static PublisherDelegates()
{
dllLoadUtils = DllLoadUtilsFactory.GetDllLoadUtils();
IntPtr nativelibrary = dllLoadUtils.LoadLibrary("rcldotnet_publisher");
IntPtr native_rcl_publish_ptr = dllLoadUtils.GetProcAddress(nativelibrary, "native_rcl_publish");
PublisherDelegates.native_rcl_publish = (NativeRCLPublishType)Marshal.GetDelegateForFunctionPointer(
native_rcl_publish_ptr, typeof(NativeRCLPublishType));
}
static RclCppDotnetDelegates()
{
dllLoadUtils = DllLoadUtilsFactory.GetDllLoadUtils();
IntPtr pDll = dllLoadUtils.LoadLibrary("rclcppdotnet");
IntPtr native_rclcpp_init_ptr = dllLoadUtils.GetProcAddress(pDll, "native_rclcpp_init");
RclCppDotnetDelegates.native_rclcpp_init = (NativeRclcppInitType)Marshal.GetDelegateForFunctionPointer(
native_rclcpp_init_ptr, typeof(NativeRclcppInitType));
IntPtr native_rclcpp_shutdown_ptr = dllLoadUtils.GetProcAddress(pDll, "native_rclcpp_shutdown");
RclCppDotnetDelegates.native_rclcpp_shutdown = (NativeRclcppShutdownType)Marshal.GetDelegateForFunctionPointer(
native_rclcpp_shutdown_ptr, typeof(NativeRclcppShutdownType));
}
static TransformListenerDelegates()
{
dllLoadUtils = DllLoadUtilsFactory.GetDllLoadUtils();
IntPtr nativeLibTFL = dllLoadUtils.LoadLibrary("transform_listener");
IntPtr native_construct_buffer_ptr = dllLoadUtils.GetProcAddress(nativeLibTFL, "native_construct_buffer");
TransformListenerDelegates.native_construct_buffer = (NativeConstructBufferType)Marshal.GetDelegateForFunctionPointer(
native_construct_buffer_ptr, typeof(NativeConstructBufferType));
IntPtr native_delete_buffer_ptr = dllLoadUtils.GetProcAddress(nativeLibTFL, "native_delete_buffer");
TransformListenerDelegates.native_delete_buffer = (NativeDeleteBufferType)Marshal.GetDelegateForFunctionPointer(
native_delete_buffer_ptr, typeof(NativeDeleteBufferType));
IntPtr native_construct_listener_ptr = dllLoadUtils.GetProcAddress(nativeLibTFL, "native_construct_listener");
TransformListenerDelegates.native_construct_listener = (NativeConstructListenerType)Marshal.GetDelegateForFunctionPointer(
native_construct_listener_ptr, typeof(NativeConstructListenerType));
IntPtr native_delete_listener_ptr = dllLoadUtils.GetProcAddress(nativeLibTFL, "native_delete_listener");
TransformListenerDelegates.native_delete_listener = (NativeDeleteListenerType)Marshal.GetDelegateForFunctionPointer(
native_delete_listener_ptr, typeof(NativeDeleteListenerType));
IntPtr native_construct_time_ptr = dllLoadUtils.GetProcAddress(nativeLibTFL, "native_construct_time");
TransformListenerDelegates.native_construct_time = (NativeConstructTimeType)Marshal.GetDelegateForFunctionPointer(
native_construct_time_ptr, typeof(NativeConstructTimeType));
IntPtr native_lookup_transform_ptr = dllLoadUtils.GetProcAddress(nativeLibTFL, "native_lookup_transform");
TransformListenerDelegates.native_lookup_transform = (NativeLookupTransformType)Marshal.GetDelegateForFunctionPointer(
native_lookup_transform_ptr, typeof(NativeLookupTransformType));
IntPtr native_retrieve_translation_ptr = dllLoadUtils.GetProcAddress(nativeLibTFL, "native_retrieve_translation");
TransformListenerDelegates.native_retrieve_translation = (NativeRetrieveTranslationType)Marshal.GetDelegateForFunctionPointer(
native_retrieve_translation_ptr, typeof(NativeRetrieveTranslationType));
IntPtr native_retrieve_rotation_ptr = dllLoadUtils.GetProcAddress(nativeLibTFL, "native_retrieve_rotation");
TransformListenerDelegates.native_retrieve_rotation = (NativeRetrieveRotationType)Marshal.GetDelegateForFunctionPointer(
native_retrieve_rotation_ptr, typeof(NativeRetrieveRotationType));
}
static NodeDelegates()
{
dllLoadUtils = DllLoadUtilsFactory.GetDllLoadUtils();
IntPtr nativelibrary = dllLoadUtils.LoadLibrary("rcldotnet_node");
IntPtr native_rcl_create_publisher_handle_ptr = dllLoadUtils.GetProcAddress(
nativelibrary, "native_rcl_create_publisher_handle");
NodeDelegates.native_rcl_create_publisher_handle =
(NativeRCLCreatePublisherHandleType)Marshal.GetDelegateForFunctionPointer(
native_rcl_create_publisher_handle_ptr, typeof(NativeRCLCreatePublisherHandleType));
IntPtr native_rcl_create_subscription_handle_ptr = dllLoadUtils.GetProcAddress(
nativelibrary, "native_rcl_create_subscription_handle");
NodeDelegates.native_rcl_create_subscription_handle =
(NativeRCLCreateSubscriptionHandleType)Marshal.GetDelegateForFunctionPointer(
native_rcl_create_subscription_handle_ptr, typeof(NativeRCLCreateSubscriptionHandleType));
}
static RCLdotnetDelegates()
{
dllLoadUtils = DllLoadUtilsFactory.GetDllLoadUtils();
string library_name = "rcldotnet";
IntPtr pDll = dllLoadUtils.LoadLibrary(library_name);
IntPtr native_rcl_init_ptr =
dllLoadUtils.GetProcAddress(pDll, "native_rcl_init");
RCLdotnetDelegates.native_rcl_init =
(NativeRCLInitType)Marshal.GetDelegateForFunctionPointer(
native_rcl_init_ptr, typeof(NativeRCLInitType));
IntPtr native_rcl_get_rmw_identifier_ptr =
dllLoadUtils.GetProcAddress(pDll, "native_rcl_get_rmw_identifier");
RCLdotnetDelegates.native_rcl_get_rmw_identifier =
(NativeRCLGetRMWIdentifierType)Marshal.GetDelegateForFunctionPointer(
native_rcl_get_rmw_identifier_ptr, typeof(NativeRCLGetRMWIdentifierType));
IntPtr native_rcl_ok_ptr =
dllLoadUtils.GetProcAddress(pDll, "native_rcl_ok");
RCLdotnetDelegates.native_rcl_ok =
(NativeRCLOkType)Marshal.GetDelegateForFunctionPointer(
native_rcl_ok_ptr, typeof(NativeRCLOkType));
IntPtr native_rcl_create_node_handle_ptr =
dllLoadUtils.GetProcAddress(pDll, "native_rcl_create_node_handle");
RCLdotnetDelegates.native_rcl_create_node_handle =
(NativeRCLCreateNodeHandleType)Marshal.GetDelegateForFunctionPointer(
native_rcl_create_node_handle_ptr, typeof(NativeRCLCreateNodeHandleType));
IntPtr native_rcl_get_zero_initialized_wait_set_ptr =
dllLoadUtils.GetProcAddress(pDll, "native_rcl_get_zero_initialized_wait_set");
RCLdotnetDelegates.native_rcl_get_zero_initialized_wait_set =
(NativeRCLGetZeroInitializedWaitSetType)Marshal.GetDelegateForFunctionPointer(
native_rcl_get_zero_initialized_wait_set_ptr, typeof(NativeRCLGetZeroInitializedWaitSetType));
IntPtr native_rcl_wait_set_init_ptr =
dllLoadUtils.GetProcAddress(pDll, "native_rcl_wait_set_init");
RCLdotnetDelegates.native_rcl_wait_set_init =
(NativeRCLWaitSetInitType)Marshal.GetDelegateForFunctionPointer(
native_rcl_wait_set_init_ptr, typeof(NativeRCLWaitSetInitType));
IntPtr native_rcl_wait_set_clear_ptr =
dllLoadUtils.GetProcAddress(pDll, "native_rcl_wait_set_clear");
RCLdotnetDelegates.native_rcl_wait_set_clear =
(NativeRCLWaitSetClearType)Marshal.GetDelegateForFunctionPointer(
native_rcl_wait_set_clear_ptr, typeof(NativeRCLWaitSetClearType));
IntPtr native_rcl_wait_set_add_subscription_ptr =
dllLoadUtils.GetProcAddress(pDll, "native_rcl_wait_set_add_subscription");
RCLdotnetDelegates.native_rcl_wait_set_add_subscription =
(NativeRCLWaitSetAddSubscriptionType)Marshal.GetDelegateForFunctionPointer(
native_rcl_wait_set_add_subscription_ptr, typeof(NativeRCLWaitSetAddSubscriptionType));
IntPtr native_rcl_destroy_wait_set_ptr =
dllLoadUtils.GetProcAddress(pDll, "native_rcl_destroy_wait_set");
RCLdotnetDelegates.native_rcl_destroy_wait_set =
(NativeRCLDestroyWaitSetType)Marshal.GetDelegateForFunctionPointer(
native_rcl_destroy_wait_set_ptr, typeof(NativeRCLDestroyWaitSetType));
IntPtr native_rcl_wait_ptr =
dllLoadUtils.GetProcAddress(pDll, "native_rcl_wait");
RCLdotnetDelegates.native_rcl_wait =
(NativeRCLWaitType)Marshal.GetDelegateForFunctionPointer(
native_rcl_wait_ptr, typeof(NativeRCLWaitType)
);
IntPtr native_rcl_take_ptr =
dllLoadUtils.GetProcAddress(pDll, "native_rcl_take");
RCLdotnetDelegates.native_rcl_take =
(NativeRCLTakeType)Marshal.GetDelegateForFunctionPointer(
native_rcl_take_ptr, typeof(NativeRCLTakeType));
}
