typesupport_helpers.hpp

// Copyright 2018, Bosch Software Innovations GmbH.
// Copyright 2021, Apex.AI 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 RCLCPP__TYPESUPPORT_HELPERS_HPP_
#define RCLCPP__TYPESUPPORT_HELPERS_HPP_
 
#include <memory>
#include <string>
#include <tuple>
 
#include "rcpputils/shared_library.hpp"
#include "rosidl_runtime_cpp/message_type_support_decl.hpp"
#include "rosidl_runtime_cpp/service_type_support_decl.hpp"
 
#include "rclcpp/visibility_control.hpp"
 
namespace rclcpp
{
 
RCLCPP_PUBLIC
std::tuple<std::string, std::string, std::string>
extract_type_identifier(const std::string & full_type);
 
RCLCPP_PUBLIC
std::string get_typesupport_library_path(
  const std::string & package_name, const std::string & typesupport_identifier);
 
RCLCPP_PUBLIC
std::shared_ptr<rcpputils::SharedLibrary>
get_typesupport_library(const std::string & type, const std::string & typesupport_identifier);
 
[[deprecated("Use `get_message_typesupport_handle` instead")]]
RCLCPP_PUBLIC
const rosidl_message_type_support_t *
get_typesupport_handle(
  const std::string & type,
  const std::string & typesupport_identifier,
  rcpputils::SharedLibrary & library);
 
RCLCPP_PUBLIC
const rosidl_message_type_support_t *
get_message_typesupport_handle(
  const std::string & type,
  const std::string & typesupport_identifier,
  rcpputils::SharedLibrary & library);
 
RCLCPP_PUBLIC
const rosidl_service_type_support_t *
get_service_typesupport_handle(
  const std::string & type,
  const std::string & typesupport_identifier,
  rcpputils::SharedLibrary & library);
 
}  // namespace rclcpp
 
#endif  // RCLCPP__TYPESUPPORT_HELPERS_HPP_