Exemple #1
0
        public Publisher <T> CreatePublisher <T>(string topic, QualityOfServiceProfile qos = null) where T : Message, new()
        {
            Publisher <T> publisher = new Publisher <T>(topic, this, qos);

            publishers.Add(publisher);
            return(publisher);
        }
Exemple #2
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        public Publisher(string topic, Node node, QualityOfServiceProfile qos = null)
        {
            nodeHandle = node.handle;
            handle     = NativeMethods.rcl_get_zero_initialized_publisher();
            IntPtr publisherOptions = NativeMethods.rclcs_publisher_create_default_options();
            int    qosProfileRmw    = qos == null ? (int)QosProfiles.DEFAULT : (int)qos.Profile;

            NativeMethods.rclcs_publisher_set_qos_profile(publisherOptions, qosProfileRmw);

            //TODO(samiam): 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;

            Utils.CheckReturnEnum(NativeMethods.rcl_publisher_init(
                                      ref handle,
                                      ref nodeHandle,
                                      typeSupportHandle,
                                      topic,
                                      publisherOptions));
        }
Exemple #3
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        public Subscription <T> CreateSubscription <T>(string topic, Action <T> callback, QualityOfServiceProfile qos = null) where T : Message, new()
        {
            if (qos == null)
            {
                qos = new QualityOfServiceProfile(QosProfiles.DEFAULT);
            }

            Subscription <T> subscription = new Subscription <T>(topic, this, callback, qos);

            subscriptions.Add(subscription);
            return(subscription);
        }
Exemple #4
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        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));
        }