rcl  master
C API providing common ROS client library functionality.
rcl.h
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1 // Copyright 2014 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 
68 #ifndef RCL__RCL_H_
69 #define RCL__RCL_H_
70 
71 #if __cplusplus
72 extern "C"
73 {
74 #endif
75 
76 #include "rcl/macros.h"
77 #include "rcl/node.h"
78 #include "rcl/publisher.h"
79 #include "rcl/subscription.h"
80 #include "rcl/types.h"
81 #include "rcl/wait.h"
82 #include "rcl/visibility_control.h"
83 
85 
123 rcl_ret_t
124 rcl_init(int argc, char ** argv, rcl_allocator_t allocator);
125 
127 
158 rcl_ret_t
159 rcl_shutdown(void);
160 
162 
178 uint64_t
179 rcl_get_instance_id(void);
180 
182 
193 bool
194 rcl_ok(void);
195 
196 #if __cplusplus
197 }
198 #endif
199 
200 #endif // RCL__RCL_H_
rmw_ret_t rcl_ret_t
Definition: types.h:20
rcl_ret_t rcl_shutdown(void)
Signal global shutdown of rcl.
uint64_t rcl_get_instance_id(void)
Returns an uint64_t number that is unique for the latest rcl_init call.
#define RCL_WARN_UNUSED
Ignored return values of functions with this macro will emit a warning.
Definition: macros.h:25
#define RCL_PUBLIC
Definition: visibility_control.h:48
bool rcl_ok(void)
Return true if rcl is currently initialized, otherwise false.
rcl_ret_t rcl_init(int argc, char **argv, rcl_allocator_t allocator)
Global initialization of rcl.