subscribe<T extends RosMessage<T>> method
Subscriber<T>
subscribe
<T extends RosMessage<T>>(- String topic,
- T typeClass,
- void callback(
- T
),
- int queueSize,
- int throttleMs,
- bool tcpNoDelay
)
Implementation
Subscriber<T> subscribe<T extends RosMessage<T>>(
String topic,
T typeClass,
void Function(T) callback,
int queueSize,
int throttleMs,
bool tcpNoDelay) {
if (!_subscribers.containsKey(topic)) {
log.superdebug.info('Adding subscriber implementation for topic $topic');
_subscribers[topic] = SubscriberImpl<T>(
this, topic, typeClass, queueSize, throttleMs, tcpNoDelay);
}
final sub = Subscriber<T>(_subscribers[topic]);
sub.messageStream.listen(callback);
return sub;
}