public rcl_service(rcl_node_t _node, rosidl_service_type_support_t typesupport, string service_name, rcl_service_options_t options)
{
native_node = _node;
native_handle = rcl_get_zero_initialized_service();
int ret = rcl_service_init(ref native_handle, ref native_node, ref typesupport, service_name, ref options);
RCLReturnValues retVal = (RCLReturnValues)ret;
switch (retVal)
{
case RCLReturnValues.RCL_RET_OK:
break;
case RCLReturnValues.RCL_RET_NODE_INVALID:
throw new RCLNodeInvalidException();
break;
case RCLReturnValues.RCL_RET_INVALID_ARGUMENT:
throw new RCLInvalidArgumentException();
break;
case RCLReturnValues.RCL_RET_SERVICE_INVALID:
throw new RCLServiceInvalidException();
break;
case RCLReturnValues.RCL_RET_BAD_ALLOC:
throw new RCLBadAllocException();
break;
case RCLReturnValues.RCL_RET_ERROR:
break;
default:
break;
}
}
extern static IntPtr rcl_service_get_options(ref rcl_service_t service);
extern static string rcl_service_get_service_name(ref rcl_service_t service);
extern static int rcl_send_response(ref rcl_service_t service, ref rmw_request_id_t request_header, [In, Out] ValueType ros_response);
extern static int rcl_take_request(ref rcl_service_t service, ref rmw_request_id_t request_header, [In, Out] ValueType ros_request);
extern static int rcl_service_fini(ref rcl_service_t service, ref rcl_node_t node);
extern static int rcl_service_init(ref rcl_service_t service, ref rcl_node_t node, ref rosidl_service_type_support_t type_support, string topic_name, ref rcl_service_options_t options);