public static async ValueTask <RosChannelReader> CreateReaderAsync(this IRosClient client, string topic, CancellationToken token = default) { var writer = new RosChannelReader(); await writer.StartAsync(client, topic, token); return(writer); }
public static async ValueTask <RosChannelReader <T> > CreateReaderAsync <T>(this IRosClient client, string topic, CancellationToken token = default) where T : IMessage, IDeserializable <T>, new() { var writer = new RosChannelReader <T>(); await writer.StartAsync(client, topic, token); return(writer); }