public IPublisher <T> CreatePublisher <T> (string topic, QosProfile.Profile profile_id) where T : IMessage
{
MethodInfo m = typeof(T).GetTypeInfo().GetDeclaredMethod("_GET_TYPE_SUPPORT");
IntPtr typesupport = (IntPtr)m.Invoke(null, new object[] { });
IntPtr publisherHandle = IntPtr.Zero;
RCLRet ret = (RCLRet)NodeDelegates.native_rcl_create_publisher_handle(ref publisherHandle, Handle, topic, typesupport, profile_id);
Publisher <T> publisher = new Publisher <T> (publisherHandle);
return(publisher);
}
public ISubscription <T> CreateSubscription <T> (string topic, Action <T> callback, QosProfile.Profile profile_id) where T : IMessage, new ()
{
MethodInfo m = typeof(T).GetTypeInfo().GetDeclaredMethod("_GET_TYPE_SUPPORT");
IntPtr typesupport = (IntPtr)m.Invoke(null, new object[] { });
IntPtr subscriptionHandle = IntPtr.Zero;
RCLRet ret = (RCLRet)NodeDelegates.native_rcl_create_subscription_handle(ref subscriptionHandle, Handle, topic, typesupport, profile_id);
Subscription <T> subscription = new Subscription <T> (subscriptionHandle, callback);
this.subscriptions_.Add(subscription);
return(subscription);
}
public static RCLRet Init()
{
RCLRet ret = RCLRet.Ok;
lock (syncLock) {
if (!initialized)
{
ret = (RCLRet)RCLdotnetDelegates.native_rcl_init();
initialized = true;
}
}
return(ret);
}
/// <summary>
/// Called only by the instance singleton getter when the instance has not yet been initialized.
/// </summary>
/// <returns>The instance of this singleton class</returns>
private static ROS2Listener Init()
{
// attempt to find an instance already in the scene
_instance = FindObjectOfType <ROS2Listener>();
if (_instance != null)
{
Debug.LogWarning("ROS2Listener.Init() is being called even when the singleton instance already exists!");
return(_instance);
}
Debug.Log("ROS is Awake");
GameObject obj = new GameObject("ROS2Listener");
_instance = obj.AddComponent <ROS2Listener>();
/*
* var t = typeof(RCLdotnet).Assembly.Location;
* Debug.Log("RCLdotnet location = " + t);
* var p = Path.GetDirectoryName(t);
* var sb = new StringBuilder(256);
* GetCurrentDirectoryA((uint)sb.Capacity, sb); */
try
{
//SetCurrentDirectoryA(p);
RCLRet ret = RCLdotnet.Init();
if (ret == RCLRet.Ok)
{
Debug.Log("ROS is using " + RCLdotnet.GetRMWIdentifier());
}
else
{
Debug.Log("RCL InitE = " + RCLdotnet.GetErrorString());
}
_instance.node = RCLdotnet.CreateNode("listener");
}
catch (Exception e)
{
Destroy(_instance.gameObject);
_instance = null;
Debug.Log(e.ToString());
}
//SetCurrentDirectoryA(sb.ToString());
DontDestroyOnLoad(_instance);
return(_instance);
}
/// <summary>
/// Called only by the instance singleton getter when the instance has not yet been initialized.
/// </summary>
/// <returns>The instance of this singleton class</returns>
private static ROS2Listener Init()
{
// attempt to find an instance already in the scene
var instance = FindObjectOfType <ROS2Listener>();
if (instance != null)
{
Debug.LogWarning("ROS2 Listender is already in the scene");
return(instance);
}
Debug.Log("ROS is Awake");
GameObject obj = new GameObject("ROS2Listener");
instance = obj.AddComponent <ROS2Listener>();
try
{
RCLRet ret = RCLdotnet.Init();
if (ret == RCLRet.Ok)
{
Debug.Log("ROS is using " + RCLdotnet.GetRMWIdentifier());
}
else
{
Debug.Log("RCL Init Error = " + RCLdotnet.GetErrorString());
}
instance.node = RCLdotnet.CreateNode("listener");
}
catch (Exception e)
{
Destroy(instance.gameObject);
instance = null;
Debug.Log(e.ToString());
}
DontDestroyOnLoad(instance);
return(instance);
}
private static bool Take(IntPtr subscriptionHandle, IMessage message)
{
bool status = false;
IntPtr messageHandle = message._CREATE_NATIVE_MESSAGE();
RCLRet ret = (RCLRet)RCLdotnetDelegates.native_rcl_take(subscriptionHandle, messageHandle);
switch (ret)
{
case RCLRet.Ok:
message._READ_HANDLE(messageHandle);
status = true;
break;
case RCLRet.SubscriptionTakeFailed:
status = false;
break;
default:
break;
}
message._DESTROY_NATIVE_MESSAGE(messageHandle);
return(status);
}
private static void Wait(IntPtr waitSetHandle, long timeout)
{
long ns_timeout = timeout * 1000000;
RCLRet ret = (RCLRet)RCLdotnetDelegates.native_rcl_wait(waitSetHandle, ns_timeout);
// TODO(esteve): do something with ret
}
