public static string GetRMWIdentifier()
{
IntPtr ptr = RCLdotnetDelegates.native_rcl_get_rmw_identifier();
string rmw_identifier = Marshal.PtrToStringAnsi(ptr);
return(rmw_identifier);
}
public static string GetErrorString()
{
StringBuilder buffer = new StringBuilder(1024);
RCLdotnetDelegates.native_rcl_get_error_string(buffer.Capacity, buffer);
return(buffer.ToString());
}
public static Node CreateNode(string nodeName, string nodeNamespace)
{
IntPtr nodeHandle = IntPtr.Zero;
int ret = RCLdotnetDelegates.native_rcl_create_node_handle(ref nodeHandle, nodeName, nodeNamespace);
Node node = new Node(nodeHandle);
return(node);
}
public static void Init()
{
lock (syncLock) {
if (!initialized)
{
RCLdotnetDelegates.native_rcl_init();
initialized = true;
}
}
}
private static void WaitSetInit(
IntPtr waitSetHandle,
long numberOfSubscriptions,
long numberOfGuardConditions,
long numberOfTimers,
long numberOfClients,
long numberOfServices)
{
RCLdotnetDelegates.native_rcl_wait_set_init(
waitSetHandle, numberOfSubscriptions, numberOfGuardConditions,
numberOfTimers, numberOfClients, numberOfServices);
}
public static RCLRet Init()
{
RCLRet ret = RCLRet.Ok;
lock (syncLock) {
if (!initialized)
{
ret = (RCLRet)RCLdotnetDelegates.native_rcl_init();
initialized = true;
}
}
return(ret);
}
private static bool Take(IntPtr subscriptionHandle, IMessage message)
{
bool status = false;
IntPtr messageHandle = message._CREATE_NATIVE_MESSAGE();
RCLRet ret = (RCLRet)RCLdotnetDelegates.native_rcl_take(subscriptionHandle, messageHandle);
switch (ret)
{
case RCLRet.Ok:
message._READ_HANDLE(messageHandle);
status = true;
break;
case RCLRet.SubscriptionTakeFailed:
status = false;
break;
default:
break;
}
message._DESTROY_NATIVE_MESSAGE(messageHandle);
return(status);
}
private static void Wait(IntPtr waitSetHandle, long timeout)
{
long ns_timeout = timeout * 1000000;
RCLRet ret = (RCLRet)RCLdotnetDelegates.native_rcl_wait(waitSetHandle, ns_timeout);
// TODO(esteve): do something with ret
}
private static void DestroyWaitSet(IntPtr waitSetHandle)
{
RCLdotnetDelegates.native_rcl_destroy_wait_set(waitSetHandle);
}
private static void WaitSetAddSubscription(IntPtr waitSetHandle, IntPtr subscriptionHandle)
{
RCLdotnetDelegates.native_rcl_wait_set_add_subscription(waitSetHandle, subscriptionHandle);
}
private static void WaitSetClear(IntPtr waitSetHandle)
{
RCLdotnetDelegates.native_rcl_wait_set_clear(waitSetHandle);
}
private static IntPtr GetZeroInitializedWaitSet()
{
return(RCLdotnetDelegates.native_rcl_get_zero_initialized_wait_set());
}
public static bool Ok()
{
return(RCLdotnetDelegates.native_rcl_ok());
}
private static void WaitSetClearSubscriptions(IntPtr waitSetHandle)
{
RCLdotnetDelegates.native_rcl_wait_set_clear_subscriptions(waitSetHandle);
}