rcl  master
C API providing common ROS client library functionality.
graph.h
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1 // Copyright 2016-2017 Open Source Robotics Foundation, Inc.
2 //
3 // Licensed under the Apache License, Version 2.0 (the "License");
4 // you may not use this file except in compliance with the License.
5 // You may obtain a copy of the License at
6 //
7 // http://www.apache.org/licenses/LICENSE-2.0
8 //
9 // Unless required by applicable law or agreed to in writing, software
10 // distributed under the License is distributed on an "AS IS" BASIS,
11 // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
12 // See the License for the specific language governing permissions and
13 // limitations under the License.
14 
15 #ifndef RCL__GRAPH_H_
16 #define RCL__GRAPH_H_
17 
18 #if __cplusplus
19 extern "C"
20 {
21 #endif
22 
23 #include <rmw/names_and_types.h>
25 
26 #include "rcutils/types.h"
27 
28 #include "rosidl_generator_c/service_type_support.h"
29 
30 #include "rcl/macros.h"
31 #include "rcl/client.h"
32 #include "rcl/node.h"
33 #include "rcl/visibility_control.h"
34 
36 
37 #define rcl_get_zero_initialized_names_and_types rmw_get_zero_initialized_names_and_types
38 
40 
81  const rcl_node_t * node,
82  rcl_allocator_t * allocator,
83  bool no_demangle,
84  rcl_names_and_types_t * topic_names_and_types);
85 
87 
118 rcl_ret_t
120  const rcl_node_t * node,
121  rcl_allocator_t * allocator,
122  rcl_names_and_types_t * service_names_and_types);
123 
125 
149 rcl_ret_t
150 rcl_names_and_types_fini(rcl_names_and_types_t * names_and_types);
151 
153 
200 rcl_ret_t
202  const rcl_node_t * node,
203  rcl_allocator_t allocator,
204  rcutils_string_array_t * node_names);
205 
207 
241 rcl_ret_t
243  const rcl_node_t * node,
244  const char * topic_name,
245  size_t * count);
246 
248 
282 rcl_ret_t
284  const rcl_node_t * node,
285  const char * topic_name,
286  size_t * count);
287 
289 
325 rcl_ret_t
327  const rcl_node_t * node,
328  const rcl_client_t * client,
329  bool * is_available);
330 
331 #if __cplusplus
332 }
333 #endif
334 
335 #endif // RCL__GRAPH_H_
rmw_ret_t rcl_ret_t
Definition: types.h:20
rmw_names_and_types_t rcl_names_and_types_t
Definition: graph.h:35
Structure which encapsulates a ROS Client.
Definition: client.h:33
#define RCL_WARN_UNUSED
Ignored return values of functions with this macro will emit a warning.
Definition: macros.h:25
rcl_ret_t rcl_count_publishers(const rcl_node_t *node, const char *topic_name, size_t *count)
Return the number of publishers on a given topic.
#define RCL_PUBLIC
Definition: visibility_control.h:48
rcl_ret_t rcl_service_server_is_available(const rcl_node_t *node, const rcl_client_t *client, bool *is_available)
Check if a service server is available for the given service client.
rcl_ret_t rcl_get_topic_names_and_types(const rcl_node_t *node, rcl_allocator_t *allocator, bool no_demangle, rcl_names_and_types_t *topic_names_and_types)
Return a list of topic names and their types.
rcl_ret_t rcl_count_subscribers(const rcl_node_t *node, const char *topic_name, size_t *count)
Return the number of subscriptions on a given topic.
rcl_ret_t rcl_names_and_types_fini(rcl_names_and_types_t *names_and_types)
Finalize a rcl_names_and_types_t object.
rcl_ret_t rcl_get_node_names(const rcl_node_t *node, rcl_allocator_t allocator, rcutils_string_array_t *node_names)
Return a list of available nodes in the ROS graph.
Structure which encapsulates a ROS Node.
Definition: node.h:37
rcl_ret_t rcl_get_service_names_and_types(const rcl_node_t *node, rcl_allocator_t *allocator, rcl_names_and_types_t *service_names_and_types)
Return a list of service names and their types.