public static bool Take(ISubscriptionBase subscription, Message message)
{
rcl_subscription_t subscription_handle = subscription.Handle;
IntPtr message_handle = message.Handle;
RCLReturnEnum ret = (RCLReturnEnum)NativeMethods.rcl_take(ref subscription_handle, message_handle, IntPtr.Zero);
return(ret == RCLReturnEnum.RCL_RET_OK);
}
public WaitSet(Context ctx, IList <ISubscriptionBase> subscriptions = null)
{
ulong numberOfSubscriptions;
if (subscriptions == null)
{
numberOfSubscriptions = 0;
subscriptions = new List <ISubscriptionBase>();
}
else
{
numberOfSubscriptions = (ulong)subscriptions.Count;
}
ulong numberOfGuardConditions = 0;
ulong numberOfTimers = 0;
ulong numberOfClients = 0;
ulong numberOfServices = 0;
ulong numberOfEvents = 0;
allocator = NativeMethods.rcutils_get_default_allocator();
handle = NativeMethods.rcl_get_zero_initialized_wait_set();
Utils.CheckReturnEnum(NativeMethods.rcl_wait_set_init(
ref handle,
numberOfSubscriptions,
numberOfGuardConditions,
numberOfTimers,
numberOfClients,
numberOfServices,
numberOfEvents,
ref ctx.handle,
allocator));
Clear();
foreach (ISubscriptionBase subscription in subscriptions)
{
rcl_subscription_t subscription_handle = subscription.Handle;
Utils.CheckReturnEnum(NativeMethods.rcl_wait_set_add_subscription(ref handle, ref subscription_handle, UIntPtr.Zero));
}
}
public Subscription(string topic, Node node, Action <T> callback, QualityOfServiceProfile qualityOfServiceProfile = null)
{
this.callback = callback;
nodeHandle = node.handle;
handle = NativeMethods.rcl_get_zero_initialized_subscription();
subscriptionOptions = NativeMethods.rclcs_subscription_create_default_options();
if (qualityOfServiceProfile == null)
{
this.qualityOfServiceProfile = new QualityOfServiceProfile(QosProfiles.DEFAULT);
}
else
{
this.qualityOfServiceProfile = qualityOfServiceProfile;
}
//FIXME(sam): was not able to use a c# struct as qos profile, figure out why and replace the following hack...
NativeMethods.rclcs_subscription_set_qos_profile(subscriptionOptions, (int)qualityOfServiceProfile.Profile);
//TODO(sam): Figure out why System.Reflection is not available
//when building with colcon/xtool on ubuntu 18.04 and mono 4.5
//MethodInfo m = typeof(T).GetTypeInfo().GetDeclaredMethod("_GET_TYPE_SUPPORT");
//IntPtr typeSupportHandle = (IntPtr)m.Invoke(null, new object[] { });
IMessageInternals msg = new T();
IntPtr typeSupportHandle = msg.TypeSupportHandle;
msg.Dispose();
Utils.CheckReturnEnum(NativeMethods.rcl_subscription_init(
ref handle,
ref nodeHandle,
typeSupportHandle,
topic,
subscriptionOptions));
}
extern static IntPtr rcl_subscription_get_options(ref rcl_subscription_t subscription);
extern static string rcl_subscription_get_topic_name(ref rcl_subscription_t subscription);
extern static int rcl_take(ref rcl_subscription_t subscription, [Out] ValueType ros_message, [In, Out] rmw_message_info_t message_info);
extern static int rcl_subscription_fini(ref rcl_subscription_t subscription, ref rcl_node_t node);
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);
public rcl_subscription(Node _node, rosidl_message_type_support_t _type_support, string _topic_name, rcl_subscription_options_t _options)
{
subscription = rcl_get_zero_initialized_subscription();
native_node = _node.NativeNode;
rcl_subscription_init(ref subscription, ref native_node, ref _type_support, _topic_name, ref _options);
}
