public void GetZeroInitializedWaitSet()
{
// NOTE: The struct rcl_wait_set_t contains size_t
// fields that are set to UIntPtr in C# declaration,
// not guaranteed to work for all C implemenations/platforms.
rcl_wait_set_t waitSet = NativeMethods.rcl_get_zero_initialized_wait_set();
}
public void WaitSetInit()
{
rcl_wait_set_t waitSet = NativeMethods.rcl_get_zero_initialized_wait_set();
rcl_allocator_t allocator = NativeMethods.rcl_get_default_allocator();
TestUtils.AssertRetOk(NativeMethods.rcl_wait_set_init(ref waitSet, 1, 0, 0, 0, 0, allocator));
TestUtils.AssertRetOk(NativeMethods.rcl_wait_set_fini(ref waitSet));
}
public void WaitSetAddSubscription()
{
NativeMethods.rcl_reset_error();
rcl_wait_set_t waitSet = NativeMethods.rcl_get_zero_initialized_wait_set();
TestUtils.AssertRetOk(NativeMethods.rcl_wait_set_init(ref waitSet, 1, 0, 0, 0, 0, allocator));
TestUtils.AssertRetOk(NativeMethods.rcl_wait_set_clear(ref waitSet));
Assert.That(NativeMethods.rcl_subscription_is_valid(ref subscription), Is.True);
TestUtils.AssertRetOk(NativeMethods.rcl_wait_set_add_subscription(ref waitSet, ref subscription, UIntPtr.Zero));
RCLReturnEnum ret = (RCLReturnEnum)NativeMethods.rcl_wait(ref waitSet, Utils.TimeoutSecToNsec(0.01));
Assert.That(ret, Is.EqualTo(RCLReturnEnum.RCL_RET_TIMEOUT));
}
