#include "rcl/allocator.h"
#include "rcl/context.h"
#include "rcl/init_options.h"
#include "rcl/macros.h"
#include "rcl/types.h"
#include "rcl/visibility_control.h"

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Functions
RCL_PUBLIC RCL_WARN_UNUSED rcl_ret_t	rcl_init (int argc, char const const argv, const rcl_init_options_t options, rcl_context_t context)
	Initialization of rcl. More...

RCL_PUBLIC RCL_WARN_UNUSED rcl_ret_t	rcl_shutdown (rcl_context_t *context)
	Shutdown a given rcl context. More...

Function Documentation

◆ rcl_init()

RCL_PUBLIC RCL_WARN_UNUSED rcl_ret_t rcl_init	(	int	argc,
		char const const	argv,
		const rcl_init_options_t *	options,
		rcl_context_t *	context
	)

Initialization of rcl.

This function can be run any number of times, so long as the given context has been properly prepared.

The given rcl_context_t must be zero initialized with the function rcl_get_zero_initialized_context() and must not be already initialized by this function. If the context is already initialized this function will fail and return the RCL_RET_ALREADY_INIT error code. A context may be initialized again after it has been finalized with the rcl_shutdown() function and zero initialized again with rcl_get_zero_initialized_context().

The argc and argv parameters may contain command line arguments for the program. rcl specific arguments will be parsed, but not removed. If argc is 0 and argv is NULL no parameters will be parsed.

The options argument must be non-NULL and must have been initialized with rcl_init_options_init(). It is unmodified by this function, and the ownership is not transfered to the context, but instead a copy is made into the context for later reference. Therefore, the given options need to be cleaned up with rcl_init_options_fini() after this function returns.

Attribute	Adherence
Allocates Memory	Yes
Thread-Safe	No
Uses Atomics	Yes
Lock-Free	Yes [1]

[1] if atomic_is_lock_free() returns true for atomic_uint_least64_t

Parameters

[in]	argc	number of strings in argv
[in]	argv	command line arguments; rcl specific arguments are removed
[in]	options	options used during initialization
[out]	context	resulting context object that represents this init

Returns: RCL_RET_OK if initialization is successful, or; RCL_RET_ALREADY_INIT if rcl_init has already been called, or; RCL_RET_INVALID_ARGUMENT if any arguments are invalid, or; RCL_RET_INVALID_ROS_ARGS if an invalid ROS argument is found, or; RCL_RET_BAD_ALLOC if allocating memory failed, or; RCL_RET_ERROR if an unspecified error occurs.

Definition at line 46 of file init.c.

References rcl_context_impl_s::allocator, rcl_context_impl_s::argc, rcl_context_impl_s::argv, rcl_arguments_impl_s::enclave, rcl_context_s::global_arguments, rcl_arguments_s::impl, rcl_context_s::impl, rcl_init_options_s::impl, rcl_context_impl_s::init_options, rcl_automatic_discovery_range_to_string(), RCL_CHECK_ALLOCATOR, RCL_DEFAULT_DOMAIN_ID, RCL_ENCLAVE_NAME_VALID, rcl_enclave_name_validation_result_string(), rcl_get_automatic_discovery_range(), rcl_get_default_domain_id(), rcl_get_discovery_static_peers(), rcl_get_security_options_from_environment(), rcl_get_zero_initialized_arguments(), rcl_init_options_copy(), rcl_parse_arguments(), RCL_RET_ALREADY_INIT, RCL_RET_BAD_ALLOC, RCL_RET_ERROR, RCL_RET_INVALID_ARGUMENT, RCL_RET_OK, rcl_validate_enclave_name(), and rcl_context_impl_s::rmw_context.

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

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◆ rcl_shutdown()

RCL_PUBLIC RCL_WARN_UNUSED rcl_ret_t rcl_shutdown ( rcl_context_t * context )

Shutdown a given rcl context.

The given context must have been initialized with rcl_init(). If not, this function will fail with RCL_RET_ALREADY_SHUTDOWN.

When this function is called:

Any rcl objects created using this context are invalidated.
Functions called on invalid objects may or may not fail.
Calls to rcl_context_is_initialized() will return false.

Attribute	Adherence
Allocates Memory	Yes
Thread-Safe	Yes
Uses Atomics	Yes
Lock-Free	Yes [1]

[1] if atomic_is_lock_free() returns true for atomic_uint_least64_t

Parameters

[in,out] context object to shutdown

Returns: RCL_RET_OK if the shutdown was completed successfully, or; RCL_RET_INVALID_ARGUMENT if any arguments are invalid, or; RCL_RET_ALREADY_SHUTDOWN if the context is not currently valid, or; RCL_RET_ERROR if an unspecified error occur.

Definition at line 281 of file init.c.

References rcl_context_s::impl, rcl_context_is_valid(), RCL_RET_ALREADY_SHUTDOWN, RCL_RET_INVALID_ARGUMENT, RCL_RET_OK, and rcl_context_impl_s::rmw_context.

Referenced by rclcpp::Context::init(), and rclcpp::Context::shutdown().

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Functions

Function Documentation

◆ rcl_init()

◆ rcl_shutdown()