#include "rmw/init.h"
#include "rcl/allocator.h"
#include "rcl/macros.h"
#include "rcl/types.h"
#include "rcl/visibility_control.h"

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Classes
struct	rcl_init_options_s
	Encapsulation of init options and implementation defined init options. More...

Typedefs
typedef struct rcl_init_options_impl_s	rcl_init_options_impl_t

typedef struct rcl_init_options_s	rcl_init_options_t
	Encapsulation of init options and implementation defined init options.

Functions
RCL_PUBLIC RCL_WARN_UNUSED rcl_init_options_t	rcl_get_zero_initialized_init_options (void)
	Return a zero initialized rcl_init_options_t struct.

RCL_PUBLIC RCL_WARN_UNUSED rcl_ret_t	rcl_init_options_init (rcl_init_options_t *init_options, rcl_allocator_t allocator)
	Initialize given init_options with the default values and implementation specific values. More...

RCL_PUBLIC RCL_WARN_UNUSED rcl_ret_t	rcl_init_options_copy (const rcl_init_options_t src, rcl_init_options_t dst)
	Copy the given source init_options to the destination init_options. More...

RCL_PUBLIC RCL_WARN_UNUSED rcl_ret_t	rcl_init_options_fini (rcl_init_options_t *init_options)
	Finalize the given init_options. More...

RCL_PUBLIC RCL_WARN_UNUSED rcl_ret_t	rcl_init_options_get_domain_id (const rcl_init_options_t init_options, size_t domain_id)
	Return the domain_id stored in the init options. More...

RCL_PUBLIC RCL_WARN_UNUSED rcl_ret_t	rcl_init_options_set_domain_id (rcl_init_options_t *init_options, size_t domain_id)
	Set a domain id in the init options provided. More...

RCL_PUBLIC RCL_WARN_UNUSED rmw_init_options_t *	rcl_init_options_get_rmw_init_options (rcl_init_options_t *init_options)
	Return the rmw init options which are stored internally. More...

RCL_PUBLIC RCL_WARN_UNUSED const rcl_allocator_t *	rcl_init_options_get_allocator (const rcl_init_options_t *init_options)
	Return the allocator stored in the init_options. More...

Function Documentation

◆ rcl_init_options_copy()

RCL_PUBLIC RCL_WARN_UNUSED rcl_ret_t rcl_init_options_copy	(	const rcl_init_options_t *	src,
		rcl_init_options_t *	dst
	)

Copy the given source init_options to the destination init_options.

The allocator from the source is used for any allocations and stored in the destination.

The destination should either be zero initialized with rcl_get_zero_initialized_init_options() or should have had rcl_init_options_fini() called on it. Giving an already initialized init options for the destination will result in a failure with return code RCL_RET_ALREADY_INIT.

Attribute	Adherence
Allocates Memory	Yes
Thread-Safe	No
Uses Atomics	Yes
Lock-Free	Yes

Parameters

[in]	src	rcl_init_options_t object to be copied from
[out]	dst	rcl_init_options_t object to be copied into

Returns: RCL_RET_OK if the copy is successful, or; RCL_RET_ALREADY_INIT if the dst has already be initialized, or; RCL_RET_INVALID_ARGUMENT if any arguments are invalid, or; RCL_RET_BAD_ALLOC if allocating memory failed, or; RCL_RET_ERROR if an unspecified error occurs.

Definition at line 82 of file init_options.c.

References rcl_init_options_s::impl, RCL_CHECK_ALLOCATOR, rcl_init_options_fini(), RCL_RET_ALREADY_INIT, RCL_RET_BAD_ALLOC, RCL_RET_ERROR, RCL_RET_INVALID_ARGUMENT, and RCL_RET_OK.

Referenced by rclcpp::InitOptions::InitOptions(), rclcpp::InitOptions::operator=(), and rcl_init().

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◆ rcl_init_options_fini()

RCL_PUBLIC RCL_WARN_UNUSED rcl_ret_t rcl_init_options_fini ( rcl_init_options_t * init_options )

Finalize the given init_options.

The given init_options must be non-NULL and valid, i.e. had rcl_init_options_init() called on it but not this function yet.

Attribute	Adherence
Allocates Memory	Yes
Thread-Safe	No
Uses Atomics	Yes
Lock-Free	Yes

Parameters

[in,out] init_options object to be setup

Returns: RCL_RET_OK if setup is successful, or; RCL_RET_INVALID_ARGUMENT if any arguments are invalid, or; RCL_RET_ERROR if an unspecified error occurs.

Definition at line 126 of file init_options.c.

References rcl_init_options_s::impl, RCL_CHECK_ALLOCATOR, RCL_RET_INVALID_ARGUMENT, and RCL_RET_OK.

Referenced by rcl_init_options_copy().

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◆ rcl_init_options_get_allocator()

RCL_PUBLIC RCL_WARN_UNUSED const rcl_allocator_t* rcl_init_options_get_allocator ( const rcl_init_options_t * init_options )

Return the allocator stored in the init_options.

This function can fail and return NULL if:

init_options is NULL
init_options is invalid, e.g. init_options->impl is NULL

If NULL is returned an error message will have been set.

Attribute	Adherence
Allocates Memory	No
Thread-Safe	Yes
Uses Atomics	No
Lock-Free	Yes

Parameters

[in] init_options object from which the allocator should be retrieved

Returns: pointer to the rcl allocator, or; NULL if there was an error

Definition at line 169 of file init_options.c.

References rcl_init_options_s::impl.

Referenced by rclcpp::Context::init().

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◆ rcl_init_options_get_domain_id()

RCL_PUBLIC RCL_WARN_UNUSED rcl_ret_t rcl_init_options_get_domain_id	(	const rcl_init_options_t *	init_options,
		size_t *	domain_id
	)

Return the domain_id stored in the init options.

Get the domain id from the specified rcl_init_options_t object.

Attribute	Adherence
Allocates Memory	No
Thread-Safe	Yes
Uses Atomics	No
Lock-Free	Yes

Parameters

[in]	init_options	object from which the domain id should be retrieved.
[out]	domain_id	domain id to be set in init_options object.

Returns: RCL_RET_OK if successful, or; RCL_RET_INVALID_ARGUMENT if any arguments are invalid.

Definition at line 142 of file init_options.c.

References rcl_init_options_s::impl, RCL_RET_INVALID_ARGUMENT, and RCL_RET_OK.

Referenced by rclcpp::InitOptions::get_domain_id().

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◆ rcl_init_options_get_rmw_init_options()

RCL_PUBLIC RCL_WARN_UNUSED rmw_init_options_t* rcl_init_options_get_rmw_init_options ( rcl_init_options_t * init_options )

Return the rmw init options which are stored internally.

This function can fail and return NULL if:

init_options is NULL
init_options is invalid, e.g. init_options->impl is NULL

If NULL is returned an error message will have been set.

Attribute	Adherence
Allocates Memory	No
Thread-Safe	No
Uses Atomics	Yes
Lock-Free	Yes

Parameters

[in] init_options object from which the rmw init options should be retrieved

Returns: pointer to the the rcl init options, or; NULL if there was an error

Definition at line 161 of file init_options.c.

References rcl_init_options_s::impl.

◆ rcl_init_options_init()

RCL_PUBLIC RCL_WARN_UNUSED rcl_ret_t rcl_init_options_init	(	rcl_init_options_t *	init_options,
		rcl_allocator_t	allocator
	)

Initialize given init_options with the default values and implementation specific values.

The given allocator is used, if required, during setup of the init options, but is also used during initialization.

In either case the given allocator is stored in the returned init options.

The impl pointer should not be changed manually.

Attribute	Adherence
Allocates Memory	Yes
Thread-Safe	No
Uses Atomics	Yes
Lock-Free	Yes

Parameters

[in,out]	init_options	object to be setup
[in]	allocator	to be used during setup and during initialization

Returns: RCL_RET_OK if setup is successful, or; RCL_RET_ALREADY_INIT if init_options has already be initialized, or; RCL_RET_INVALID_ARGUMENT if any arguments are invalid, or; RCL_RET_BAD_ALLOC if allocating memory failed, or; RCL_RET_ERROR if an unspecified error occurs.

Definition at line 54 of file init_options.c.

References rcl_init_options_s::impl, RCL_CHECK_ALLOCATOR, RCL_RET_ALREADY_INIT, RCL_RET_BAD_ALLOC, RCL_RET_ERROR, RCL_RET_INVALID_ARGUMENT, and RCL_RET_OK.

Referenced by rclcpp::InitOptions::InitOptions().

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