node_type_cache.h

// Copyright 2023 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__NODE_TYPE_CACHE_H_
#define RCL__NODE_TYPE_CACHE_H_
 
#include "rcl/node.h"
#include "rcl/types.h"
#include "rcl/visibility_control.h"
#include "rosidl_runtime_c/type_description/type_description__struct.h"
#include "rosidl_runtime_c/type_description/type_source__struct.h"
#include "type_description_interfaces/msg/type_description.h"
#include "type_description_interfaces/msg/type_source.h"
 
#ifdef __cplusplus
extern "C" {
#endif
 
typedef struct rcl_type_info_t
{
  type_description_interfaces__msg__TypeDescription * type_description;
  type_description_interfaces__msg__TypeSource__Sequence * type_sources;
} rcl_type_info_t;
 
 
RCL_WARN_UNUSED
rcl_ret_t rcl_node_type_cache_init(rcl_node_t * node);
 
 
RCL_WARN_UNUSED
rcl_ret_t rcl_node_type_cache_fini(rcl_node_t * node);
 
 
RCL_PUBLIC
RCL_WARN_UNUSED
rcl_ret_t rcl_node_type_cache_register_type(
  const rcl_node_t * node, const rosidl_type_hash_t * type_hash,
  const rosidl_runtime_c__type_description__TypeDescription * type_description,
  const rosidl_runtime_c__type_description__TypeSource__Sequence * type_description_sources
);
 
 
RCL_PUBLIC
RCL_WARN_UNUSED
rcl_ret_t rcl_node_type_cache_unregister_type(
  const rcl_node_t * node, const rosidl_type_hash_t * type_hash);
 
 
RCL_PUBLIC
RCL_WARN_UNUSED
rcl_ret_t rcl_node_type_cache_get_type_info(
  const rcl_node_t * node,
  const rosidl_type_hash_t * type_hash,
  rcl_type_info_t * type_info);
 
#ifdef __cplusplus
}
#endif
 
#endif  // RCL__NODE_TYPE_CACHE_H_