service_event_publisher.h

// Copyright 2022 Open Source Robotics Foundation, Inc.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
//     http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
 
#ifndef RCL__SERVICE_EVENT_PUBLISHER_H_
#define RCL__SERVICE_EVENT_PUBLISHER_H_
 
#ifdef __cplusplus
extern "C"
{
#endif
 
#include <stdbool.h>
#include <stdint.h>
 
#include "rcl/macros.h"
#include "rcl/node.h"
#include "rcl/publisher.h"
#include "rcl/service_introspection.h"
#include "rcl/time.h"
#include "rcl/types.h"
#include "rcl/visibility_control.h"
 
#include "rosidl_runtime_c/service_type_support_struct.h"
 
typedef struct rcl_service_event_publisher_s
{
  rcl_publisher_t * publisher;
  char * service_event_topic_name;
  rcl_service_introspection_state_t introspection_state;
  rcl_clock_t * clock;
  rcl_publisher_options_t publisher_options;
  const rosidl_service_type_support_t * service_type_support;
} rcl_service_event_publisher_t;
 
 
RCL_PUBLIC
RCL_WARN_UNUSED
rcl_service_event_publisher_t
rcl_get_zero_initialized_service_event_publisher(void);
 
 
RCL_PUBLIC
RCL_WARN_UNUSED
rcl_ret_t
rcl_service_event_publisher_init(
  rcl_service_event_publisher_t * service_event_publisher,
  const rcl_node_t * node,
  rcl_clock_t * clock,
  const rcl_publisher_options_t publisher_options,
  const char * service_name,
  const rosidl_service_type_support_t * service_type_support);
 
 
RCL_PUBLIC
RCL_WARN_UNUSED
rcl_ret_t
rcl_service_event_publisher_fini(
  rcl_service_event_publisher_t * service_event_publisher,
  rcl_node_t * node);
 
 
RCL_PUBLIC
bool
rcl_service_event_publisher_is_valid(const rcl_service_event_publisher_t * service_event_publisher);
 
 
RCL_PUBLIC
RCL_WARN_UNUSED
rcl_ret_t
rcl_send_service_event_message(
  const rcl_service_event_publisher_t * service_event_publisher,
  uint8_t event_type,
  const void * ros_response_request,
  int64_t sequence_number,
  const uint8_t guid[16]);
 
 
RCL_PUBLIC
rcl_ret_t
rcl_service_event_publisher_change_state(
  rcl_service_event_publisher_t * service_event_publisher,
  rcl_service_introspection_state_t introspection_state);
 
#ifdef __cplusplus
}
#endif
#endif  // RCL__SERVICE_EVENT_PUBLISHER_H_