internal bool addCallback <M>(SubscriptionCallbackHelper <M> helper, string md5sum, CallbackQueueInterface queue,
uint queue_size, bool allow_concurrent_callbacks, string topiclol) where M : IRosMessage, new()
{
lock (md5sum_mutex)
{
if (this.md5sum == "*" && md5sum != "*")
{
this.md5sum = md5sum;
}
}
if (md5sum != "*" && md5sum != this.md5sum)
{
return(false);
}
lock (callbacks_mutex)
{
CallbackInfo <M> info = new CallbackInfo <M> {
helper = helper, callback = queue, subscription_queue = new Callback <M>(helper.callback().func, topiclol, queue_size, allow_concurrent_callbacks)
};
//if (!helper.isConst())
//{
++nonconst_callbacks;
//}
callbacks.Add(info);
if (latched_messages.Count > 0)
{
lock (publisher_links_mutex)
{
foreach (PublisherLink link in publisher_links)
{
if (link.Latched)
{
if (latched_messages.ContainsKey(link))
{
LatchInfo latch_info = latched_messages[link];
IMessageDeserializer des = new IMessageDeserializer(helper, latch_info.message,
latch_info.connection_header);
bool was_full = false;
((Callback <M>)info.subscription_queue).push((SubscriptionCallbackHelper <M>)info.helper, (MessageDeserializer <M>)des, true,
ref was_full,
latch_info.receipt_time);
((Callback <M>)info.subscription_queue).topic = topiclol;
if (!was_full)
{
info.callback.addCallback(info.subscription_queue, info.Get());
}
}
}
}
}
}
}
return(true);
}
public override void pushitgood(ISubscriptionCallbackHelper helper, IMessageDeserializer deserializer, bool nonconst_need_copy, ref bool was_full, TimeData receipt_time)
{
lock (queue_mutex)
{
if (was_full)
{
was_full = false;
}
if (fullNoLock())
{
queue.Dequeue();
--queue_size;
_full = true;
if (was_full)
{
was_full = true;
}
}
else
{
_full = false;
}
Item i = new Item
{
helper = helper,
deserializer = deserializer,
nonconst_need_copy = nonconst_need_copy,
receipt_time = receipt_time
};
queue.Enqueue(i);
++queue_size;
}
}
internal ulong handleMessage(IRosMessage msg, bool ser, bool nocopy, IDictionary connection_header,
PublisherLink link)
{
lock (callbacks_mutex)
{
ulong drops = 0;
cached_deserializers.Clear();
TimeData receipt_time = ROS.GetTime().data;
foreach (ICallbackInfo info in callbacks)
{
MsgTypes ti = info.helper.type;
if (nocopy || ser)
{
IMessageDeserializer deserializer = null;
if (cached_deserializers.ContainsKey(ti))
{
deserializer = cached_deserializers[ti];
}
else
{
deserializer = MakeDeserializer(ti, info.helper, msg, connection_header);
cached_deserializers.Add(ti, deserializer);
}
bool was_full = false;
bool nonconst_need_copy = callbacks.Count > 1;
//info.helper.callback().func(msg);
//info.helper.callback().pushitgood(info.helper, deserializer, nonconst_need_copy, ref was_full, receipt_time);
info.subscription_queue.pushitgood(info.helper, deserializer, nonconst_need_copy, ref was_full, receipt_time);
//push(info.helper, deserializer, nonconst_need_copy, ref was_full,receipt_time);
if (was_full)
{
++drops;
}
else
{
info.callback.addCallback(info.subscription_queue, info.Get());
}
}
}
if (link.Latched)
{
LatchInfo li = new LatchInfo
{
message = msg,
link = link,
connection_header = connection_header,
receipt_time = receipt_time
};
if (latched_messages.ContainsKey(link))
{
latched_messages[link] = li;
}
else
{
latched_messages.Add(link, li);
}
}
cached_deserializers.Clear();
return(drops);
}
}
public virtual void pushitgood(ISubscriptionCallbackHelper helper, IMessageDeserializer deserializer, bool nonconst_need_copy, ref bool was_full, TimeData receipt_time)
{
throw new NotImplementedException();
}