Method DoSubscribe

src/interface/aimrt_module_cpp_interface/context/context.h:332–340

// subscriber subscribe
template <class T, concepts::SupportedSubscriber<T> TCallback>
void OpSub::DoSubscribe(const res::Subscriber<T>& ch, TCallback callback, aimrt::executor::ExecutorRef exe) {
  auto& channel_ctx = ctx_.GetChannelResource(ch, loc_);
  auto& sub_fn = std::any_cast<typename Context::SubscribeFunction<T>&>(channel_ctx.sub_f);
  auto ctx = details::GetCurrentContext();
  const bool ok = sub_fn(channel_ctx.sub,
                         StandardizeSubscriber<T>(std::move(callback)),
                         std::move(exe));
  AIMRT_ASSERT_WITH_LOC(loc_, ok, "Subscribe [{}] failed.", ch.GetName());
}

// subscriber subscribe function
template <class T>