rclex

#ifdef __cplusplus
extern "C"
{
#endif

#include <erl_nif.h>
#include <stdio.h>
#include "init_nif.h"
#include "total_nif.h"
#include "rcl/rcl.h"
#include "rcl/context.h"
#include "rcl/init_options.h"
#include "rcutils/allocator.h"

#ifdef DEBUG_BUILD
#define DEBUG_PRINTF(fmt, ...)  \
  do                            \
  {                             \
    printf("[%s] ", __FILE__);  \
    printf(fmt, ##__VA_ARGS__); \
  } while (0)
#else
#define DEBUG_PRINTF(fmt, ...)
#endif

ERL_NIF_TERM nif_rcl_get_zero_initialized_init_options(ErlNifEnv* env, int argc, const ERL_NIF_TERM argv[])
{
  if(argc != 0) {
    return enif_make_badarg(env);
  }
  rcl_init_options_t* res;
  ERL_NIF_TERM ret;
  res = enif_alloc_resource(rt_init_options,sizeof(rcl_init_options_t));
  if(res == NULL) {
    return enif_make_badarg(env);
  }
  ret = enif_make_resource(env,res);
  enif_release_resource(res);

  *res = rcl_get_zero_initialized_init_options();

  return ret;
}

ERL_NIF_TERM nif_rcl_init_options_init(ErlNifEnv* env, int argc, const ERL_NIF_TERM argv[])
{
  if(argc != 1) {
    return enif_make_badarg(env);
  }
  rcl_init_options_t* res_init_options;
  rcl_ret_t* res_ret;
  ERL_NIF_TERM ret;
  if(!enif_get_resource(env, argv[0], rt_init_options, (void**) &res_init_options)) {
    return enif_make_badarg(env);
  }

  res_ret = enif_alloc_resource(rt_ret,sizeof(rcl_ret_t));
  if(res_ret == NULL) {
    return enif_make_badarg(env);
  }
  ret = enif_make_resource(env,res_ret);
  enif_release_resource(res_ret);
  *res_ret = rcl_init_options_init(res_init_options,rcutils_get_default_allocator());
  return enif_make_atom(env,"ok");
}

ERL_NIF_TERM nif_rcl_get_zero_initialized_context(ErlNifEnv* env, int argc, const ERL_NIF_TERM argv[])
{
  if(argc != 0) {
    return enif_make_badarg(env);
  }
  rcl_context_t* res;
  ERL_NIF_TERM ret;
  res = enif_alloc_resource(rt_context,sizeof(rcl_context_t));
  if(res == NULL) {
    return enif_make_badarg(env);
  }
  ret = enif_make_resource(env,res);
  enif_release_resource(res);

  *res = rcl_get_zero_initialized_context();

  return ret;
}

ERL_NIF_TERM nif_rcl_init_with_null(ErlNifEnv* env, int argc, const ERL_NIF_TERM argv[])
{

  if(argc != 2) {
    return enif_make_badarg(env);
  }

  rcl_ret_t* res;
  ERL_NIF_TERM ret;
  const rcl_init_options_t* res_options;
  rcl_context_t* res_context;

  if(!enif_get_resource(env, argv[0], rt_init_options, (void**) &res_options)) {
    return enif_make_badarg(env);
  }
  if(!enif_get_resource(env, argv[1], rt_context, (void**) &res_context)) {
    return enif_make_badarg(env);
  }
  res = enif_alloc_resource(rt_ret,sizeof(rcl_ret_t));
  if(res == NULL) {
    return enif_make_badarg(env);
  }
  ret = enif_make_resource(env,res);
  enif_release_resource(res);

  *res = rcl_init(0,NULL,res_options,res_context);
  DEBUG_PRINTF("finished rcl_init\n");
  return ret;
}

ERL_NIF_TERM nif_rcl_init_options_fini(ErlNifEnv* env, int argc, const ERL_NIF_TERM argv[])
{
  if(argc != 1) {
    return enif_make_badarg(env);
  }
  rcl_ret_t* res;
  ERL_NIF_TERM ret;

  rcl_init_options_t* res_init_options;

  if(!enif_get_resource(env,argv[0],rt_init_options,(void**)&res_init_options)) {
    return enif_make_badarg(env);
  }

  res = enif_alloc_resource(rt_ret,sizeof(rcl_ret_t));
  if(res == NULL) {
    return enif_make_badarg(env);
  }
  ret = enif_make_resource(env,res);
  enif_release_resource(res);
  *res = rcl_init_options_fini(res_init_options);

  return ret;

}

ERL_NIF_TERM nif_rcl_shutdown(ErlNifEnv* env, int argc, const ERL_NIF_TERM argv[])
{
  DEBUG_PRINTF("enter rcl_shutdown\n");
  if(argc != 1) {
    return enif_make_badarg(env);
  }
  rcl_ret_t* res;
  ERL_NIF_TERM ret;

  rcl_context_t* res_arg_context;
  if(!enif_get_resource(env,argv[0],rt_context,(void**) &res_arg_context)) {
    return enif_make_badarg(env);
  }
  res = enif_alloc_resource(rt_ret,sizeof(rcl_ret_t));
  if(res == NULL) {
    return enif_make_badarg(env);
  }
  ret = enif_make_resource(env,res);
  enif_release_resource(res);
  *res = rcl_shutdown(res_arg_context);
  return enif_make_tuple2(env,atom_ok,ret);
}
#ifdef __cplusplus
}
#endif