/// <summary>
/// This method does the initilisation of the ros client lib
/// <remarks>Call this method before you do any other calls to ros
/// You can specify a custom memory allocator for ros but I wouldn't recommend doing this at the moment. </remarks>
/// </summary>
/// <param name="args">Arguments.</param>
/// <param name="custom_allocator">Custom allocator.</param>
public override void Init(String[] args, rcl_allocator_t custom_allocator)
{
if (args == null)
{
throw new ArgumentNullException();
}
RCLReturnValues retVal = (RCLReturnValues)rcl_init(args.Length, args, custom_allocator);
switch (retVal)
{
case RCLReturnValues.RCL_RET_OK:
break;
case RCLReturnValues.RCL_RET_ALREADY_INIT:
throw new RCLAlreadyInitExcption();
case RCLReturnValues.RCL_RET_BAD_ALLOC:
throw new RCLBadAllocException();
case RCLReturnValues.RCL_RET_ERROR:
throw new RCLErrorException(RCLErrorHandling.Instance.GetRMWErrorState());
default:
break;
}
}
public WaitSet(Context ctx, IList <ISubscriptionBase> subscriptions = null)
{
ulong numberOfSubscriptions;
if (subscriptions == null)
{
numberOfSubscriptions = 0;
subscriptions = new List <ISubscriptionBase>();
}
else
{
numberOfSubscriptions = (ulong)subscriptions.Count;
}
ulong numberOfGuardConditions = 0;
ulong numberOfTimers = 0;
ulong numberOfClients = 0;
ulong numberOfServices = 0;
ulong numberOfEvents = 0;
allocator = NativeMethods.rcutils_get_default_allocator();
handle = NativeMethods.rcl_get_zero_initialized_wait_set();
Utils.CheckReturnEnum(NativeMethods.rcl_wait_set_init(
ref handle,
numberOfSubscriptions,
numberOfGuardConditions,
numberOfTimers,
numberOfClients,
numberOfServices,
numberOfEvents,
ref ctx.handle,
allocator));
Clear();
foreach (ISubscriptionBase subscription in subscriptions)
{
rcl_subscription_t subscription_handle = subscription.Handle;
Utils.CheckReturnEnum(NativeMethods.rcl_wait_set_add_subscription(ref handle, ref subscription_handle, UIntPtr.Zero));
}
}
public Context()
{
handle = NativeMethods.rcl_get_zero_initialized_context();
allocator = NativeMethods.rcl_get_default_allocator();
}
static extern int rcl_init(int argc, [In, Out] String[] argv, rcl_allocator_t allocator);
public Clock()
{
rcl_allocator_t allocator = NativeMethods.rcutils_get_default_allocator();
handle = NativeMethods.rclcs_ros_clock_create(ref allocator);
}
public abstract void Init(String[] args, rcl_allocator_t custom_allocator);
public void Init(String[] args, rcl_allocator_t custom_allocator)
{
Impl.Init (args, custom_allocator);
}
