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);
}