topic

example/service/linux/flutter/generated_plugins.cmake

@@ -5,6 +5,9 @@
 list(APPEND FLUTTER_PLUGIN_LIST
 )
 
+list(APPEND FLUTTER_FFI_PLUGIN_LIST
+)
+
 set(PLUGIN_BUNDLED_LIBRARIES)
 
 foreach(plugin ${FLUTTER_PLUGIN_LIST})
@@ -13,3 +16,8 @@ foreach(plugin ${FLUTTER_PLUGIN_LIST})
   list(APPEND PLUGIN_BUNDLED_LIBRARIES $<TARGET_FILE:${plugin}_plugin>)
   list(APPEND PLUGIN_BUNDLED_LIBRARIES ${${plugin}_bundled_libraries})
 endforeach(plugin)
+
+foreach(ffi_plugin ${FLUTTER_FFI_PLUGIN_LIST})
+  add_subdirectory(flutter/ephemeral/.plugin_symlinks/${ffi_plugin}/linux plugins/${ffi_plugin})
+  list(APPEND PLUGIN_BUNDLED_LIBRARIES ${${ffi_plugin}_bundled_libraries})
+endforeach(ffi_plugin)

lib/attach/topic2.dart

@@ -0,0 +1,19 @@
+// import 'package:roslibdart/core/request.dart';
+
+// class Topic2 {
+//   String name;
+//   String type;
+
+//   Topic2({required this.name, required this.type});
+
+//   String publish(dynamic message) {
+//     var req = Request(
+//       op: "publish",
+//       id: 
+//       topic: name,
+//       msg: message, 
+//     );
+//     return req.toString();
+//   }
+
+// }

lib/core/topic.dart

@@ -119,33 +119,43 @@ class Topic {
     }
   }
 
+  
+
   /// Unsubscribe from the topic.
   Future<void> unsubscribe() async {
     if (subscribeId != null) {
       // Send the request and reset the subscription variables.
-      await safeSend(Request(
+      await safeSend(unsubscribeReq());
-        op: 'unsubscribe',
-        id: subscribeId,
-        topic: name,
-      ));
       // await ros.requestUnsubscribe(id);
       subscription = null;
       subscribeId = null;
     }
   }
 
+  Request unsubscribeReq() {
+    return Request(
+      op: 'unsubscribe',
+      id: subscribeId,
+      topic: name,
+    );
+  }
+
   /// Publish a [message] to the topic.
   Future<void> publish(dynamic message) async {
     // Advertise the topic and then send the publish request.
     await advertise();
     publishId = ros.requestPublisher(name);
-    await safeSend(Request(
+    await safeSend(publishReq(message));
+  }
+
+  Request publishReq(dynamic message) {
+    return Request(
       op: 'publish',
       topic: name,
       id: publishId,
       msg: message,
       latch: latch,
-    ));
+    );
   }
 
   /// Advertise the topic.
@@ -153,19 +163,23 @@ class Topic {
     if (!isAdvertised) {
       // Send the advertisement request.
       advertiseId = ros.requestAdvertiser(name);
-      await safeSend(Request(
+      await safeSend(advertiseReq());
-        op: 'advertise',
-        id: advertiseId,
-        type: type,
-        topic: name,
-        latch: latch,
-        queueSize: queueSize,
-      ));
       // If the ROS connection closes show that we're not advertising anymore.
       watchForClose();
     }
   }
 
+  Request advertiseReq() {
+    return Request(
+      op: 'advertise',
+      id: advertiseId,
+      type: type,
+      topic: name,
+      latch: latch,
+      queueSize: queueSize,
+    );
+  }
+
   /// Wait for the connection to close and then reset advertising variables.
   Future<void> watchForClose() async {
     if (!reconnectOnClose) {
@@ -187,6 +201,8 @@ class Topic {
     }
   }
 
+
+
   /// Safely send a [message] to ROS.
   Future<void> safeSend(Request message) async {
     // Send the message but if we're not connected and the [reconnectOnClose] flag