/// <summary>
/// Creates a publisher with the given advertise options
/// </summary>
/// <typeparam name="M">Type of topic</typeparam>
/// <param name="ops">Advertise options</param>
/// <returns>A publisher with the specified options</returns>
public Publisher <M> advertise <M>(AdvertiseOptions <M> ops) where M : IRosMessage, new()
{
if (Process.GetCurrentProcess().ProcessName == "devenv")
{
return(null);
}
ops.topic = resolveName(ops.topic);
if (ops.callback_queue == null)
{
ops.callback_queue = Callback;
}
SubscriberCallbacks callbacks = new SubscriberCallbacks(ops.connectCB, ops.disconnectCB, ops.callback_queue);
if (TopicManager.Instance.advertise(ops, callbacks))
{
Publisher <M> pub = new Publisher <M>(ops.topic, ops.md5sum, ops.datatype, this, callbacks);
lock (collection.mutex)
{
collection.publishers.Add(pub);
}
return(pub);
}
Console.WriteLine("ADVERTISE FAILED!!!!");
return(null);
}
/// <summary>
/// Checks if the given topic is valid.
/// </summary>
/// <typeparam name="T">Advertise Options </typeparam>
/// <param name="ops"></param>
/// <returns></returns>
private bool isValid <T>(AdvertiseOptions <T> ops) where T : IRosMessage, new()
{
if (ops.datatype == "*")
{
throw new Exception("Advertising with * as the datatype is not allowed. Topic [" + ops.topic + "]");
}
if (ops.md5sum == "*")
{
throw new Exception("Advertising with * as the md5sum is not allowed. Topic [" + ops.topic + "]");
}
if (ops.md5sum == "")
{
throw new Exception("Advertising on topic [" + ops.topic + "] with an empty md5sum");
}
if (ops.datatype == "")
{
throw new Exception("Advertising on topic [" + ops.topic + "] with an empty datatype");
}
if (ops.message_definition == "")
{
EDB.WriteLine
("Danger, Will Robinson... Advertising on topic [" + ops.topic +
"] with an empty message definition. Some tools (that don't exist in this implementation) may not work correctly");
}
return(true);
}
public RosOutAppender()
{
publish_thread = new Thread(logThread)
{
IsBackground = true
};
publish_thread.Start();
AdvertiseOptions <Log> ops = new AdvertiseOptions <Log>(names.resolve("/rosout"), 0)
{
latch = true
};
SubscriberCallbacks cbs = new SubscriberCallbacks();
TopicManager.Instance.advertise(ops, cbs);
}
/// <summary>
/// Register as a publisher on a topic.
/// </summary>
/// <typeparam name="T"></typeparam>
/// <param name="ops"></param>
/// <param name="callbacks"></param>
/// <returns></returns>
public bool advertise <T>(AdvertiseOptions <T> ops, SubscriberCallbacks callbacks) where T : IRosMessage, new()
{
if (!isValid(ops))
{
return(false);
}
Publication pub = null;
lock (advertised_topics_mutex)
{
if (shutting_down)
{
return(false);
}
pub = lookupPublicationWithoutLock(ops.topic);
if (pub != null)
{
if (pub.Md5sum != ops.md5sum)
{
EDB.WriteLine
("Tried to advertise on topic [{0}] with md5sum [{1}] and datatype [{2}], but the topic is already advertised as md5sum [{3}] and datatype [{4}]",
ops.topic, ops.md5sum,
ops.datatype, pub.Md5sum, pub.DataType);
return(false);
}
}
else
{
pub = new Publication(ops.topic, ops.datatype, ops.md5sum, ops.message_definition, ops.queue_size,
ops.latch, ops.has_header);
}
pub.addCallbacks(callbacks);
advertised_topics.Add(pub);
}
bool found = false;
Subscription sub = null;
lock (subs_mutex)
{
foreach (Subscription s in subscriptions)
{
if (s.name == ops.topic && md5sumsMatch(s.md5sum, ops.md5sum) && !s.IsDropped)
{
found = true;
sub = s;
break;
}
}
}
if (found)
{
sub.addLocalConnection(pub);
}
XmlRpcValue args = new XmlRpcValue(this_node.Name, ops.topic, ops.datatype, XmlRpcManager.Instance.uri),
result = new XmlRpcValue(),
payload = new XmlRpcValue();
master.execute("registerPublisher", args, result, payload, true);
return(true);
}
