node.h

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// Copyright 2015 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_H_
#define RCL__NODE_H_
 
#ifdef __cplusplus
extern "C"
{
#endif
 
#include <stdbool.h>
#include <stddef.h>
#include <stdint.h>
 
#include "rcl/allocator.h"
#include "rcl/arguments.h"
#include "rcl/context.h"
#include "rcl/guard_condition.h"
#include "rcl/macros.h"
#include "rcl/node_options.h"
#include "rcl/types.h"
#include "rcl/visibility_control.h"
 
#include "rmw/types.h"
 
#include "type_description_interfaces/srv/get_type_description.h"
 
extern const char * const RCL_DISABLE_LOANED_MESSAGES_ENV_VAR;
 
typedef struct rcl_node_impl_s rcl_node_impl_t;
typedef struct rcl_service_s rcl_service_t;
 
typedef struct rcl_node_s
{
  rcl_context_t * context;
 
  rcl_node_impl_t * impl;
} rcl_node_t;
 
RCL_PUBLIC
RCL_WARN_UNUSED
rcl_node_t
rcl_get_zero_initialized_node(void);
 
 
RCL_PUBLIC
RCL_WARN_UNUSED
rcl_ret_t
rcl_node_init(
  rcl_node_t * node,
  const char * name,
  const char * namespace_,
  rcl_context_t * context,
  const rcl_node_options_t * options);
 
 
RCL_PUBLIC
RCL_WARN_UNUSED
rcl_ret_t
rcl_node_fini(rcl_node_t * node);
 
 
RCL_PUBLIC
bool
rcl_node_is_valid(const rcl_node_t * node);
 
 
RCL_PUBLIC
bool
rcl_node_is_valid_except_context(const rcl_node_t * node);
 
 
RCL_PUBLIC
RCL_WARN_UNUSED
const char *
rcl_node_get_name(const rcl_node_t * node);
 
 
RCL_PUBLIC
RCL_WARN_UNUSED
const char *
rcl_node_get_namespace(const rcl_node_t * node);
 
 
RCL_PUBLIC
RCL_WARN_UNUSED
const char *
rcl_node_get_fully_qualified_name(const rcl_node_t * node);
 
 
RCL_PUBLIC
RCL_WARN_UNUSED
const rcl_node_options_t *
rcl_node_get_options(const rcl_node_t * node);
 
 
RCL_PUBLIC
RCL_WARN_UNUSED
rcl_ret_t
rcl_node_get_domain_id(const rcl_node_t * node, size_t * domain_id);
 
 
RCL_PUBLIC
RCL_WARN_UNUSED
rmw_node_t *
rcl_node_get_rmw_handle(const rcl_node_t * node);
 
 
RCL_PUBLIC
RCL_WARN_UNUSED
uint64_t
rcl_node_get_rcl_instance_id(const rcl_node_t * node);
 
 
RCL_PUBLIC
RCL_WARN_UNUSED
const rcl_guard_condition_t *
rcl_node_get_graph_guard_condition(const rcl_node_t * node);
 
 
RCL_PUBLIC
RCL_WARN_UNUSED
const char *
rcl_node_get_logger_name(const rcl_node_t * node);
 
 
RCL_PUBLIC
RCL_WARN_UNUSED
rcl_ret_t
rcl_node_resolve_name(
  const rcl_node_t * node,
  const char * input_name,
  rcl_allocator_t allocator,
  bool is_service,
  bool only_expand,
  char ** output_name);
 
 
RCL_PUBLIC
rcl_ret_t
rcl_get_disable_loaned_message(bool * disable_loaned_message);
 
 
RCL_PUBLIC
RCL_WARN_UNUSED
rcl_ret_t rcl_node_type_description_service_init(
  rcl_service_t * service,
  const rcl_node_t * node);
 
 
RCL_PUBLIC
void rcl_node_type_description_service_handle_request(
  rcl_node_t * node,
  const rmw_request_id_t * request_header,
  const type_description_interfaces__srv__GetTypeDescription_Request * request,
  type_description_interfaces__srv__GetTypeDescription_Response * response);
 
#ifdef __cplusplus
}
#endif
 
#endif  // RCL__NODE_H_