service.h

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// Copyright 2016 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__SERVICE_H_
#define RCL__SERVICE_H_
 
#ifdef __cplusplus
extern "C"
{
#endif
 
#include <stdbool.h>
 
#include "rosidl_runtime_c/service_type_support_struct.h"
 
#include "rcl/allocator.h"
#include "rcl/event_callback.h"
#include "rcl/macros.h"
#include "rcl/node.h"
#include "rcl/publisher.h"
#include "rcl/service_introspection.h"
#include "rcl/time.h"
#include "rcl/types.h"
#include "rcl/visibility_control.h"
 
#include "rmw/types.h"
 
typedef struct rcl_service_impl_s rcl_service_impl_t;
 
typedef struct rcl_service_s
{
  rcl_service_impl_t * impl;
} rcl_service_t;
 
typedef struct rcl_service_options_s
{
  rmw_qos_profile_t qos;
 
  rcl_allocator_t allocator;
} rcl_service_options_t;
 
 
RCL_PUBLIC
RCL_WARN_UNUSED
rcl_service_t
rcl_get_zero_initialized_service(void);
 
 
RCL_PUBLIC
RCL_WARN_UNUSED
rcl_ret_t
rcl_service_init(
  rcl_service_t * service,
  const rcl_node_t * node,
  const rosidl_service_type_support_t * type_support,
  const char * service_name,
  const rcl_service_options_t * options);
 
 
RCL_PUBLIC
RCL_WARN_UNUSED
rcl_ret_t
rcl_service_fini(rcl_service_t * service, rcl_node_t * node);
 
 
RCL_PUBLIC
RCL_WARN_UNUSED
rcl_service_options_t
rcl_service_get_default_options(void);
 
 
RCL_PUBLIC
RCL_WARN_UNUSED
rcl_ret_t
rcl_take_request_with_info(
  const rcl_service_t * service,
  rmw_service_info_t * request_header,
  void * ros_request);
 
 
RCL_PUBLIC
RCL_WARN_UNUSED
rcl_ret_t
rcl_take_request(
  const rcl_service_t * service,
  rmw_request_id_t * request_header,
  void * ros_request);
 
 
RCL_PUBLIC
RCL_WARN_UNUSED
rcl_ret_t
rcl_send_response(
  const rcl_service_t * service,
  rmw_request_id_t * response_header,
  void * ros_response);
 
 
RCL_PUBLIC
RCL_WARN_UNUSED
const char *
rcl_service_get_service_name(const rcl_service_t * service);
 
 
RCL_PUBLIC
RCL_WARN_UNUSED
const rcl_service_options_t *
rcl_service_get_options(const rcl_service_t * service);
 
 
RCL_PUBLIC
RCL_WARN_UNUSED
rmw_service_t *
rcl_service_get_rmw_handle(const rcl_service_t * service);
 
 
RCL_PUBLIC
bool
rcl_service_is_valid(const rcl_service_t * service);
 
 
RCL_PUBLIC
RCL_WARN_UNUSED
const rmw_qos_profile_t *
rcl_service_request_subscription_get_actual_qos(const rcl_service_t * service);
 
 
RCL_PUBLIC
RCL_WARN_UNUSED
const rmw_qos_profile_t *
rcl_service_response_publisher_get_actual_qos(const rcl_service_t * service);
 
 
RCL_PUBLIC
RCL_WARN_UNUSED
rcl_ret_t
rcl_service_set_on_new_request_callback(
  const rcl_service_t * service,
  rcl_event_callback_t callback,
  const void * user_data);
 
 
RCL_PUBLIC
RCL_WARN_UNUSED
rcl_ret_t
rcl_service_configure_service_introspection(
  rcl_service_t * service,
  rcl_node_t * node,
  rcl_clock_t * clock,
  const rosidl_service_type_support_t * type_support,
  const rcl_publisher_options_t publisher_options,
  rcl_service_introspection_state_t introspection_state);
 
#ifdef __cplusplus
}
#endif
 
#endif  // RCL__SERVICE_H_