public ROSBridgeSubscriber <T> Subscribe <T>(string topic, ROSCallback <T> callback, int queueSize) where T : IMsg, new()
{
Type messageType = typeof(T);
ThrowIfTopicExistsUnderDifferentType(topic, messageType, "subscribe");
ROSBridgeSubscriber subscriber;
if (!subscribers.TryGetValue(topic, out subscriber))
{
subscriber = new ROSBridgeSubscriber <T>(topic, queueSize);
subscribers.Add(topic, subscriber);
CacheTopic(topic, messageType);
SendSubscribeOperation(subscriber);
}
var sub = (ROSBridgeSubscriber <T>)subscriber;
sub.Subscribe(callback);
return(sub);
}
public void Subscribe(ROSCallback <IMsg> callback)
{
MessageRecieved += callback;
}
public void Unsubscribe(ROSCallback <IMsg> callback)
{
MessageRecieved -= callback;
}
public static ROSCallback <IMsg> ConvertCallback <T>(ROSCallback <T> callback) where T : IMsg
{
return(callback == null ? null : new ROSCallback <IMsg>(o => callback((T)o)));
}
