public rcl_publisher_base(Node _node, rosidl_message_type_support_t _type_support, string _topic_name, rcl_publisher_options_t _options)
{
this.native_node = _node.NativeNode;
this.topic_name = _topic_name;
this.type_support = _type_support;
this.options = _options;
}
/// <summary>
/// Initializes a new instance of the <see cref="rclcs.Publisher`1"/> class.
/// with a custom qos profile. <see cref="rclcs.rmw_qos_profile_t"/> for possible preconfigured profiles.
/// </summary>
/// <param name="_Node">Node.</param>
/// <param name="_TopicName">Topic name.</param>
/// <param name="_QOS">Custom qos profile.</param>
///
public Publisher(Node _Node, string _TopicName, rmw_qos_profile_t _QOS)
{
QOSProfile = _QOS;
RosNode = _Node;
TopicName = _TopicName;
//This is some reflection magic that is used in order to obtain the correct C typesupport.
//Every generated message contains a method with a name similiar to rosidl_typesupport_introspection_c_get_message.
//This is a interop method declaration that does a call in the corresponding C library and that returns a pointer to a rosidl_message_type_support_t struct.
//This pointer is marshalled to a managed struct of the type rosidl_message_type_support_t.
//This is the type of the wrapper class around the message struct
Type wrapperType = typeof(T);
//This variable will store the type of the message struct
Type messageType = typeof(T);
//Go through all methods of the wrapper class
foreach (var item in wrapperType.GetMethods())
{
if (item.IsStatic)
{
//If its a method called GetMessageType
if (item.Name.Contains("GetMessageType"))
{
//We call it and cast the returned object to a Type.
messageType = (Type)item.Invoke(null, null);
}
}
}
//Now we do the same for the message struct
foreach (var item in messageType.GetMethods())
{
if (item.IsStatic)
{
//We search for the method that does the native call
if (item.Name.Contains("rosidl_typesupport_introspection_c_get_message"))
{
//We call it and marshal the returned IntPtr (a managed wrapper around a pointer) to the managed typesupport struct
TypeSupport = (rosidl_message_type_support_t)Marshal.PtrToStructure((IntPtr)item.Invoke(null, null), typeof(rosidl_message_type_support_t));
}
}
}
//The case that the data pointer inside the type support struct is 0 is a strong indicator that the call failed somewhere
//Or that we got a wrong typesupport object at least
if (TypeSupport.data == IntPtr.Zero)
{
throw new Exception("Couldn't get typesupport");
}
//Get the default options for the rcl publisher
PublisherOptions = rcl_publisher.get_default_options();
//Set the custom qos profile
PublisherOptions.qos = QOSProfile;
//And create an new publisher
InternalPublisher = new rcl_publisher(RosNode, TypeSupport, TopicName, PublisherOptions);
}
/// <summary>
/// Initializes a new instance of the <see cref="rclcs.rcl_publisher"/> class.
/// </summary>
/// <param name="_node">Node.</param>
/// <param name="_type_support">Type support.</param>
/// <param name="_topic_name">Topic name.</param>
/// <param name="_options">Options.</param>
public rcl_publisher(Node _node, rosidl_message_type_support_t _type_support, string _topic_name, rcl_publisher_options_t _options)
{
this.native_node = _node.NativeNode;
this.topic_name = _topic_name;
this.type_support = _type_support;
this.options = _options;
native_handle = rcl_get_zero_initialized_publisher();
rcl_publisher_init(ref native_handle, ref native_node, ref type_support, topic_name, ref options);
}
public rcl_publisher(Node _node, rosidl_message_type_support_t _type_support, string _topic_name, rcl_publisher_options_t _options)
{
if (Environment.OSVersion.Platform == PlatformID.Win32NT)
{
Impl = new rcl_publisher_windows(_node, _type_support, _topic_name, _options);
}
else if (Environment.OSVersion.Platform == PlatformID.Unix)
{
Impl = new rcl_publisher_linux(_node, _type_support, _topic_name, _options);
}
else
{
throw new Exception("Operating system: " + Environment.OSVersion.Platform.ToString() + " not supported");
}
}
/// <summary>
/// Initializes a new instance of the <see cref="rclcs.Subscription`1"/> class. With a custom qos profile
/// </summary>
/// <param name="_node">Node.</param>
/// <param name="_topicName">Topic name.</param>
/// <param name="_QOS">QO.</param>
public Subscription(Node _node, string _topicName, rmw_qos_profile_t _QOS)
{
QOSProfile = _QOS;
RosNode = _node;
TopicName = _topicName;
Type wrapperType = typeof(T);
Type messageType = typeof(T);
foreach (var item in wrapperType.GetMethods())
{
if (item.IsStatic)
{
if (item.Name.Contains("GetMessageType"))
{
messageType = (Type)item.Invoke(null, null);
}
}
}
bool foundMethod = false;
foreach (var item in messageType.GetMethods())
{
if (item.IsStatic)
{
if (item.Name.Contains("rosidl_typesupport_introspection_c__get_message_type_support_handle"))
{
foundMethod = true;
TypeSupport = (rosidl_message_type_support_t)Marshal.PtrToStructure((IntPtr)item.Invoke(null, null), typeof(rosidl_message_type_support_t));
}
}
}
if (!foundMethod)
{
throw new MissingMethodException("Could not find typesupport method");
}
if (TypeSupport.data == IntPtr.Zero)
{
throw new Exception("Couldn't get typesupport");
}
SubscriptionOptions = rcl_subscription.get_default_options();
SubscriptionOptions.qos = QOSProfile;
InternalSubscription = new rcl_subscription(RosNode, TypeSupport, TopicName, SubscriptionOptions);
}
public rcl_subscription_linux(Node _node, rosidl_message_type_support_t _type_support, string _topic_name, rcl_subscription_options_t _options) : base(_node, _type_support, _topic_name, _options)
{
subscription = rcl_get_zero_initialized_subscription();
rcl_subscription_init(ref subscription, ref native_node, ref _type_support, _topic_name, ref _options);
}
extern static int rcl_subscription_init(ref rcl_subscription_t subscription, ref rcl_node_t node, ref rosidl_message_type_support_t typesupport, string topic_name, ref rcl_subscription_options_t options);
extern static int rcl_publisher_init(ref rcl_publisher_t publisher, ref rcl_node_t node, ref rosidl_message_type_support_t type_support, string topic_name, ref rcl_publisher_options_t options);
/// <summary>
/// Initializes a new instance of the <see cref="rclcs.rcl_publisher"/> class.
/// </summary>
/// <param name="_node">Node.</param>
/// <param name="_type_support">Type support.</param>
/// <param name="_topic_name">Topic name.</param>
/// <param name="_options">Options.</param>
public rcl_publisher_linux(Node _node, rosidl_message_type_support_t _type_support, string _topic_name, rcl_publisher_options_t _options) : base(_node, _type_support, _topic_name, _options)
{
native_handle = rcl_get_zero_initialized_publisher();
rcl_publisher_init(ref native_handle, ref native_node, ref type_support, topic_name, ref options);
}
public rcl_subscription_base(Node _node, rosidl_message_type_support_t _type_support, string _topic_name, rcl_subscription_options_t _options)
{
native_node = _node.NativeNode;
}
