/// <summary>
/// Initializes a new instance of the <see cref="rclcs.RCLTopicNamesAndTypes"/> class.
/// Takes the native_struct and marshalls the char** for topic_names and type_names
/// </summary>
/// <param name="native_struct">Native struct.</param>
internal RCLTopicNamesAndTypes(rcl_topic_names_and_types_t native_struct)
{
string[] topics = MarshallingHelpers.PtrToStringArray(native_struct.topic_names);
string[] types = MarshallingHelpers.PtrToStringArray(native_struct.type_names);
TopicNames = new List <string> (topics);
TypeNames = new List <string> (types);
}
/// <summary>
/// Gets the topic names and their types in the system
/// </summary>
/// <returns>The topic names and types.</returns>
/// <param name="RosNode">Ros node.</param>
public override RCLTopicNamesAndTypes GetTopicNamesAndTypes(Node RosNode)
{
rcl_node_t native_handle = RosNode.NativeNode;
rcl_topic_names_and_types_t data_handle = new rcl_topic_names_and_types_t();
int ret = rcl_get_topic_names_and_types(ref native_handle, ref data_handle);
//TODO Evaluate return value
RCLTopicNamesAndTypes names_and_types = new RCLTopicNamesAndTypes(data_handle);
ret = rcl_destroy_topic_names_and_types(ref data_handle);
return(names_and_types);
}
static extern int rcl_destroy_topic_names_and_types(ref rcl_topic_names_and_types_t topic_names_and_types);
static extern int rcl_get_topic_names_and_types(ref rcl_node_t node, ref rcl_topic_names_and_types_t topic_names_and_types);
