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guard conditions: add guard conditions
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,71 @@ | ||
| /* Copyright 2022 Stefan Hoffmann <[email protected]> | ||
| * | ||
| * Licensed under the Apache License, Version 2.0 (the "License"); | ||
| * you may not use this file except in compliance with the License. | ||
| * You may obtain a copy of the License at | ||
| * | ||
| * http://www.apache.org/licenses/LICENSE-2.0 | ||
| * | ||
| * Unless required by applicable law or agreed to in writing, software | ||
| * distributed under the License is distributed on an "AS IS" BASIS, | ||
| * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. | ||
| * See the License for the specific language governing permissions and | ||
| * limitations under the License. | ||
| */ | ||
|
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| using System; | ||
| using System.Runtime.InteropServices; | ||
| using ROS2.Utils; | ||
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| namespace ROS2 | ||
| { | ||
| internal static class GuardConditionDelegates | ||
| { | ||
| internal static readonly DllLoadUtils _dllLoadUtils; | ||
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| [UnmanagedFunctionPointer(CallingConvention.Cdecl)] | ||
| internal delegate RCLRet NativeRCLTriggerGuardConditionType( | ||
| SafeGuardConditionHandle guardConditionHandle); | ||
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| internal static NativeRCLTriggerGuardConditionType native_rcl_trigger_guard_condition = null; | ||
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| static GuardConditionDelegates() | ||
| { | ||
| _dllLoadUtils = DllLoadUtilsFactory.GetDllLoadUtils(); | ||
| IntPtr nativeLibrary = _dllLoadUtils.LoadLibrary("rcldotnet"); | ||
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| IntPtr native_rcl_trigger_guard_condition_ptr = _dllLoadUtils.GetProcAddress(nativeLibrary, "native_rcl_trigger_guard_condition"); | ||
| GuardConditionDelegates.native_rcl_trigger_guard_condition = (NativeRCLTriggerGuardConditionType)Marshal.GetDelegateForFunctionPointer( | ||
| native_rcl_trigger_guard_condition_ptr, typeof(NativeRCLTriggerGuardConditionType)); | ||
| } | ||
| } | ||
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| public sealed class GuardCondition | ||
| { | ||
| private readonly Action _callback; | ||
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| internal GuardCondition(SafeGuardConditionHandle handle, Action callback) | ||
| { | ||
| Handle = handle; | ||
| _callback = callback; | ||
| } | ||
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| // GuardCondition does intentionally (for now) not implement IDisposable as this | ||
| // needs some extra consideration how the type works after its | ||
| // internal handle is disposed. | ||
| // By relying on the GC/Finalizer of SafeHandle the handle only gets | ||
| // Disposed if the publisher is not live anymore. | ||
| internal SafeGuardConditionHandle Handle { get; } | ||
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| public void Trigger() | ||
| { | ||
| RCLRet ret = GuardConditionDelegates.native_rcl_trigger_guard_condition(Handle); | ||
| RCLExceptionHelper.CheckReturnValue(ret); | ||
| } | ||
|
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| internal void TriggerCallback() | ||
| { | ||
| _callback(); | ||
| } | ||
| } | ||
| } |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,41 @@ | ||
| /* Copyright 2022 Stefan Hoffmann <[email protected]> | ||
| * | ||
| * Licensed under the Apache License, Version 2.0 (the "License"); | ||
| * you may not use this file except in compliance with the License. | ||
| * You may obtain a copy of the License at | ||
| * | ||
| * http://www.apache.org/licenses/LICENSE-2.0 | ||
| * | ||
| * Unless required by applicable law or agreed to in writing, software | ||
| * distributed under the License is distributed on an "AS IS" BASIS, | ||
| * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. | ||
| * See the License for the specific language governing permissions and | ||
| * limitations under the License. | ||
| */ | ||
|
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| using System.Diagnostics; | ||
| using Microsoft.Win32.SafeHandles; | ||
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| namespace ROS2 | ||
| { | ||
| /// <summary> | ||
| /// Safe handle representing a rcl_guard_condition_t | ||
| /// </summary> | ||
| internal sealed class SafeGuardConditionHandle : SafeHandleZeroOrMinusOneIsInvalid | ||
| { | ||
| public SafeGuardConditionHandle() | ||
| : base(ownsHandle: true) | ||
| { | ||
| } | ||
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| protected override bool ReleaseHandle() | ||
| { | ||
| RCLRet ret = RCLdotnetDelegates.native_rcl_destroy_guard_condition_handle(handle); | ||
| bool successfullyFreed = ret == RCLRet.Ok; | ||
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| Debug.Assert(successfullyFreed); | ||
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| return successfullyFreed; | ||
| } | ||
| } | ||
| } |
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