回答編集履歴
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例示のh/cpp追加
test
CHANGED
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@@ -3,3 +3,98 @@
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urg_tについては、WrappingClassが持つにしても、Managed側に露出する必要がないと思いますよ。
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ref classは実体を持てないので、ポインタ(urg_t*)にして、WrappingClassのコンストラクタでnewなりmallocなりすればいいです。
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つまりはこういう感じのコードになるんですよね。
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```C++
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#pragma once
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using OutAttribute = System::Runtime::InteropServices::OutAttribute;
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namespace QRK
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{
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public enum class ConnectionType {
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Serial,
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Ethernet,
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};
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public enum class MeasurementType {
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Distance,
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Distance_intensity,
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Multiecho,
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Multiecho_intensity,
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};
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public ref class UrgDriver
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{
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public:
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static const int DefaultBaudrate = 115200;
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static const int DefaultPort = 10940;
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static const int InfinityTimes = -1;
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UrgDriver(void);
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~UrgDriver(void);
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static array<System::String^>^ FindPorts(void);
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static array<System::String^>^ FindPorts([Out] array<bool>^% is_urg_ports);
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System::String^ What(void);
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bool Open(System::String^ device_name) { return Open(device_name, Default_baudrate, ConnectionType::Serial); }
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bool Open(System::String^ device_name, int baudrate) { return Open(device_name, baudrate, ConnectionType::Serial); }
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bool Open(System::String^ device_name, int baudrate, ConnectionType type);
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void Close(void);
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...略...
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private:
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void adjust_time_stamp(int% time_stamp)
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{
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time_stamp += time_stamp_offset_;
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}
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urg_t* urg_;
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MeasurementType last_measure_type_;
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int time_stamp_offset_;
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System::String^ product_type_;
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System::String^ firmware_version_;
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System::String^ serial_id_;
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};
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```
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```C++
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#include "ticks.h"
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extern "C" {
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#include "urg_sensor.h"
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#include "urg_utils.h"
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#include "urg_serial_utils.h"
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#include "urg_errno.h"
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#include "urg_debug.h"
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}
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#include "UrgDriver.h"
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#include <string>
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#include <vector>
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#include <msclr\marshal.h>
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using namespace msclr::interop;
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using namespace qrk;
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namespace QRK
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{
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UrgDriver::UrgDriver(void)
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{
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urg_ = new urg_t;
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urg_t_initialize(urg_);
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}
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array<System::String^>^ UrgDriver::FindPorts(void)
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{
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array<bool>^ dummy_is_urg_port;
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return FindPorts(dummy_is_urg_port);
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}
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array<System::String^>^ UrgDriver::FindPorts(array<bool>^% is_urg_ports)
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{
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int n = urg_serial_find_port();
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array<System::String^>^ found_ports = gcnew array<System::String^>(n);
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is_urg_ports = gcnew array<bool>(n);
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for (int i = 0; i < n; ++i) {
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found_ports[i] = marshal_as<System::String^>(urg_serial_port_name(i));
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is_urg_ports[i] = urg_serial_is_urg_port(i) ? true : false;
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}
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return found_ports;
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}
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...略...
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```
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