public void SubscriptionInit()
{
// 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 = "subscription_test";
string nodeNamespace = "/ns";
IntPtr defaultNodeOptions = NativeMethods.rclcs_node_create_default_options();
NativeMethods.rcl_node_init(ref node, name, nodeNamespace, ref context, defaultNodeOptions);
rcl_subscription_t subscription = NativeMethods.rcl_get_zero_initialized_subscription();
IntPtr subscriptionOptions = NativeMethods.rclcs_subscription_create_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_subscription_init(ref subscription, ref node, typeSupportHandle, "/subscriber_test_topic", subscriptionOptions);
Assert.That(ret, Is.EqualTo(RCLReturnEnum.RCL_RET_OK), Utils.PopRclErrorString());
// shutdown
ret = (RCLReturnEnum)NativeMethods.rcl_subscription_fini(ref subscription, ref node);
NativeMethods.rclcs_subscription_dispose_options(subscriptionOptions);
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 static void ShutdownSubscription(ref rcl_subscription_t subscription, IntPtr subscriptionOptions, ref rcl_node_t node)
{
RCLReturnEnum ret;
ret = (RCLReturnEnum)NativeMethods.rcl_subscription_fini(ref subscription, ref node);
NativeMethods.rclcs_subscription_dispose_options(subscriptionOptions);
Assert.That(ret, Is.EqualTo(RCLReturnEnum.RCL_RET_OK), Utils.PopRclErrorString());
}
public static void InitSubscription(ref rcl_subscription_t subscription, IntPtr subscriptionOptions, ref rcl_node_t node)
{
RCLReturnEnum ret;
subscription = NativeMethods.rcl_get_zero_initialized_subscription();
subscriptionOptions = NativeMethods.rclcs_subscription_create_default_options();
IMessageInternals msg = new std_msgs.msg.Bool();
IntPtr typeSupportHandle = msg.TypeSupportHandle;
ret = (RCLReturnEnum)NativeMethods.rcl_subscription_init(ref subscription, ref node, typeSupportHandle, "/subscriber_test_topic", subscriptionOptions);
Assert.That(ret, Is.EqualTo(RCLReturnEnum.RCL_RET_OK), Utils.PopRclErrorString());
}
public void SetSubscriptionQosProfile()
{
rcl_subscription_t subscription = NativeMethods.rcl_get_zero_initialized_subscription();
IntPtr subscriptionOptions = NativeMethods.rclcs_subscription_create_default_options();
NativeMethods.rclcs_subscription_set_qos_profile(subscriptionOptions, 0);
MethodInfo m = typeof(std_msgs.msg.Bool).GetTypeInfo().GetDeclaredMethod("_GET_TYPE_SUPPORT");
IntPtr typeSupportHandle = (IntPtr)m.Invoke(null, new object[] { });
NativeMethods.rcl_subscription_init(ref subscription, ref node, typeSupportHandle, "/subscriber_test_topic", subscriptionOptions);
Assert.That(NativeMethods.rcl_subscription_is_valid(ref subscription), Is.True);
NativeMethods.rcl_subscription_fini(ref subscription, ref node);
NativeMethods.rclcs_subscription_dispose_options(subscriptionOptions);
}
public void SetSubscriptionQosProfile()
{
rcl_subscription_t subscription = NativeMethods.rcl_get_zero_initialized_subscription();
IntPtr subscriptionOptions = NativeMethods.rclcs_subscription_create_default_options();
NativeMethods.rclcs_subscription_set_qos_profile(subscriptionOptions, 0);
IMessageInternals msg = new std_msgs.msg.Bool();
IntPtr typeSupportHandle = msg.TypeSupportHandle;
NativeMethods.rcl_subscription_init(ref subscription, ref node, typeSupportHandle, "/subscriber_test_topic", subscriptionOptions);
Assert.That(NativeMethods.rcl_subscription_is_valid(ref subscription), Is.True);
NativeMethods.rcl_subscription_fini(ref subscription, ref node);
NativeMethods.rclcs_subscription_dispose_options(subscriptionOptions);
}
public void SubscriptionInit()
{
rcl_context_t context = new rcl_context_t();
rcl_node_t node = new rcl_node_t();
IntPtr nodeOptions = new IntPtr();
RCLInitialize.InitRcl(ref context);
NodeInitialize.InitNode(ref node, nodeOptions, ref context);
rcl_subscription_t subscription = new rcl_subscription_t();
IntPtr subscriptionOptions = new IntPtr();
InitSubscription(ref subscription, subscriptionOptions, ref node);
ShutdownSubscription(ref subscription, subscriptionOptions, ref node);
NodeInitialize.ShutdownNode(ref node, nodeOptions);
RCLInitialize.ShutdownRcl(ref context);
}
public void SetUp()
{
// init
rcl_init_options_t init_options = NativeMethods.rcl_get_zero_initialized_init_options();
allocator = NativeMethods.rcl_get_default_allocator();
NativeMethods.rcl_init_options_init(ref init_options, allocator);
context = NativeMethods.rcl_get_zero_initialized_context();
NativeMethods.rcl_init(0, null, ref init_options, ref context);
node = NativeMethods.rcl_get_zero_initialized_node();
string name = "subscription_test";
string nodeNamespace = "/ns";
defaultNodeOptions = NativeMethods.rclcs_node_create_default_options();
NativeMethods.rcl_node_init(ref node, name, nodeNamespace, ref context, defaultNodeOptions);
subscription = NativeMethods.rcl_get_zero_initialized_subscription();
subscriptionOptions = NativeMethods.rclcs_subscription_create_default_options();
MethodInfo m = typeof(std_msgs.msg.Bool).GetTypeInfo().GetDeclaredMethod("_GET_TYPE_SUPPORT");
IntPtr typeSupportHandle = (IntPtr)m.Invoke(null, new object[] { });
NativeMethods.rcl_subscription_init(ref subscription, ref node, typeSupportHandle, "/subscriber_test_topic", subscriptionOptions);
}
public void GetZeroInitializedSubscription()
{
rcl_subscription_t subscription = NativeMethods.rcl_get_zero_initialized_subscription();
}
