public override T TakeMessage <T>(ref bool success)
{
rmw_message_info_t message_info = new rmw_message_info_t();
return(TakeMessage <T> (ref success, ref message_info));
}
public T TakeMessage <T>(ref bool success)
where T : MessageWrapper, new()
{
rmw_message_info_t message_info = new rmw_message_info_t();
return(TakeMessage <T> (ref success, ref message_info));
}
public override T TakeMessage <T>(ref bool success, ref rmw_message_info_t _message_info)
{
MessageWrapper ret_msg = new T();
ValueType msg;
ret_msg.GetData(out msg);
rmw_message_info_t message_info = _message_info;
int ret = rcl_take(ref subscription, msg, message_info);
RCLReturnValues ret_val = (RCLReturnValues)ret;
//Console.WriteLine (ret_val);
/*return RCL_RET_OK if the message was published, or
* RCL_RET_INVALID_ARGUMENT if any arguments are invalid, or
* RCL_RET_SUBSCRIPTION_INVALID if the subscription is invalid, or
* RCL_RET_BAD_ALLOC if allocating memory failed, or
* RCL_RET_SUBSCRIPTION_TAKE_FAILED if take failed but no error
* occurred in the middleware, or
* RCL_RET_ERROR if an unspecified error occurs.*/
bool take_message_success = false;
switch (ret_val)
{
case RCLReturnValues.RCL_RET_INVALID_ARGUMENT:
throw new RCLInvalidArgumentException();
case RCLReturnValues.RCL_RET_SUBSCRIPTION_INVALID:
throw new RCLSubscriptionInvalidException();
case RCLReturnValues.RCL_RET_BAD_ALLOC:
throw new RCLBadAllocException();
case RCLReturnValues.RCL_RET_SUBSCRIPTION_TAKE_FAILED:
//throw new RCLSubscriptonTakeFailedException ();
take_message_success = false;
//Marshal.FreeHGlobal (msg_ptr);
break;
case RCLReturnValues.RCL_RET_ERROR:
throw new RCLErrorException();
case RCLReturnValues.RCL_RET_OK:
{
take_message_success = true;
//Bring the data back into the message wrapper
ret_msg.SetData(ref msg);
//And do a sync for nested types. This is in my opinion a hack because I can't store references on value types in C#
ret_msg.SyncDataIn();
}
break;
default:
break;
}
success = take_message_success;
//Marshal.FreeHGlobal (message_info_ptr);
return((T)ret_msg);
}
extern static int rcl_take(ref rcl_subscription_t subscription, [Out] ValueType ros_message, [In, Out] rmw_message_info_t message_info);
public T TakeMessage <T>(ref bool success, ref rmw_message_info_t _message_info)
where T : MessageWrapper, new()
{
return(Impl.TakeMessage <T> (ref success, ref _message_info));
}
public abstract T TakeMessage <T> (ref bool success, ref rmw_message_info_t _message_info)
where T : MessageWrapper, new();