internal bool AddCallback(
ISubscriptionCallbackHelper helper,
string md5sum,
ICallbackQueue queue,
int queueSize,
bool allowConcurrentCallbacks,
string topic
)
{
lock (gate)
{
if (this.Md5Sum == "*" && md5sum != "*")
{
this.Md5Sum = md5sum;
}
if (md5sum != "*" && md5sum != this.Md5Sum)
{
return(false);
}
var info = new CallbackInfo
{
Helper = helper,
CallbackQueue = queue,
SubscriptionQueue = new Callback(helper.Callback.SendEvent, topic, queueSize, allowConcurrentCallbacks)
};
callbacks.Add(info);
if (latchedMessages.Count > 0)
{
string ti = info.Helper.type;
var receiptTime = ROS.GetTime().data;
foreach (PublisherLink link in publisherLinks)
{
if (link.Latched)
{
if (latchedMessages.ContainsKey(link))
{
LatchInfo latch_info = latchedMessages[link];
bool wasFull = false;
bool nonconst_need_copy = callbacks.Count > 1;
info.SubscriptionQueue.AddToCallbackQueue(info.Helper, latchedMessages[link].Message, nonconst_need_copy, ref wasFull, receiptTime);
if (!wasFull)
{
info.CallbackQueue.AddCallback(info.SubscriptionQueue, helper);
}
}
}
}
}
return(true);
}
}
internal bool EnqueueMessage(MessageAndSerializerFunc holder)
{
lock (gate)
{
if (Dropped)
{
return(false);
}
}
uint seq = IncrementSequence();
if (HasHeader)
{
object h = holder.msg.GetType().GetTypeInfo().GetField("header").GetValue(holder.msg);
std_msgs.Header header;
if (h == null)
{
header = new std_msgs.Header();
}
else
{
header = (std_msgs.Header)h;
}
header.seq = seq;
if (header.stamp == null)
{
header.stamp = ROS.GetTime();
}
if (header.frame_id == null)
{
header.frame_id = "";
}
holder.msg.GetType().GetTypeInfo().GetField("header").SetValue(holder.msg, header);
}
holder.msg.connection_header = connectionHeader.Values;
lock (gate)
{
foreach (SubscriberLink link in subscriberLinks)
{
link.EnqueueMessage(holder);
}
}
if (Latch)
{
lastMessage = new MessageAndSerializerFunc(holder.msg, holder.serfunc, false, true);
}
return(true);
}
internal void Append(string message, ROSOUT_LEVEL level, CallerInfo callerInfo)
{
var logMessage = new Log
{
msg = message,
name = ThisNode.Name,
file = callerInfo.FilePath,
function = callerInfo.MemberName,
line = (uint)callerInfo.LineNumber,
level = (byte)level,
header = new Messages.std_msgs.Header {
stamp = ROS.GetTime()
}
};
logMessage.topics = topicManager.GetAdvertisedTopics();
queue.TryOnNext(logMessage);
}
internal void Append(string message, ROSOUT_LEVEL level, CallerInfo callerInfo)
{
var logMessage = new Log
{
msg = message,
name = ThisNode.Name,
file = callerInfo.FilePath,
function = callerInfo.MemberName,
line = (uint)callerInfo.LineNumber,
level = ((byte)((int)level)),
header = new Messages.std_msgs.Header()
{
stamp = ROS.GetTime()
}
};
TopicManager.Instance.getAdvertisedTopics(out logMessage.topics);
lock (log_queue)
log_queue.Enqueue(logMessage);
}
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);
}
internal bool addCallback(
ISubscriptionCallbackHelper helper,
string md5sum,
ICallbackQueue queue,
int queue_size,
bool allow_concurrent_callbacks,
string topiclol
)
{
lock ( md5sum_mutex )
{
if (this.md5sum == "*" && md5sum != "*")
{
this.md5sum = md5sum;
}
}
if (md5sum != "*" && md5sum != this.md5sum)
{
return(false);
}
lock ( callbacks_mutex )
{
ICallbackInfo info = new ICallbackInfo
{
helper = helper,
callback = queue,
subscription_queue = new Callback(helper.Callback.SendEvent, topiclol, queue_size, allow_concurrent_callbacks)
};
//if (!helper.isConst())
//{
++nonconst_callbacks;
//}
callbacks.Add(info);
if (latched_messages.Count > 0)
{
string ti = info.helper.type;
lock ( publisher_links_mutex )
{
foreach (PublisherLink link in publisher_links)
{
if (link.Latched)
{
if (latched_messages.ContainsKey(link))
{
LatchInfo latch_info = latched_messages[link];
bool was_full = false;
bool nonconst_need_copy = callbacks.Count > 1;
info.subscription_queue.AddToCallbackQueue(info.helper, latched_messages[link].message, nonconst_need_copy, ref was_full, ROS.GetTime().data);
if (!was_full)
{
info.callback.AddCallback(info.subscription_queue);
}
}
}
}
}
}
}
return(true);
}
