/// <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 rcl_subscription_linux(Node _node, rosidl_message_type_support_t _type_support, string _topic_name, rcl_subscription_options_t _options) : base(_node, _type_support, _topic_name, _options)
{
subscription = rcl_get_zero_initialized_subscription();
rcl_subscription_init(ref subscription, ref native_node, ref _type_support, _topic_name, ref _options);
}
extern static int rcl_subscription_init(ref rcl_subscription_t subscription, ref rcl_node_t node, ref rosidl_message_type_support_t typesupport, string topic_name, ref rcl_subscription_options_t options);
public rcl_subscription(Node _node, rosidl_message_type_support_t _type_support, string _topic_name, rcl_subscription_options_t _options)
{
if (Environment.OSVersion.Platform == PlatformID.Win32NT)
{
Impl = new rcl_subscription_windows(_node, _type_support, _topic_name, _options);
}
else if (Environment.OSVersion.Platform == PlatformID.Unix)
{
Impl = new rcl_subscription_linux(_node, _type_support, _topic_name, _options);
}
else
{
throw new Exception("Operating system: " + Environment.OSVersion.Platform.ToString() + " not supported");
}
}
public rcl_subscription_base(Node _node, rosidl_message_type_support_t _type_support, string _topic_name, rcl_subscription_options_t _options)
{
native_node = _node.NativeNode;
}