/// <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); }