Implemented RCL global argument parsing.

rcldotnet/Node.cs

@@ -96,6 +96,14 @@ internal delegate RCLRet NativeRCLActionDestroyServerHandleType(
 
         internal static NativeRCLActionDestroyServerHandleType native_rcl_action_destroy_server_handle = null;
 
+        [UnmanagedFunctionPointer(CallingConvention.Cdecl)]
+        internal delegate string NativeRCLGetStringType(
+            SafeNodeHandle nodeHandle);
+
+        internal static NativeRCLGetStringType native_rcl_get_name_handle = null;
+
+        internal static NativeRCLGetStringType native_rcl_get_namespace_handle = null;
+
         static NodeDelegates()
         {
             _dllLoadUtils = DllLoadUtilsFactory.GetDllLoadUtils();
@@ -182,6 +190,18 @@ static NodeDelegates()
             NodeDelegates.native_rcl_action_destroy_server_handle =
                 (NativeRCLActionDestroyServerHandleType)Marshal.GetDelegateForFunctionPointer(
                     native_rcl_action_destroy_server_handle_ptr, typeof(NativeRCLActionDestroyServerHandleType));
+
+            IntPtr native_rcl_get_name_handle_ptr = _dllLoadUtils.GetProcAddress(
+                nativeLibrary, "native_rcl_get_name_handle");
+            NodeDelegates.native_rcl_get_name_handle =
+                (NativeRCLGetStringType)Marshal.GetDelegateForFunctionPointer(
+                    native_rcl_get_name_handle_ptr, typeof(NativeRCLGetStringType));
+
+            IntPtr native_rcl_get_namespace_handle_ptr = _dllLoadUtils.GetProcAddress(
+                nativeLibrary, "native_rcl_get_namespace_handle");
+            NodeDelegates.native_rcl_get_namespace_handle =
+                (NativeRCLGetStringType)Marshal.GetDelegateForFunctionPointer(
+                    native_rcl_get_namespace_handle_ptr, typeof(NativeRCLGetStringType));
         }
     }
 
@@ -440,5 +460,9 @@ private static CancelResponse DefaultCancelCallback(ActionServerGoalHandle goalH
         {
             return CancelResponse.Reject;
         }
+
+        public string GetName() => NodeDelegates.native_rcl_get_name_handle(Handle);
+
+        public string GetNamespace() => NodeDelegates.native_rcl_get_namespace_handle(Handle);
     }
 }

rcldotnet/RCLdotnet.cs

@@ -26,7 +26,8 @@ internal static class RCLdotnetDelegates
         internal static readonly DllLoadUtils _dllLoadUtils;
 
         [UnmanagedFunctionPointer(CallingConvention.Cdecl)]
-        internal delegate RCLRet NativeRCLInitType();
+        internal delegate RCLRet NativeRCLInitType(
+            int argc, [MarshalAs(UnmanagedType.LPArray, ArraySubType = UnmanagedType.LPStr)] string[] argv);
 
         internal static NativeRCLInitType native_rcl_init = null;
 
@@ -1396,7 +1397,8 @@ public static void Init()
             {
                 if (!initialized)
                 {
-                    RCLRet ret = RCLdotnetDelegates.native_rcl_init();
+                    string[] args = System.Environment.GetCommandLineArgs();
+                    RCLRet ret = RCLdotnetDelegates.native_rcl_init(args.Length, args);
                     RCLExceptionHelper.CheckReturnValue(ret, $"{nameof(RCLdotnetDelegates.native_rcl_init)}() failed.");
                     initialized = true;
                 }

rcldotnet/rcldotnet.c

@@ -28,18 +28,15 @@
 static rcl_context_t context;
 static rcl_clock_t clock;
 
-int32_t native_rcl_init() {
-  // TODO(esteve): parse args
-  int num_args = 0;
+int32_t native_rcl_init(int argc, const char *argv[]) {
   context = rcl_get_zero_initialized_context();
   rcl_allocator_t allocator = rcl_get_default_allocator();
   rcl_init_options_t init_options = rcl_get_zero_initialized_init_options();
   rcl_ret_t ret = rcl_init_options_init(&init_options, allocator);
   if (RCL_RET_OK != ret) {
     return ret;
   }
-  const char ** arg_values = NULL;
-  ret = rcl_init(num_args, arg_values, &init_options, &context);
+  ret = rcl_init(argc, argv, &init_options, &context);
   if (ret != RCL_RET_OK) {
     return ret;
   }

rcldotnet/rcldotnet.h

@@ -18,7 +18,7 @@
 #include "rcldotnet_macros.h"
 
 RCLDOTNET_EXPORT
-int32_t RCLDOTNET_CDECL native_rcl_init();
+int32_t RCLDOTNET_CDECL native_rcl_init(int argc, const char *argv[]);
 
 rcl_clock_t *native_rcl_get_default_clock();
 

rcldotnet/rcldotnet_node.c

@@ -240,3 +240,25 @@ int32_t native_rcl_action_destroy_server_handle(void *action_server_handle, void
 
   return ret;
 }
+
+// Avoid problems caused by automatic free of the original string.
+const char * get_str_cpy(const char * src) {
+  size_t size = strlen(src) + 1;
+
+  char *copy = (char *)malloc(size);
+  memcpy(copy, src, size);
+
+  return copy;
+}
+
+const char * native_rcl_get_name_handle(void *node_handle) {
+  rcl_node_t *node = (rcl_node_t *)node_handle;
+
+  return get_str_cpy(rcl_node_get_name(node));
+}
+
+const char * native_rcl_get_namespace_handle(void *node_handle) {
+  rcl_node_t *node = (rcl_node_t *)node_handle;
+
+  return get_str_cpy(rcl_node_get_namespace(node));
+}

rcldotnet/rcldotnet_node.h

@@ -71,4 +71,10 @@ int32_t RCLDOTNET_CDECL native_rcl_action_create_server_handle(void **action_ser
 RCLDOTNET_EXPORT
 int32_t RCLDOTNET_CDECL native_rcl_action_destroy_server_handle(void *action_server_handle, void *node_handle);
 
+RCLDOTNET_EXPORT
+const char * RCLDOTNET_CDECL native_rcl_get_name_handle(void *node_handle);
+
+RCLDOTNET_EXPORT
+const char * RCLDOTNET_CDECL native_rcl_get_namespace_handle(void *node_handle);
+
 #endif // RCLDOTNET_NODE_H