rcl  master
C API providing common ROS client library functionality.
node.h
Go to the documentation of this file.
1 // Copyright 2015 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__NODE_H_
16 #define RCL__NODE_H_
17 
18 #if __cplusplus
19 extern "C"
20 {
21 #endif
22 
23 #include <stdint.h>
24 
25 #include "rcl/allocator.h"
26 #include "rcl/macros.h"
27 #include "rcl/types.h"
28 #include "rcl/visibility_control.h"
29 
31 #define RCL_NODE_OPTIONS_DEFAULT_DOMAIN_ID SIZE_MAX
32 
34 struct rcl_node_impl_t;
35 
37 typedef struct rcl_node_t
38 {
40  struct rcl_node_impl_t * impl;
41 } rcl_node_t;
42 
44 typedef struct rcl_node_options_t
45 {
46  // bool anonymous_name;
47 
48  // rmw_qos_profile_t parameter_qos;
49 
51  // bool no_parameters;
52 
54 
64  size_t domain_id;
65 
69 
75 
77 
159 rcl_ret_t
161  rcl_node_t * node,
162  const char * name,
163  const char * namespace_,
164  const rcl_node_options_t * options);
165 
167 
190 rcl_ret_t
191 rcl_node_fini(rcl_node_t * node);
192 
194 
203 
205 
240 bool
241 rcl_node_is_valid(const rcl_node_t * node);
242 
244 
267 const char *
268 rcl_node_get_name(const rcl_node_t * node);
269 
271 
294 const char *
295 rcl_node_get_namespace(const rcl_node_t * node);
296 
298 
321 const rcl_node_options_t *
322 rcl_node_get_options(const rcl_node_t * node);
323 
325 
354 rcl_ret_t
355 rcl_node_get_domain_id(const rcl_node_t * node, size_t * domain_id);
356 
358 
385 rmw_node_t *
386 rcl_node_get_rmw_handle(const rcl_node_t * node);
387 
389 
414 uint64_t
416 
418 
447 const struct rcl_guard_condition_t *
449 
450 #if __cplusplus
451 }
452 #endif
453 
454 #endif // RCL__NODE_H_
uint64_t rcl_node_get_rcl_instance_id(const rcl_node_t *node)
Return the associated rcl instance id.
rmw_ret_t rcl_ret_t
Definition: types.h:20
struct rcl_node_options_t rcl_node_options_t
Structure which encapsulates the options for creating a rcl_node_t.
rcl_ret_t rcl_node_get_domain_id(const rcl_node_t *node, size_t *domain_id)
Return the ROS domain ID that the node is using.
size_t domain_id
If true, no parameter infrastructure will be setup.
Definition: node.h:64
const rcl_node_options_t * rcl_node_get_options(const rcl_node_t *node)
Return the rcl node options.
bool rcl_node_is_valid(const rcl_node_t *node)
Return true if the node is valid, else false.
rcl_ret_t rcl_node_init(rcl_node_t *node, const char *name, const char *namespace_, const rcl_node_options_t *options)
Initialize a ROS node.
#define RCL_WARN_UNUSED
Ignored return values of functions with this macro will emit a warning.
Definition: macros.h:25
struct rcl_node_impl_t * impl
Private implementation pointer.
Definition: node.h:40
#define RCL_PUBLIC
Definition: visibility_control.h:48
rcl_node_options_t rcl_node_get_default_options(void)
Return the default node options in a rcl_node_options_t.
rcl_allocator_t allocator
Custom allocator used for internal allocations.
Definition: node.h:67
rmw_node_t * rcl_node_get_rmw_handle(const rcl_node_t *node)
Return the rmw node handle.
Structure which encapsulates the options for creating a rcl_node_t.
Definition: node.h:44
const char * rcl_node_get_name(const rcl_node_t *node)
Return the name of the node.
const char * rcl_node_get_namespace(const rcl_node_t *node)
Return the namespace of the node.
const struct rcl_guard_condition_t * rcl_node_get_graph_guard_condition(const rcl_node_t *node)
Return a guard condition which is triggered when the ROS graph changes.
rcl_ret_t rcl_node_fini(rcl_node_t *node)
Finalized a rcl_node_t.
struct rcl_node_t rcl_node_t
Structure which encapsulates a ROS Node.
Handle for a rcl guard condition.
Definition: guard_condition.h:32
Structure which encapsulates a ROS Node.
Definition: node.h:37
rcl_node_t rcl_get_zero_initialized_node(void)
Return a rcl_node_t struct with members initialized to NULL.