internal void RemoveSubscriberLink(SubscriberLink link)
{
SubscriberLink lnk = null;
lock (gate)
{
if (Dropped)
{
return;
}
if (subscriberLinks.Contains(link))
{
lnk = link;
subscriberLinks.Remove(lnk);
if (subscriberLinks.Count == 0)
{
StopPublishLoop();
}
}
}
if (lnk != null)
{
HandlePeerDisconnect(lnk);
}
}
public void removeSubscriberLink(SubscriberLink link)
{
SubscriberLink lnk = null;
lock ( subscriber_links_mutex )
{
if (Dropped)
{
return;
}
if (subscriber_links.Contains(link))
{
lnk = link;
subscriber_links.Remove(lnk);
if (subscriber_links.Count == 0)
{
PollManager.Instance.RemovePollThreadListener(processPublishQueue);
}
}
}
if (lnk != null)
{
peerDisconnect(lnk);
}
}
internal void HandlePeerDisconnect(SubscriberLink sub_link)
{
//Logger.LogDebug("PEER DISCONNECT: [" + sub_link.topic + "]");
foreach (SubscriberCallbacks cbs in callbacks)
{
if (cbs.OnDisconnect != null && cbs.CallbackQueue != null)
{
var cb = new PeerConnDisconnCallback(cbs.OnDisconnect, sub_link);
cbs.CallbackQueue.AddCallback(cb, cbs);
}
}
}
internal void HandlePeerConnect(SubscriberLink sub_link)
{
//Logger.LogDebug($"PEER CONNECT: Id: {sub_link.connection_id} Dest: {sub_link.destination_caller_id} Topic: {sub_link.topic}");
foreach (SubscriberCallbacks cbs in callbacks)
{
if (cbs.OnConnect != null && cbs.CallbackQueue != null)
{
var cb = new PeerConnDisconnCallback(cbs.OnConnect, sub_link);
cbs.CallbackQueue.AddCallback(cb, cbs);
}
}
}
public void peerDisconnect(SubscriberLink sub_link)
{
//ROS.Debug()( $"[{ThisNode.Name}] PEER DISCONNECT: [{sub_link.topic}]" );
foreach (SubscriberCallbacks cbs in callbacks)
{
if (cbs.disconnect != null && cbs.CallbackQueue != null)
{
var cb = new PeerConnDisconnCallback(cbs.disconnect, sub_link);
cbs.CallbackId = cb.Uid;
cbs.CallbackQueue.AddCallback(cb);
}
}
}
public void peerConnect(SubscriberLink sub_link)
{
//ROS.Debug()( $"[{ThisNode.Name}] PEER CONNECT: Id: {sub_link.connection_id} Dest: {sub_link.destination_caller_id} Topic: {sub_link.topic}" );
foreach (SubscriberCallbacks cbs in callbacks)
{
if (cbs.connect != null && cbs.CallbackQueue != null)
{
var cb = new PeerConnDisconnCallback(cbs.connect, sub_link);
cbs.CallbackId = cb.Uid;
cbs.CallbackQueue.AddCallback(cb);
}
}
}
internal void AddSubscriberLink(SubscriberLink link)
{
lock (gate)
{
if (Dropped)
{
return;
}
subscriberLinks.Add(link);
this.StartPublishLoop();
}
if (Latch && lastMessage != null)
{
link.EnqueueMessage(lastMessage);
}
HandlePeerConnect(link);
}
public void addSubscriberLink(SubscriberLink link)
{
lock ( subscriber_links_mutex )
{
if (Dropped)
{
return;
}
subscriber_links.Add(link);
PollManager.Instance.AddPollThreadListener(processPublishQueue);
}
if (Latch && last_message != null)
{
link.EnqueueMessage(last_message);
}
peerConnect(link);
}
public PeerConnDisconnCallback(SubscriberStatusCallback callback, SubscriberLink subscriberLink)
{
this.callback = callback;
this.subscriberLink = subscriberLink;
}
