public Subscriber DeclareSubscriber(ResKey reskey, SubInfo subInfo, SubscriberCallback callback)
{
// convert the C# user callback as IntPtr to be passed as "arg" to zn_declare_subscriber()
// and received back in each call to SubscriberCallbackNativeImpl
IntPtr callbackPtr = Marshal.GetFunctionPointerForDelegate(callback);
var nativeSubscriber = ZnDeclareSubscriber(this._nativePtr, reskey._key, subInfo._subInfo, SubscriberCallbackNativeImpl, callbackPtr);
return(new Subscriber(nativeSubscriber));
}
public Subscriber DeclareSubscriber(ResKey reskey, SubInfo subInfo, SubscriberCallback callback)
{
Int32 subscriberHandle = Interlocked.Increment(ref _subscriberCounter);
var nativeSubscriber = ZnDeclareSubscriber(_nativePtr, reskey._key, subInfo._subInfo, _subscriberCallbackNative, new IntPtr(subscriberHandle));
var subscriber = new Subscriber(this, subscriberHandle, nativeSubscriber, callback);
Subscribers[subscriberHandle] = subscriber;
return(subscriber);
}
private Teleop(Dictionary <string, string> zenohConf, String cmdTopic, String outTopic, double linearScale, double angularScale)
{
// initiate logging
Zenoh.Zenoh.InitLogger();
Console.WriteLine("Openning session...");
_session = Zenoh.Net.Session.Open(zenohConf);
Console.WriteLine("Subscribing on {0}", outTopic);
_subscriber = _session.DeclareSubscriber(
Zenoh.Net.ResKey.RName(outTopic),
new Zenoh.Net.SubInfo(),
OutCallback);
Console.WriteLine("Publishing on {0}", cmdTopic);
_cmdKey = Zenoh.Net.ResKey.RName(cmdTopic);
_linearScale = linearScale;
_angularScale = angularScale;
}
public ulong DeclareResource(ResKey reskey)
{
return(ZnDeclareResource(this._nativePtr, reskey._key));
}