/// <summary>
/// Initializes a new instance of the <see cref="rclcs.Publisher`1"/> class.
/// with a custom qos profile. <see cref="rclcs.rmw_qos_profile_t"/> for possible preconfigured profiles.
/// </summary>
/// <param name="_Node">Node.</param>
/// <param name="_TopicName">Topic name.</param>
/// <param name="_QOS">Custom qos profile.</param>
///
public Publisher(Node _Node, string _TopicName, rmw_qos_profile_t _QOS)
{
QOSProfile = _QOS;
RosNode = _Node;
TopicName = _TopicName;
//This is some reflection magic that is used in order to obtain the correct C typesupport.
//Every generated message contains a method with a name similiar to rosidl_typesupport_introspection_c_get_message.
//This is a interop method declaration that does a call in the corresponding C library and that returns a pointer to a rosidl_message_type_support_t struct.
//This pointer is marshalled to a managed struct of the type rosidl_message_type_support_t.
//This is the type of the wrapper class around the message struct
Type wrapperType = typeof(T);
//This variable will store the type of the message struct
Type messageType = typeof(T);
//Go through all methods of the wrapper class
foreach (var item in wrapperType.GetMethods())
{
if (item.IsStatic)
{
//If its a method called GetMessageType
if (item.Name.Contains("GetMessageType"))
{
//We call it and cast the returned object to a Type.
messageType = (Type)item.Invoke(null, null);
}
}
}
//Now we do the same for the message struct
foreach (var item in messageType.GetMethods())
{
if (item.IsStatic)
{
//We search for the method that does the native call
if (item.Name.Contains("rosidl_typesupport_introspection_c_get_message"))
{
//We call it and marshal the returned IntPtr (a managed wrapper around a pointer) to the managed typesupport struct
TypeSupport = (rosidl_message_type_support_t)Marshal.PtrToStructure((IntPtr)item.Invoke(null, null), typeof(rosidl_message_type_support_t));
}
}
}
//The case that the data pointer inside the type support struct is 0 is a strong indicator that the call failed somewhere
//Or that we got a wrong typesupport object at least
if (TypeSupport.data == IntPtr.Zero)
{
throw new Exception("Couldn't get typesupport");
}
//Get the default options for the rcl publisher
PublisherOptions = rcl_publisher.get_default_options();
//Set the custom qos profile
PublisherOptions.qos = QOSProfile;
//And create an new publisher
InternalPublisher = new rcl_publisher(RosNode, TypeSupport, TopicName, PublisherOptions);
}
/// <summary>
/// Creates a publisher.
/// With specific QOS Options
/// </summary>
/// <returns>The publisher.</returns>
/// <param name="TopicName">Topic name.</param>
/// <param name="QOSProfile">QOS profile.</param>
/// <param name="AddToExecutables">If set to <c>true</c> add to executables.</param>
/// <typeparam name="T">Message type</typeparam>
public Publisher <T> CreatePublisher <T> (string TopicName, rmw_qos_profile_t QOSProfile, bool AddToExecutables = true)
where T : MessageWrapper, new()
{
Publisher <T> NewPublisher = new Publisher <T> (this, TopicName, QOSProfile);
if (AddToExecutables)
{
ManagedExecutables.Add(NewPublisher);
}
return(NewPublisher);
}
/// <summary>
/// Creates a subscription.
/// with a specific QOSProfile
/// </summary>
/// <returns>The subscription.</returns>
/// <param name="TopicName">Topic name.</param>
/// <param name="QOSProfile">QOS profile.</param>
/// <param name="AddToExecutables">If set to <c>true</c> add to executables.</param>
/// <typeparam name="T">Message type</typeparam>
public Subscription <T> CreateSubscription <T> (string TopicName, rmw_qos_profile_t QOSProfile, bool AddToExecutables = true)
where T : MessageWrapper, new()
{
Subscription <T> NewSubscription = new Subscription <T> (this, TopicName, QOSProfile);
if (AddToExecutables)
{
ManagedExecutables.Add(NewSubscription);
}
return(NewSubscription);
}
/// <summary>
/// Creates a client
/// with a specific QOS Profile
/// </summary>
/// <returns>The client.</returns>
/// <param name="ServiceName">Service name.</param>
/// <param name="QOSProfile">QOS profile.</param>
/// <param name="AddToExecutables">If set to <c>true</c> add to executables.</param>
/// <typeparam name="T">Request message type</typeparam>
/// <typeparam name="U">Response message type</typeparam>
public Client <T, U> CreateClient <T, U> (string ServiceName, rmw_qos_profile_t QOSProfile, bool AddToExecutables = true)
where T : MessageWrapper, new()
where U : MessageWrapper, new()
{
Client <T, U> NewClient = new Client <T, U> (this, ServiceName, QOSProfile);
if (AddToExecutables)
{
ManagedExecutables.Add(NewClient);
}
return(NewClient);
}
/// <summary>
/// Initializes a new instance of the <see cref="rclcs.Subscription`1"/> class. With a custom qos profile
/// </summary>
/// <param name="_node">Node.</param>
/// <param name="_topicName">Topic name.</param>
/// <param name="_QOS">QO.</param>
public Subscription(Node _node, string _topicName, rmw_qos_profile_t _QOS)
{
QOSProfile = _QOS;
RosNode = _node;
TopicName = _topicName;
Type wrapperType = typeof(T);
Type messageType = typeof(T);
foreach (var item in wrapperType.GetMethods())
{
if (item.IsStatic)
{
if (item.Name.Contains("GetMessageType"))
{
messageType = (Type)item.Invoke(null, null);
}
}
}
bool foundMethod = false;
foreach (var item in messageType.GetMethods())
{
if (item.IsStatic)
{
if (item.Name.Contains("rosidl_typesupport_introspection_c__get_message_type_support_handle"))
{
foundMethod = true;
TypeSupport = (rosidl_message_type_support_t)Marshal.PtrToStructure((IntPtr)item.Invoke(null, null), typeof(rosidl_message_type_support_t));
}
}
}
if (!foundMethod)
{
throw new MissingMethodException("Could not find typesupport method");
}
if (TypeSupport.data == IntPtr.Zero)
{
throw new Exception("Couldn't get typesupport");
}
SubscriptionOptions = rcl_subscription.get_default_options();
SubscriptionOptions.qos = QOSProfile;
InternalSubscription = new rcl_subscription(RosNode, TypeSupport, TopicName, SubscriptionOptions);
}
public Client(Node _Node, string _ServiceName, rmw_qos_profile_t _QOS)
{
QOSProfile = _QOS;
RosNode = _Node;
ServiceName = _ServiceName;
Type ServiceType = typeof(T);
Type wrapperType = typeof(T);
foreach (var item in wrapperType.GetMethods())
{
if (item.IsStatic)
{
if (item.Name.Contains("GetMessageType"))
{
ServiceType = (Type)item.Invoke(null, null);
}
}
}
bool foundMethod = false;
foreach (var item in ServiceType.GetMethods())
{
if (item.IsStatic)
{
if (item.Name.Contains("rosidl_typesupport_introspection_c__get_service_type_support_handle__"))
{
foundMethod = true;
TypeSupport = (rosidl_service_type_support_t)Marshal.PtrToStructure((IntPtr)item.Invoke(null, null), typeof(rosidl_service_type_support_t));
}
}
}
if (!foundMethod)
{
throw new MissingMethodException("Could not find typesupprt method");
}
if (TypeSupport.data == IntPtr.Zero)
{
throw new Exception("Couldn't get typesupport");
}
ClientOptions = rcl_client.get_default_options();
ClientOptions.qos = QOSProfile;
InternalClient = new rcl_client(RosNode.NativeNode, TypeSupport, ServiceName, ClientOptions);
}
public Service(Node _Node, string _ServiceName, rmw_qos_profile_t _QOS)
{
QOSProfile = _QOS;
RosNode = _Node;
ServiceName = _ServiceName;
Type ServiceType = typeof(T);
Type wrapperType = typeof(T);
foreach (var item in wrapperType.GetMethods())
{
if (item.IsStatic)
{
if (item.Name.Contains("GetMessageType"))
{
ServiceType = (Type)item.Invoke(null, null);
}
}
}
foreach (var item in ServiceType.GetMethods())
{
if (item.IsStatic)
{
if (item.Name.Contains("rosidl_typesupport_introspection_c_get_message"))
{
TypeSupport = (rosidl_service_type_support_t)Marshal.PtrToStructure((IntPtr)item.Invoke(null, null), typeof(rosidl_service_type_support_t));
}
}
}
if (TypeSupport.data == IntPtr.Zero)
{
throw new Exception("Couldn't get typesupport");
}
ServiceOptions = rcl_service.get_default_options();
ServiceOptions.qos = QOSProfile;
InternalService = new rcl_service(RosNode.NativeNode, TypeSupport, ServiceName, ServiceOptions);
}
public QualityOfServiceProfile(QosProfiles profile)
{
handle = new rmw_qos_profile_t();
SetProfile(profile);
}
