Initial commit

srcs/RobotNet10/RobotApp/RobotNet10.RobotApp/TF3/TF3NativeInterface.cs

@@ -0,0 +1,138 @@
+using System.Runtime.InteropServices;
+
+namespace RobotNet10.RobotApp.TF3;
+
+/// <summary>
+/// C# P/Invoke wrapper for TF3 (Transform Framework) C API
+/// Provides coordinate transform management for robotics applications
+/// </summary>
+
+/// <summary>
+/// Opaque handle to TF3 BufferCore (TF3_BufferCore in C API)
+/// </summary>
+public struct TF3_BufferCore
+{
+    public IntPtr Handle;
+}
+
+/// <summary>
+/// Transform structure for TF3 (matches TF3_Transform in C API)
+/// </summary>
+[StructLayout(LayoutKind.Sequential)]
+public struct TF3_Transform
+{
+    // Header
+    public long timestamp_sec;
+    public long timestamp_nsec;
+    
+    [MarshalAs(UnmanagedType.ByValTStr, SizeConst = 256)]
+    public string frame_id;
+    
+    [MarshalAs(UnmanagedType.ByValTStr, SizeConst = 256)]
+    public string child_frame_id;
+    
+    // Translation
+    public double translation_x;
+    public double translation_y;
+    public double translation_z;
+    
+    // Rotation (quaternion)
+    public double rotation_x;
+    public double rotation_y;
+    public double rotation_z;
+    public double rotation_w;
+}
+
+/// <summary>
+/// TF3 error codes (matches TF3_ErrorCode in C API)
+/// </summary>
+public enum TF3_ErrorCode
+{
+    TF3_OK = 0,
+    TF3_ERROR_LOOKUP = 1,
+    TF3_ERROR_CONNECTIVITY = 2,
+    TF3_ERROR_EXTRAPOLATION = 3,
+    TF3_ERROR_INVALID_ARGUMENT = 4,
+    TF3_ERROR_TIMEOUT = 5,
+    TF3_ERROR_UNKNOWN = 99
+}
+
+/// <summary>
+/// P/Invoke declarations for libtf3.so
+/// </summary>
+public static class TF3NativeInterface
+{
+    private const string LibraryPath = "/usr/local/lib/libtf3.so";
+
+    /// <summary>
+    /// Create TF3 buffer with cache time
+    /// </summary>
+    [DllImport(LibraryPath, CallingConvention = CallingConvention.Cdecl)]
+    public static extern IntPtr tf3_buffer_create(int cacheTimeSec);
+
+    /// <summary>
+    /// Destroy TF3 buffer
+    /// </summary>
+    [DllImport(LibraryPath, CallingConvention = CallingConvention.Cdecl)]
+    public static extern void tf3_buffer_destroy(IntPtr buffer);
+
+    /// <summary>
+    /// Set a transform in the buffer
+    /// </summary>
+    [DllImport(LibraryPath, CallingConvention = CallingConvention.Cdecl)]
+    public static extern bool tf3_set_transform(
+        IntPtr buffer,
+        ref TF3_Transform transform,
+        string authority,
+        bool isStatic);
+
+    /// <summary>
+    /// Lookup transform between two frames
+    /// </summary>
+    [DllImport(LibraryPath, CallingConvention = CallingConvention.Cdecl)]
+    public static extern bool tf3_lookup_transform(
+        IntPtr buffer,
+        string targetFrame,
+        string sourceFrame,
+        long timeSec,
+        long timeNsec,
+        ref TF3_Transform transform,
+        ref TF3_ErrorCode errorCode);
+
+    /// <summary>
+    /// Check if transform can be computed
+    /// </summary>
+    [DllImport(LibraryPath, CallingConvention = CallingConvention.Cdecl)]
+    public static extern bool tf3_can_transform(
+        IntPtr buffer,
+        string targetFrame,
+        string sourceFrame,
+        long timeSec,
+        long timeNsec,
+        IntPtr errorMsg,
+        int errorMsgLen);
+
+    /// <summary>
+    /// Clear all transforms
+    /// </summary>
+    [DllImport(LibraryPath, CallingConvention = CallingConvention.Cdecl)]
+    public static extern void tf3_clear(IntPtr buffer);
+
+    /// <summary>
+    /// Get current time
+    /// </summary>
+    [DllImport(LibraryPath, CallingConvention = CallingConvention.Cdecl)]
+    public static extern void tf3_get_current_time(ref long sec, ref long nsec);
+
+    /// <summary>
+    /// Get version string
+    /// </summary>
+    [DllImport(LibraryPath, CallingConvention = CallingConvention.Cdecl)]
+    public static extern IntPtr tf3_get_version();
+
+    // [DllImport(LibraryPath, CallingConvention = CallingConvention.Cdecl)]
+    // public static extern int tf3_get_all_frame_names(
+    //     TF3_BufferCore buffer,
+    //     IntPtr frames,
+    //     int frames_len);
+}