Method DoInit

src/interface/aimrt_module_cpp_interface/context/context.h:241–256

// publisher init
template <class T>
std::pair<res::Publisher<T>, ChannelResource&> OpPub::DoInit(std::string_view topic_name) {
  ChannelResource channel_ctx;
  channel_ctx.pub = ctx_.core_.GetChannelHandle().GetPublisher(topic_name);
  AIMRT_ASSERT_WITH_LOC(loc_, channel_ctx.pub, "Get publisher for topic [{}] failed.", topic_name);

  const bool registered = channel_ctx.pub.RegisterPublishType(aimrt::GetMessageTypeSupport<T>());
  AIMRT_ASSERT_WITH_LOC(loc_, registered, "Register publish type for topic [{}] failed.", topic_name);

  ctx_.channel_resources_.push_back(std::move(channel_ctx));

  res::Publisher<T> res;
  res.name_ = std::string(topic_name);
  res.idx_ = ctx_.channel_resources_.size() - 1;
  res.context_id_ = ctx_.id_;
  return {res, ctx_.channel_resources_.back()};
}

// publisher publish
template <class T>