private void OnCancelConnectCallback(SingleSubscriberPublisher publisher)
{
int subscriberCount = 0;
bool subscriberExists = cancelSubscriberCount.TryGetValue(publisher.SubscriberName, out subscriberCount);
cancelSubscriberCount[publisher.SubscriberName] = (subscriberExists ? subscriberCount : 0) + 1;
}
private void OnGoalDisconnectCallback(SingleSubscriberPublisher publisher)
{
int subscriberCount = 0;
bool keyExists = goalSubscriberCount.TryGetValue(publisher.SubscriberName, out subscriberCount);
if (!keyExists)
{
// This should never happen. Warning has been copied from official actionlib implementation
ROS.Warn()(
$"goalDisconnectCallback: Trying to remove {publisher.SubscriberName} from " +
"goalSubscribers, but it is not in the goalSubscribers list."
);
}
else
{
ROS.Debug()(
$"goalDisconnectCallback: Removing {publisher.SubscriberName} from goalSubscribers, " +
$"(remaining with same name: {subscriberCount - 1})"
);
if (subscriberCount <= 1)
{
goalSubscriberCount.Remove(publisher.SubscriberName);
}
else
{
goalSubscriberCount[publisher.SubscriberName] = subscriberCount - 1;
}
}
}
private void OnGoalConnectCallback(SingleSubscriberPublisher publisher)
{
int subscriberCount = 0;
bool keyExists = goalSubscriberCount.TryGetValue(publisher.SubscriberName, out subscriberCount);
goalSubscriberCount[publisher.SubscriberName] = (keyExists ? subscriberCount : 0) + 1;
ROS.Debug()($"goalConnectCallback: Adding {publisher.SubscriberName} to goalSubscribers");
}
private void OnCancelConnectCallback(SingleSubscriberPublisher publisher)
{
int subscriberCount = 0;
bool subscriberExists = cancelSubscriberCount.TryGetValue(publisher.SubscriberName, out subscriberCount);
cancelSubscriberCount[publisher.SubscriberName] = (subscriberExists ? subscriberCount : 0) + 1;
ROS.Debug()($"[{ThisNode.Name}] cancelConnectCallback: Adding {publisher.SubscriberName} to cancelSubscribers");
}
private void OnCancelConnectCallback(SingleSubscriberPublisher publisher)
{
lock (gate)
{
bool subscriberExists = cancelSubscriberCount.TryGetValue(publisher.SubscriberName, out int subscriberCount);
cancelSubscriberCount[publisher.SubscriberName] = (subscriberExists ? subscriberCount : 0) + 1;
ROS.Debug()($"cancelConnectCallback: Adding {publisher.SubscriberName} to cancelSubscriberCount");
}
}
public void cancelConnectCallback(SingleSubscriberPublisher pub)
{
lock ( lockObject )
{
if (cancelSubscribers.ContainsKey(pub.subscriber_name))
{
ROS.Warn("cancelConnectCallback: Trying to add [%s] to cancelSubscribers, but it is already in the cancelSubscribers list", pub.subscriber_name);
cancelSubscribers [pub.subscriber_name]++;
}
else
{
ROS.Debug("cancelConnectCallback: Adding [%s] to cancelSubscribers", pub.subscriber_name);
cancelSubscribers [pub.subscriber_name] = 1;
}
ROS.Debug("%s", cancelSubscribersString());
}
// check_connection_condition_.notify_all();
}
public void cancelDisconnectCallback(SingleSubscriberPublisher pub)
{
lock ( lockObject )
{
if (cancelSubscribers.ContainsKey(pub.subscriber_name))
{
ROS.Debug("cancelDisconnectCallback: Removing [%s] from cancelSubscribers", pub.subscriber_name);
cancelSubscribers [pub.subscriber_name]--;
if (cancelSubscribers[pub.subscriber_name] == 0)
{
cancelSubscribers.Remove(pub.subscriber_name);
}
}
else
{
ROS.Warn("cancelDisconnectCallback: Trying to remove [%s] to cancelSubscribers, but it is not in the cancelSubscribers list", pub.subscriber_name);
}
}
ROS.Debug("%s", cancelSubscribersString());
}
public void goalConnectCallback(SingleSubscriberPublisher pub)
{
lock ( lockObject )
{
// check if the dictionary contains this publisher
if (goalSubscribers.ContainsKey(pub.subscriber_name))
{
ROS.Warn("goalConnectCallback: Trying to add [%s] to goalSubscribers, but it is already in the goalSubscribers list", pub.subscriber_name);
goalSubscribers [pub.subscriber_name]++;
}
else
{
ROS.Debug("goalConnectCallback: Adding [%s] to goalSubscribers", pub.subscriber_name);
goalSubscribers.Add(pub.subscriber_name, 1);
}
}
ROS.Debug("%s", goalSubscribersString());
// notify all threads waiting on this condition. Monitor.Pulse? might not need all this
// check_connection_condition_.notify_all();
}
private void OnGoalConnectCallback(SingleSubscriberPublisher publisher)
{
List <ClientGoalHandle <TGoal, TResult, TFeedback> > unacknowledgedGoalHandles;
lock (gate)
{
bool keyExists = goalSubscriberCount.TryGetValue(publisher.SubscriberName, out int subscriberCount);
goalSubscriberCount[publisher.SubscriberName] = (keyExists ? subscriberCount : 0) + 1;
ROS.Debug()($"goalConnectCallback: Adding {publisher.SubscriberName} to goalSubscribers");
// check if we have unacknowledged goals (the action server might have missed the goal message when it was disconnected)
unacknowledgedGoalHandles = goalHandles.Values
.Where(x => x.State == CommunicationState.WAITING_FOR_GOAL_ACK)
.ToList();
}
foreach (var gh in unacknowledgedGoalHandles)
{
ROS.Debug()("Republishing unacknowledged goal: {0}", gh.Id);
GoalPublisher.Publish(gh.Goal);
gh.statusMissing = 0;
}
}
public void goalDisconnectCallback(SingleSubscriberPublisher pub)
{
lock ( lockObject )
{
if (goalSubscribers.ContainsKey(pub.subscriber_name))
{
ROS.Debug("goalDisconnectCallback: Removing [%s] from goalSubscribers", pub.subscriber_name);
goalSubscribers [pub.subscriber_name]--;
if (goalSubscribers [pub.subscriber_name] == 0)
{
goalSubscribers.Remove(pub.subscriber_name);
}
Dictionary <string, int> .Enumerator en = goalSubscribers.GetEnumerator();
}
else
{
ROS.Warn("goalDisconnectCallback: Trying to remove [%s] to goalSubscribers, but it is not in the goalSubscribers list", pub.subscriber_name);
}
ROS.Debug("%s", goalSubscribersString());
}
}
public virtual CallResult call()
{
ROS.Debug("CALLED PEERCONNDISCONNCALLBACK");
SingleSubscriberPublisher pub = new SingleSubscriberPublisher(sub_link);
callback(pub);
return CallResult.Success;
}
