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 void SubscriptionInit() { // init RCLReturnEnum ret; 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(); string name = "subscription_test"; string nodeNamespace = "/ns"; IntPtr defaultNodeOptions = NativeMethods.rclcs_node_create_default_options(); NativeMethods.rcl_node_init(ref node, name, nodeNamespace, ref context, defaultNodeOptions); rcl_subscription_t subscription = NativeMethods.rcl_get_zero_initialized_subscription(); IntPtr subscriptionOptions = NativeMethods.rclcs_subscription_create_default_options(); MethodInfo m = typeof(std_msgs.msg.Bool).GetTypeInfo().GetDeclaredMethod("_GET_TYPE_SUPPORT"); IntPtr typeSupportHandle = (IntPtr)m.Invoke(null, new object[] { }); ret = (RCLReturnEnum)NativeMethods.rcl_subscription_init(ref subscription, ref node, typeSupportHandle, "/subscriber_test_topic", subscriptionOptions); Assert.That(ret, Is.EqualTo(RCLReturnEnum.RCL_RET_OK), Utils.PopRclErrorString()); // shutdown ret = (RCLReturnEnum)NativeMethods.rcl_subscription_fini(ref subscription, ref node); NativeMethods.rclcs_subscription_dispose_options(subscriptionOptions); Assert.That(ret, Is.EqualTo(RCLReturnEnum.RCL_RET_OK), Utils.PopRclErrorString()); NativeMethods.rcl_node_fini(ref node); NativeMethods.rclcs_node_dispose_options(defaultNodeOptions); NativeMethods.rcl_shutdown(ref context); NativeMethods.rcl_context_fini(ref context); }
public void CreateClock() { rcl_allocator_t allocator = NativeMethods.rcutils_get_default_allocator(); IntPtr clockHandle = NativeMethods.rclcs_ros_clock_create(ref allocator); NativeMethods.rclcs_ros_clock_dispose(clockHandle); }
public void InitOptionsInit() { rcl_init_options_t init_options = NativeMethods.rcl_get_zero_initialized_init_options(); rcl_allocator_t allocator = NativeMethods.rcl_get_default_allocator(); int ret = NativeMethods.rcl_init_options_init(ref init_options, allocator); Assert.That((RCLReturnEnum)ret, Is.EqualTo(RCLReturnEnum.RCL_RET_OK)); }
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 ClockGetNow() { rcl_allocator_t allocator = NativeMethods.rcutils_get_default_allocator(); IntPtr clockHandle = NativeMethods.rclcs_ros_clock_create(ref allocator); long queryNow = 0; NativeMethods.rcl_clock_get_now(clockHandle, ref queryNow); Assert.That(queryNow, Is.Not.EqualTo(0)); NativeMethods.rclcs_ros_clock_dispose(clockHandle); }
public void SetUp() { RCLReturnEnum ret; NativeMethods.rcl_reset_error(); rcl_init_options_t init_options = NativeMethods.rcl_get_zero_initialized_init_options(); rcl_allocator_t allocator = NativeMethods.rcl_get_default_allocator(); ret = (RCLReturnEnum)NativeMethods.rcl_init_options_init(ref init_options, allocator); context = NativeMethods.rcl_get_zero_initialized_context(); ret = (RCLReturnEnum)NativeMethods.rcl_init(0, null, ref init_options, ref context); }
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_allocator_t allocator = NativeMethods.rcutils_get_default_allocator(); 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, 0, ref context, 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 static void InitRcl(ref rcl_context_t context) { RCLReturnEnum ret; NativeMethods.rcl_reset_error(); rcl_init_options_t init_options = NativeMethods.rcl_get_zero_initialized_init_options(); rcl_allocator_t allocator = NativeMethods.rcutils_get_default_allocator(); ret = (RCLReturnEnum)NativeMethods.rcl_init_options_init(ref init_options, allocator); Assert.That(ret, Is.EqualTo(RCLReturnEnum.RCL_RET_OK)); context = NativeMethods.rcl_get_zero_initialized_context(); ret = (RCLReturnEnum)NativeMethods.rcl_init(0, null, ref init_options, ref context); Assert.That(ret, Is.EqualTo(RCLReturnEnum.RCL_RET_OK), Utils.PopRclErrorString()); Assert.That(NativeMethods.rcl_context_is_valid(ref context), Is.True); }
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)); }
public void SetUp() { // init 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(); string name = "subscription_test"; string nodeNamespace = "/ns"; defaultNodeOptions = NativeMethods.rclcs_node_create_default_options(); NativeMethods.rcl_node_init(ref node, name, nodeNamespace, ref context, defaultNodeOptions); subscription = NativeMethods.rcl_get_zero_initialized_subscription(); subscriptionOptions = NativeMethods.rclcs_subscription_create_default_options(); MethodInfo m = typeof(std_msgs.msg.Bool).GetTypeInfo().GetDeclaredMethod("_GET_TYPE_SUPPORT"); IntPtr typeSupportHandle = (IntPtr)m.Invoke(null, new object[] { }); NativeMethods.rcl_subscription_init(ref subscription, ref node, typeSupportHandle, "/subscriber_test_topic", subscriptionOptions); }
public void GetDefaultAllocator() { rcl_allocator_t allocator = NativeMethods.rcl_get_default_allocator(); }