public VisionListener(int port)
{
_port = port;
_visionListener = VisionListener_Create(_port);
/// Ensure callbacks we pass to native code are allocated outside our class
/// see issue #11
p_onError = new VisionListener_OnErrorCallback(OnError);
p_onConnect = new VisionListener_OnConnectCallback(OnConnect);
p_onDisconnect = new VisionListener_OnDisconnectCallback(OnDisconnect);
p_onObstacleMessage = new VisionListener_OnObstacleMessageCallback(OnObstacleMessage);
p_onSurfaceMessage = new VisionListener_OnSurfaceMessageCallback(OnSurfaceMessage);
VisionListener_OnError(_visionListener, p_onError);
VisionListener_OnConnect(_visionListener, p_onConnect);
VisionListener_OnDisconnect(_visionListener, p_onDisconnect);
VisionListener_OnObstacleMessage(_visionListener, p_onObstacleMessage);
VisionListener_OnSurfaceMessage(_visionListener, p_onSurfaceMessage);
}
private static extern void VisionListener_OnObstacleMessage(IntPtr vl, VisionListener_OnObstacleMessageCallback callback);