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);
}
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));
}
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);
}
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));
}