Initial commit

srcs/RobotNet10/RobotApp/Communication/CeresSharp/Native/SafeHandles/ProblemHandle.cs

@@ -0,0 +1,60 @@
+using System;
+using System.Runtime.InteropServices;
+using CeresSharp.Native;
+
+namespace CeresSharp.Native.SafeHandles;
+
+/// <summary>
+/// Safe handle for Ceres Problem.
+/// Note: Uses official C API (ceres_create_problem/ceres_free_problem).
+/// </summary>
+internal sealed class ProblemHandle : BaseSafeHandle
+{
+    private ProblemHandle() : base()
+    {
+    }
+
+    private ProblemHandle(IntPtr handle, bool ownsHandle) : base(handle, ownsHandle)
+    {
+    }
+
+    public static ProblemHandle Create()
+    {
+        // Note: ceres_create_problem is from official C API, not wrapper
+        // We'll need to import it separately or use wrapper function if available
+        var handle = CeresNative.ceres_create_problem();
+        if (handle == IntPtr.Zero)
+        {
+            throw new Exceptions.CeresException(Exceptions.CeresErrorCode.OutOfMemory, "Failed to create problem");
+        }
+        return new ProblemHandle(handle, true);
+    }
+
+    public static ProblemHandle CreateWithOptions(IntPtr problemOptions)
+    {
+        var handle = CeresNative.ceres_wrapper_create_problem_with_options(problemOptions);
+        if (handle == IntPtr.Zero)
+        {
+            throw new Exceptions.CeresException(Exceptions.CeresErrorCode.OutOfMemory, "Failed to create problem with options");
+        }
+        return new ProblemHandle(handle, true);
+    }
+
+    protected override void ReleaseNativeHandle(IntPtr handle)
+    {
+        // Note: ceres_free_problem is from official C API
+        // Add null check to prevent crash if handle is invalid
+        if (handle != IntPtr.Zero)
+        {
+            try
+            {
+                CeresNative.ceres_free_problem(handle);
+            }
+            catch
+            {
+                // Ignore errors - handle may already be freed or invalid
+                // This can happen in finalizer thread
+            }
+        }
+    }
+}