
{
subscriptions.Add(s);
}
return(true);
}
public bool unsubscribe(string topic, ISubscriptionCallbackHelper sbch)
{
Subscription sub = null;
lock (subs_mutex)
{
if (shutting_down)
{
return(false);
}
foreach (Subscription s in subscriptions)
{
if (s.name == topic)
{
sub = s;
break;
}
}
}
if (sub == null)
{
return(false);
}
sub.removeCallback(sbch);
if (sub.NumCallbacks == 0)
{
lock (subs_mutex)
{
subscriptions.Remove(sub);
if (!unregisterSubscriber(topic))
{
EDB.WriteLine("Couldn't unregister subscriber for topic [" + topic + "]");
}
}
sub.shutdown();
return(true);
}
return(true);
}