Method Publish

src/interface/aimrt_module_cpp_interface/context/context.h:260–267

// publisher publish
template <class T>
void OpPub::Publish(const res::Channel<T>& ch, aimrt::channel::ContextRef ch_ctx, const T& msg) {
  auto& channel_ctx = ctx_.GetChannelResource(ch, loc_);
  if (!ctx_.Running() || ctx_.GetPubState() != context::ChannelState::kOn) [[unlikely]] {
    ctx_.log().Trace("Publisher is not ready.");
    return;
  }
  std::any_cast<typename Context::PublishFunction<T>&>(channel_ctx.pub_f)(channel_ctx.pub, ch_ctx, msg);
}

template <class T>
void OpPub::Publish(const res::Channel<T>& ch, const T& msg) {