/// <summary>
/// Executes a subscribe_var command.
/// Requests the blackboard to send a notification to the subscriber module when a shared variable is written
/// </summary>
/// <param name="command">Command to execute</param>
private void SubscribeVarCommand(Command command)
{
SharedVariableSubscription subscription;
if (!SharedVariableSubscription.TryParse(command, out subscription))
{
SendResponse(command, false);
return;
}
if (!sharedVariables.Contains(subscription.VariableName))
{
if (subscription.SubscriptionType == SharedVariableSubscriptionType.Creation)
{
string varName = subscription.VariableName;
if (!pendingSubscriptions.ContainsKey(varName))
{
pendingSubscriptions.Add(varName, new List <SharedVariableSubscription>());
}
if (!pendingSubscriptions[varName].Contains(subscription))
{
pendingSubscriptions[varName].Add(subscription);
}
SendResponse(command, true);
}
else
{
SendResponse(command, false);
return;
}
}
else
{
sharedVariables[subscription.VariableName].Subscriptions.Add(subscription);
SendResponse(command, true);
}
}
public SubscriptionPropertyDescriptor(int index, SharedVariableSubscription subscription, Attribute[] attrs)
: base(index.ToString(), attrs)
{
this.subscription = subscription;
}
public SubscriptionPropertyDescriptor(int index, SharedVariableSubscription subscription)
: this(index, subscription, null)
{
}
