public static void SubscriberCallback(Zenoh.Net.Sample sample)
{
Console.WriteLine(">> [Subscription listener] Received ('{0}': '{1}')",
sample.ResName,
BitConverter.ToString(sample.Payload));
// Encoding.UTF8.GetString(sample.Payload));
}
public static void SubscriberCallback(Zenoh.Net.Sample sample)
{
CDRReader reader = new CDRReader(sample.Payload);
var userID = reader.ReadInt32();
var message = reader.ReadString();
Console.WriteLine("=== [Subscriber] Received : Message ({0}, {1})",
userID,
message);
}
private void OutCallback(Zenoh.Net.Sample sample)
{
// received type: rcl_interfaces/msg/Log
CDRReader reader = new CDRReader(sample.Payload);
// builtin_interfaces/Time stamp => int32 sec + uint32 nanosec
var stamp_sec = reader.ReadInt32();
var stamp_nanosec = reader.ReadUInt32();
// uint8 level
var level = reader.ReadByte();
// string name
var name = reader.ReadString();
// string msg
var msg = reader.ReadString();
// string file
var file = reader.ReadString();
// string function
var function = reader.ReadString();
// uint32 line
var line = reader.ReadUInt32();
Console.WriteLine("[{0}.{1}] [{2}]: {3}", stamp_sec, stamp_nanosec, name, msg);
}
