public void Write(BridgeType message, Action completed)
{
int topicLength = Topic.Length;
int messageLength = Ros2Serialization.GetLength(message);
var bytes = new byte[1 + 4 + topicLength + 4 + messageLength];
bytes[0] = (byte)BridgeOp.Publish;
bytes[1] = (byte)(topicLength >> 0);
bytes[2] = (byte)(topicLength >> 8);
bytes[3] = (byte)(topicLength >> 16);
bytes[4] = (byte)(topicLength >> 24);
Buffer.BlockCopy(Topic, 0, bytes, 5, topicLength);
bytes[5 + topicLength] = (byte)(messageLength >> 0);
bytes[6 + topicLength] = (byte)(messageLength >> 8);
bytes[7 + topicLength] = (byte)(messageLength >> 16);
bytes[8 + topicLength] = (byte)(messageLength >> 24);
int written = Ros2Serialization.Serialize(message, bytes, 9 + topicLength);
Debug.Assert(written == messageLength, "Something is terribly wrong if this is not true");
Instance.SendAsync(bytes, completed);
}
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)))
)
);
}