rcl  master
C API providing common ROS client library functionality.
subscription.h
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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__SUBSCRIPTION_H_
16 #define RCL__SUBSCRIPTION_H_
17 
18 #if __cplusplus
19 extern "C"
20 {
21 #endif
22 
23 #include "rosidl_generator_c/message_type_support_struct.h"
24 
25 #include "rcl/macros.h"
26 #include "rcl/node.h"
27 #include "rcl/visibility_control.h"
28 
30 struct rcl_subscription_impl_t;
31 
33 typedef struct rcl_subscription_t
34 {
35  struct rcl_subscription_impl_t * impl;
37 
40 {
46 
49 
51 
59 
61 
149 rcl_ret_t
151  rcl_subscription_t * subscription,
152  const rcl_node_t * node,
153  const rosidl_message_type_support_t * type_support,
154  const char * topic_name,
155  const rcl_subscription_options_t * options);
156 
158 
183 rcl_ret_t
184 rcl_subscription_fini(rcl_subscription_t * subscription, rcl_node_t * node);
185 
187 
198 
200 
251 rcl_ret_t
252 rcl_take(
253  const rcl_subscription_t * subscription,
254  void * ros_message,
255  rmw_message_info_t * message_info);
256 
258 
281 const char *
283 
285 
310 
312 
341 
342 #if __cplusplus
343 }
344 #endif
345 
346 #endif // RCL__SUBSCRIPTION_H_
rmw_subscription_t * rcl_subscription_get_rmw_handle(const rcl_subscription_t *subscription)
Return the rmw subscription handle.
Options available for a rcl subscription.
Definition: subscription.h:39
struct rcl_subscription_t rcl_subscription_t
Structure which encapsulates a ROS Subscription.
rmw_ret_t rcl_ret_t
Definition: types.h:20
rcl_ret_t rcl_subscription_init(rcl_subscription_t *subscription, const rcl_node_t *node, const rosidl_message_type_support_t *type_support, const char *topic_name, const rcl_subscription_options_t *options)
Initialize a ROS subscription.
rmw_qos_profile_t qos
Middleware quality of service settings for the subscription.
Definition: subscription.h:42
const rcl_subscription_options_t * rcl_subscription_get_options(const rcl_subscription_t *subscription)
Return the rcl subscription options.
rcl_subscription_options_t rcl_subscription_get_default_options(void)
Return the default subscription options in a rcl_subscription_options_t.
#define RCL_WARN_UNUSED
Ignored return values of functions with this macro will emit a warning.
Definition: macros.h:25
struct rcl_subscription_options_t rcl_subscription_options_t
Options available for a rcl subscription.
#define RCL_PUBLIC
Definition: visibility_control.h:48
struct rcl_subscription_impl_t * impl
Definition: subscription.h:35
Structure which encapsulates a ROS Subscription.
Definition: subscription.h:33
rcl_ret_t rcl_take(const rcl_subscription_t *subscription, void *ros_message, rmw_message_info_t *message_info)
Take a ROS message from a topic using a rcl subscription.
bool ignore_local_publications
If true, messages published from within the same node are ignored.
Definition: subscription.h:44
rcl_allocator_t allocator
Custom allocator for the subscription, used for incidental allocations.
Definition: subscription.h:47
Structure which encapsulates a ROS Node.
Definition: node.h:37
const char * rcl_subscription_get_topic_name(const rcl_subscription_t *subscription)
Get the topic name for the subscription.
rcl_ret_t rcl_subscription_fini(rcl_subscription_t *subscription, rcl_node_t *node)
Finalize a rcl_subscription_t.
rcl_subscription_t rcl_get_zero_initialized_subscription(void)
Return a rcl_subscription_t struct with members set to NULL.