public bool registerSubscriber(Subscription s, string datatype)
{
string uri = XmlRpcManager.Instance.uri;
XmlRpcValue args = new XmlRpcValue(this_node.Name, s.name, datatype, uri);
XmlRpcValue result = new XmlRpcValue();
XmlRpcValue payload = new XmlRpcValue();
if (!master.execute("registerSubscriber", args, result, payload, true))
{
return(false);
}
List <string> pub_uris = new List <string>();
for (int i = 0; i < payload.Size; i++)
{
XmlRpcValue load = payload[i];
string pubed = load.Get <string>();
if (pubed != uri && !pub_uris.Contains(pubed))
{
pub_uris.Add(pubed);
}
}
bool self_subscribed = false;
Publication pub = null;
string sub_md5sum = s.md5sum;
lock (advertised_topics_mutex)
{
foreach (Publication p in advertised_topics)
{
pub = p;
string pub_md5sum = pub.Md5sum;
if (pub.Name == s.name && md5sumsMatch(pub_md5sum, sub_md5sum) && !pub.Dropped)
{
self_subscribed = true;
break;
}
}
}
s.pubUpdate(pub_uris);
if (self_subscribed)
{
s.addLocalConnection(pub);
}
return(true);
}
/// <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);
}
