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));
}
/// <summary>
/// Initializes a new instance of the <see cref="rclcs.rcl_publisher"/> class.
/// </summary>
/// <param name="_node">Node.</param>
/// <param name="_type_support">Type support.</param>
/// <param name="_topic_name">Topic name.</param>
/// <param name="_options">Options.</param>
public rcl_publisher(Node _node, rosidl_message_type_support_t _type_support, string _topic_name, rcl_publisher_options_t _options)
{
this.native_node = _node.NativeNode;
this.topic_name = _topic_name;
this.type_support = _type_support;
this.options = _options;
native_handle = rcl_get_zero_initialized_publisher();
rcl_publisher_init(ref native_handle, ref native_node, ref type_support, topic_name, ref options);
}
public Publisher(string topic, Node node)
{
nodeHandle = node.handle;
handle = NativeMethods.rcl_get_zero_initialized_publisher();
rcl_publisher_options_t publisherOptions = NativeMethods.rcl_publisher_get_default_options();
//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[] { });
IRclcsMessage msg = new T();
IntPtr typeSupportHandle = msg.TypeSupportHandle;
Utils.CheckReturnEnum(NativeMethods.rcl_publisher_init(
ref handle,
ref nodeHandle,
typeSupportHandle,
topic,
ref publisherOptions));
}
extern static int rcl_publisher_fini(ref rcl_publisher_t publisher, ref rcl_node_t node);
extern static int rcl_publisher_init(ref rcl_publisher_t publisher, ref rcl_node_t node, ref rosidl_message_type_support_t type_support, string topic_name, ref rcl_publisher_options_t options);
extern static rcl_publisher_options_t rcl_publisher_get_options(ref rcl_publisher_t publisher);
extern static string rcl_publisher_get_topic_name(ref rcl_publisher_t publisher);
extern static int rcl_publish(ref rcl_publisher_t publisher, [In] ValueType ros_message);