public void Register(IBridgePlugin plugin)
{
// here we need to register which types to we support for this bridge, we support all
// simulator default types from Simulator.Bridge.Data namespace that can be published
// we will convert all types to json as C# string that will be written to file
// which means we do not need special converison function
RegPublisher <CanBusData, string>(plugin, null);
RegPublisher <ClockData, string>(plugin, null);
RegPublisher <Detected2DObjectData, string>(plugin, null);
RegPublisher <Detected3DObjectData, string>(plugin, null);
RegPublisher <DetectedRadarObjectData, string>(plugin, null);
RegPublisher <GpsData, string>(plugin, null);
RegPublisher <GpsOdometryData, string>(plugin, null);
RegPublisher <ImageData, string>(plugin, null);
RegPublisher <ImuData, string>(plugin, null);
RegPublisher <CorrectedImuData, string>(plugin, null);
RegPublisher <PointCloudData, string>(plugin, null);
RegPublisher <SignalDataArray, string>(plugin, null);
RegPublisher <VehicleOdometryData, string>(plugin, null);
// what subscribers we support
plugin.AddType <VehicleControlData>(typeof(VehicleControlData).Name);
plugin.AddSubscriberCreator <VehicleControlData>((instance, topic, callback) => { });
}
public void RegSubscriber <DataType, BridgeType>(IBridgePlugin plugin, Func <BridgeType, DataType> converter)
{
plugin.AddType <DataType>(Ros2Utils.GetMessageType <BridgeType>());
plugin.AddSubscriberCreator <DataType>(
(instance, topic, callback) => (instance as Ros2BridgeInstance).AddSubscriber <BridgeType>(topic,
rawData => callback(converter(Ros2Serialization.Unserialize <BridgeType>(rawData)))
)
);
}
public void RegSubscriber <DataType, BridgeType>(IBridgePlugin plugin, Func <BridgeType, DataType> converter)
{
plugin.AddType <DataType>(typeof(BridgeType).Name);
plugin.AddSubscriberCreator <DataType>(
(instance, topic, callback) => (instance as CyberBridgeInstance).AddSubscriber <BridgeType>(topic,
rawData => callback(converter(CyberSerialization.Unserialize <BridgeType>(rawData)))
)
);
}
