subscribe<T extends RosMessage<T>> method

Subscriber<T> subscribe <T extends RosMessage<T>>(
  1. String topic,
  2. T typeClass,
  3. void callback(
    1. T
    ),
  4. int queueSize,
  5. int throttleMs,
  6. 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;
}