public bool onConnectionHeaderReceived(Connection conn, Header header)
{
bool ret = false;
if (header.Values.Contains("topic"))
{
TransportSubscriberLink sub_link = new TransportSubscriberLink();
ret = sub_link.initialize(conn);
ret &= sub_link.handleHeader(header);
}
else if (header.Values.Contains("service"))
{
IServiceClientLink iscl = new IServiceClientLink();
ret = iscl.initialize(conn);
ret &= iscl.handleHeader(header);
}
else
{
EDB.WriteLine("got a connection for a type other than topic or service from [" + conn.RemoteString +
"]. Fail.");
return(false);
}
//EDB.WriteLine("CONNECTED [" + val + "]. WIN.");
return(ret);
}
public ServiceCallback(ServicePublication <MReq, MRes> sp, ServiceCallbackHelper <MReq, MRes> _helper, byte[] buf, int num_bytes, IServiceClientLink link, bool has_tracked_object, object tracked_object)
{
isp = sp;
if (isp != null && _helper != null)
{
isp.helper = _helper;
}
buffer = buf;
_numBytes = num_bytes;
this.link = link;
_hasTrackedObject = has_tracked_object;
_trackedObject = tracked_object;
}
public ServiceCallback(ServiceCallbackHelper <MReq, MRes> _helper, byte[] buf, int num_bytes, IServiceClientLink link, bool has_tracked_object, object tracked_object)
: this(null, _helper, buf, num_bytes, link, has_tracked_object, tracked_object)
{
}
internal override void removeServiceClientLink(IServiceClientLink iServiceClientLink)
{
lock (client_links_mutex)
client_links.Remove(iServiceClientLink);
}
internal override void addServiceClientLink(IServiceClientLink iServiceClientLink)
{
lock (client_links_mutex)
client_links.Add(iServiceClientLink);
}
public override void processRequest(ref byte[] buf, int num_bytes, IServiceClientLink link)
{
CallbackInterface cb = new ServiceCallback(this, helper, buf, num_bytes, link, has_tracked_object, tracked_object);
callback.addCallback(cb, ROS.getPID());
}
public virtual void processRequest(ref byte[] buffer, int size, IServiceClientLink iServiceClientLink)
{
throw new NotImplementedException();
}
internal virtual void removeServiceClientLink(IServiceClientLink iServiceClientLink)
{
throw new NotImplementedException();
}