Initial commit

srcs/RobotNet10/RobotApp/RobotNet10.RobotApp/MarkerDetection/MarkerDetectionNativeInterface.cs

@@ -0,0 +1,112 @@
+using System.Runtime.InteropServices;
+
+namespace RobotNet10.RobotApp.MarkerDetection;
+
+/// <summary>
+/// P/Invoke declarations for marker_detection C API
+/// </summary>
+public static class MarkerDetectionNativeInterface
+{
+    // Library path - adjust if needed
+    private const string LibraryPath = "/usr/local/lib/libmarker_detection.so";
+
+    #region Creation / Destruction
+
+    /// <summary>
+    /// Create a rectangle marker detection instance
+    /// </summary>
+    /// <param name="options">Marker options</param>
+    /// <param name="tfBuffer">TF3 buffer core (pass IntPtr.Zero if not using TF)</param>
+    /// <returns>Handle to marker detection instance</returns>
+    [DllImport(LibraryPath, CallingConvention = CallingConvention.Cdecl)]
+    public static extern IntPtr marker_detection_create_rectangle_md(
+        ref md_rectangle_marker_options_t options,
+        IntPtr tfBuffer);
+
+    /// <summary>
+    /// Create a segment marker detection instance
+    /// </summary>
+    /// <param name="options">Marker options</param>
+    /// <param name="tfBuffer">TF3 buffer core (pass IntPtr.Zero if not using TF)</param>
+    /// <returns>Handle to marker detection instance</returns>
+    [DllImport(LibraryPath, CallingConvention = CallingConvention.Cdecl)]
+    public static extern IntPtr marker_detection_create_segment_md(
+        ref md_segment_marker_options_t options,
+        IntPtr tfBuffer);
+
+    /// <summary>
+    /// Destroy a marker detection instance
+    /// </summary>
+    /// <param name="handle">Handle to marker detection instance</param>
+    [DllImport(LibraryPath, CallingConvention = CallingConvention.Cdecl)]
+    public static extern void marker_detection_destroy(IntPtr handle);
+
+    #endregion
+
+    #region Control
+
+    /// <summary>
+    /// Enable or disable marker detection
+    /// </summary>
+    /// <param name="handle">Handle to marker detection instance</param>
+    /// <param name="enable">1 to enable, 0 to disable</param>
+    [DllImport(LibraryPath, CallingConvention = CallingConvention.Cdecl)]
+    public static extern void marker_detection_set_enable_detection(IntPtr handle, int enable);
+
+    /// <summary>
+    /// Set estimated marker pose to improve stability
+    /// </summary>
+    /// <param name="handle">Handle to marker detection instance</param>
+    /// <param name="pose">Estimated 2D pose (x, y, theta) relative to laser scan sensor frame</param>
+    [DllImport(LibraryPath, CallingConvention = CallingConvention.Cdecl)]
+    public static extern void marker_detection_set_estimate_marker_pose(IntPtr handle, ref md_pose2d_t pose);
+
+    #endregion
+
+    #region Sensor Data Dispatch
+
+    /// <summary>
+    /// Dispatch laser scan data to marker detection
+    /// </summary>
+    /// <param name="handle">Handle to marker detection instance</param>
+    /// <param name="sensorId">Sensor ID (null-terminated string)</param>
+    /// <param name="scan">Pointer to laser scan struct</param>
+    [DllImport(LibraryPath, CallingConvention = CallingConvention.Cdecl)]
+    public static extern void marker_detection_dispatch_laserscan(
+        IntPtr handle,
+        [MarshalAs(UnmanagedType.LPUTF8Str)] string sensorId,
+        ref md_laserscan_t scan);
+
+    #endregion
+
+    #region Getters
+
+    /// <summary>
+    /// Get current marker pose estimate
+    /// </summary>
+    /// <param name="handle">Handle to marker detection instance</param>
+    /// <returns>Pointer to pose_stamped (must be freed with marker_detection_free_pose_stamped) or IntPtr.Zero if no pose available</returns>
+    [DllImport(LibraryPath, CallingConvention = CallingConvention.Cdecl)]
+    public static extern IntPtr marker_detection_get_marker_pose(IntPtr handle);
+
+    #endregion
+
+    #region Memory Management
+
+    /// <summary>
+    /// Free pose_stamped allocated by marker_detection_get_marker_pose
+    /// </summary>
+    /// <param name="p">Pointer to pose_stamped to free</param>
+    [DllImport(LibraryPath, CallingConvention = CallingConvention.Cdecl)]
+    public static extern void marker_detection_free_pose_stamped(IntPtr p);
+
+    /// <summary>
+    /// Free C string allocated by the API
+    /// </summary>
+    /// <param name="s">Pointer to C string to free</param>
+    [DllImport(LibraryPath, CallingConvention = CallingConvention.Cdecl)]
+    public static extern void marker_detection_free_cstring(IntPtr s);
+
+    #endregion
+}
+