public void PublisherInit()
{
// init
RCLReturnEnum ret;
rcl_init_options_t init_options = NativeMethods.rcl_get_zero_initialized_init_options();
rcl_allocator_t allocator = NativeMethods.rcl_get_default_allocator();
NativeMethods.rcl_init_options_init(ref init_options, allocator);
rcl_context_t context = NativeMethods.rcl_get_zero_initialized_context();
NativeMethods.rcl_init(0, null, ref init_options, ref context);
rcl_node_t node = NativeMethods.rcl_get_zero_initialized_node();
string name = "publisher_test";
string nodeNamespace = "/ns";
IntPtr defaultNodeOptions = NativeMethods.rclcs_node_create_default_options();
NativeMethods.rcl_node_init(ref node, name, nodeNamespace, ref context, defaultNodeOptions);
rcl_publisher_t publisher = NativeMethods.rcl_get_zero_initialized_publisher();
rcl_publisher_options_t publisherOptions = NativeMethods.rcl_publisher_get_default_options();
MethodInfo m = typeof(std_msgs.msg.Bool).GetTypeInfo().GetDeclaredMethod("_GET_TYPE_SUPPORT");
IntPtr typeSupportHandle = (IntPtr)m.Invoke(null, new object[] { });
ret = (RCLReturnEnum)NativeMethods.rcl_publisher_init(ref publisher, ref node, typeSupportHandle, "publisher_test_topic", ref publisherOptions);
// shutdown
ret = (RCLReturnEnum)NativeMethods.rcl_publisher_fini(ref publisher, ref node);
Assert.That(ret, Is.EqualTo(RCLReturnEnum.RCL_RET_OK), Utils.PopRclErrorString());
NativeMethods.rcl_node_fini(ref node);
NativeMethods.rclcs_node_dispose_options(defaultNodeOptions);
NativeMethods.rcl_shutdown(ref context);
NativeMethods.rcl_context_fini(ref context);
}
public void PublisherInit()
{
rcl_publisher_t publisher = new rcl_publisher_t();
IntPtr publisherOptions = new IntPtr();
InitPublisher(ref publisher, ref node, publisherOptions);
ShutdownPublisher(ref publisher, ref node, publisherOptions);
}
public static void ShutdownPublisher(ref rcl_publisher_t publisher, ref rcl_node_t node, IntPtr publisherOptions)
{
RCLReturnEnum ret;
ret = (RCLReturnEnum)NativeMethods.rcl_publisher_fini(ref publisher, ref node);
Assert.That(ret, Is.EqualTo(RCLReturnEnum.RCL_RET_OK), Utils.PopRclErrorString());
NativeMethods.rclcs_publisher_dispose_options(publisherOptions);
}
public static void InitPublisher(ref rcl_publisher_t publisher, ref rcl_node_t node, IntPtr publisherOptions)
{
RCLReturnEnum ret;
publisher = NativeMethods.rcl_get_zero_initialized_publisher();
publisherOptions = NativeMethods.rclcs_publisher_create_default_options();
IMessageInternals msg = new std_msgs.msg.Bool();
IntPtr typeSupportHandle = msg.TypeSupportHandle;
ret = (RCLReturnEnum)NativeMethods.rcl_publisher_init(ref publisher, ref node, typeSupportHandle, "publisher_test_topic", publisherOptions);
}
public void PublisherPublish()
{
RCLReturnEnum ret;
rcl_publisher_t publisher = new rcl_publisher_t();
IntPtr publisherOptions = new IntPtr();
PublisherInitialize.InitPublisher(ref publisher, ref node, publisherOptions);
IMessageInternals msg = new std_msgs.msg.Bool();
ret = (RCLReturnEnum)NativeMethods.rcl_publish(ref publisher, msg.Handle);
Assert.That(ret, Is.EqualTo(RCLReturnEnum.RCL_RET_OK), Utils.PopRclErrorString());
PublisherInitialize.ShutdownPublisher(ref publisher, ref node, publisherOptions);
}
public void PublisherPublish()
{
RCLReturnEnum ret;
rcl_publisher_t publisher = NativeMethods.rcl_get_zero_initialized_publisher();
rcl_publisher_options_t publisherOptions = NativeMethods.rcl_publisher_get_default_options();
std_msgs.msg.Bool msg = new std_msgs.msg.Bool();
IntPtr typeSupportHandle = msg.TypeSupportHandle;
ret = (RCLReturnEnum)NativeMethods.rcl_publisher_init(ref publisher, ref node, typeSupportHandle, "/publisher_test_topic", ref publisherOptions);
ret = (RCLReturnEnum)NativeMethods.rcl_publish(ref publisher, msg.Handle);
Assert.That(ret, Is.EqualTo(RCLReturnEnum.RCL_RET_OK), Utils.PopRclErrorString());
ret = (RCLReturnEnum)NativeMethods.rcl_publisher_fini(ref publisher, ref node);
Assert.That(ret, Is.EqualTo(RCLReturnEnum.RCL_RET_OK), Utils.PopRclErrorString());
}
public void GetZeroInitializedPublisher()
{
rcl_publisher_t publisher = NativeMethods.rcl_get_zero_initialized_publisher();
}
