bool ConnFactory::createAndCheckStream(ConnectionBasePtr connection,
ChannelElementBase::shared_ptr chan, bool is_sender)
{
if (is_sender)
{
if ( connection->addMQConnection(chan) )
{
ROS_DEBUG("micros connection factory adds input_end of stream to publication:%s.", connection->getTopic().c_str());
return true;
}
// setup failed.
ROS_WARN("micros connection factory fail to add input_end of stream to publication:%s.", connection->getTopic().c_str());
return false;
}
else
{
if ( connection->mqChannelReady( chan->getOutputEndPoint() ) == true )
{
ROS_DEBUG("micros connection factory adds output_end of stream to subscription:%s.", connection->getTopic().c_str());
return true;
}
// setup failed: manual cleanup.
chan = 0;
ROS_WARN("micros connection factory fail to add output_end of stream to subscription:%s.", connection->getTopic().c_str());
return false;
}
}
bool ConnFactory::createAndCheckConnection(ConnectionBasePtr publication,
ConnectionBasePtr subscription, ChannelElementBase::shared_ptr channel_input)
{
// Register the subscription to the publication.
if ( publication->addConnection(channel_input) )
{
ROS_DEBUG("micros connection factory adds input_end of channel to publication:%s.", publication->getTopic().c_str());
// notify input that the connection is now complete.
if ( subscription->channelReady( channel_input->getOutputEndPoint() ) == false )
{
ROS_WARN("micros connection factory checks channel ready failed, subscription:%s", subscription->getTopic().c_str());
return false;
}
return true;
}
// setup failed.
return false;
}