private async Task HandleHeader(Header header)
{
if (!header.Values.ContainsKey("topic"))
{
throw new RosException("Header from subscriber did not have the required element: topic");
}
string name = header.Values["topic"];
string clientCallerId = header.Values["callerid"];
Publication pt = TopicManager.Instance.LookupPublication(name);
if (pt == null)
{
throw new RosException(
$"Received a connection for a nonexistent topic [{name}] from [{connection.Socket.RemoteEndPoint}] [{clientCallerId}]");
}
if (!pt.ValidateHeader(header, out string errorMessage))
{
throw new RosException(errorMessage);
}
DestinationCallerId = clientCallerId;
connectionId = ConnectionManager.Instance.GetNewConnectionId();
name = pt.Name;
parent = pt;
this.outbox = new AsyncQueue <MessageAndSerializerFunc>(Math.Max(parent.MaxQueue, 1), true);
var m = new Dictionary <string, string>
{
["type"] = pt.DataType,
["md5sum"] = pt.Md5Sum,
["message_definition"] = pt.MessageDefinition,
["callerid"] = ThisNode.Name,
["latching"] = Convert.ToString(pt.Latch)
};
await connection.WriteHeader(m, cancel).ConfigureAwait(false);
pt.AddSubscriberLink(this);
logger.LogDebug("Finalize transport subscriber link for " + name);
}
public void AddLocalConnection(Publication pub)
{
lock (gate)
{
if (IsDisposed)
{
return;
}
logger.LogInformation("Creating intraprocess link for topic [{0}]", Name);
var pub_link = new LocalPublisherLink(this, XmlRpcManager.Instance.Uri);
var sub_link = new LocalSubscriberLink(pub);
pub_link.SetPublisher(sub_link);
sub_link.SetSubscriber(pub_link);
AddPublisherLink(pub_link);
pub.AddSubscriberLink(sub_link);
}
}