public void NodeInit()
{
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();
IntPtr defaultNodeOptions = NativeMethods.rclcs_node_create_default_options();
string name = "node_test";
string nodeNamespace = "/ns";
RCLReturnEnum ret = (RCLReturnEnum)NativeMethods.rcl_node_init(ref node, name, nodeNamespace, ref context, defaultNodeOptions);
Assert.That(ret, Is.EqualTo(RCLReturnEnum.RCL_RET_OK));
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 bool Take(ISubscriptionBase subscription, Message message)
{
rcl_subscription_t subscription_handle = subscription.Handle;
IntPtr message_handle = message.Handle;
RCLReturnEnum ret = (RCLReturnEnum)NativeMethods.rcl_take(ref subscription_handle, message_handle, IntPtr.Zero);
return(ret == RCLReturnEnum.RCL_RET_OK);
}
public static void InitNode(ref rcl_node_t node, IntPtr nodeOptions, ref rcl_context_t context)
{
node = NativeMethods.rcl_get_zero_initialized_node();
nodeOptions = NativeMethods.rclcs_node_create_default_options();
string name = "node_test";
string nodeNamespace = "/ns";
RCLReturnEnum ret = (RCLReturnEnum)NativeMethods.rcl_node_init(ref node, name, nodeNamespace, ref context, nodeOptions);
Assert.That(ret, Is.EqualTo(RCLReturnEnum.RCL_RET_OK));
}
public void SetUp()
{
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();
defaultNodeOptions = NativeMethods.rclcs_node_create_default_options();
string nodeName = "node_test";
string nodeNamespace = "/ns";
RCLReturnEnum ret = (RCLReturnEnum)NativeMethods.rcl_node_init(ref node, nodeName, nodeNamespace, ref context, defaultNodeOptions);
}
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));
}
public void InitValidArgs()
{
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();
RCLReturnEnum ret = (RCLReturnEnum)NativeMethods.rcl_init(2, new string[] { "foo", "bar" }, ref init_options, ref context);
Assert.That(ret, Is.EqualTo(RCLReturnEnum.RCL_RET_OK));
Assert.That(NativeMethods.rcl_context_is_valid(ref context), Is.True);
ret = (RCLReturnEnum)NativeMethods.rcl_shutdown(ref context);
Assert.That(ret, Is.EqualTo(RCLReturnEnum.RCL_RET_OK));
ret = (RCLReturnEnum)NativeMethods.rcl_context_fini(ref context);
Assert.That(ret, Is.EqualTo(RCLReturnEnum.RCL_RET_OK));
}
