internal ulong handleMessage(IRosMessage msg, bool ser, bool nocopy, IDictionary connection_header,
PublisherLink link)
{
IRosMessage t = null;
ulong drops = 0;
TimeData receipt_time = ROS.GetTime().data;
if (msg.Serialized != null) //will be null if self-subscribed
{
msg.Deserialize(msg.Serialized);
}
lock (callbacks_mutex)
{
foreach (ICallbackInfo info in callbacks)
{
MsgTypes ti = info.helper.type;
if (nocopy || ser)
{
t = msg;
t.connection_header = msg.connection_header;
t.Serialized = null;
bool was_full = false;
bool nonconst_need_copy = callbacks.Count > 1;
info.subscription_queue.pushitgood(info.helper, t, nonconst_need_copy, ref was_full, receipt_time);
if (was_full)
{
++drops;
}
else
{
info.callback.addCallback(info.subscription_queue, info.Get());
}
}
}
}
if (t != null && link.Latched)
{
LatchInfo li = new LatchInfo
{
message = t,
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);
}
}
return(drops);
}
public void headerReceived(PublisherLink link, Header header)
{
lock (md5sum_mutex)
{
if (md5sum == "*")
{
md5sum = link.md5sum;
}
}
}
public void removePublisherLink(PublisherLink pub)
{
lock (publisher_links_mutex)
{
if (publisher_links.Contains(pub))
{
publisher_links.Remove(pub);
}
if (pub.Latched)
{
latched_messages.Remove(pub);
}
}
}
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 void addPublisherLink(PublisherLink pub)
{
publisher_links.Add(pub);
}
