rmw.h

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// Copyright 2014-2017 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 RMW__RMW_H_
#define RMW__RMW_H_

#if __cplusplus
extern "C"
{
#endif

#include <stdbool.h>
#include <stddef.h>
#include <stdint.h>

#include "rcutils/types.h"

#include "rosidl_generator_c/message_type_support_struct.h"
#include "rosidl_generator_c/service_type_support.h"

#include "rmw/macros.h"
#include "rmw/qos_profiles.h"
#include "rmw/types.h"
#include "rmw/visibility_control.h"

RMW_PUBLIC
RMW_WARN_UNUSED
const char *
rmw_get_implementation_identifier(void);

RMW_PUBLIC
RMW_WARN_UNUSED
rmw_ret_t
rmw_init(void);

RMW_PUBLIC
RMW_WARN_UNUSED
rmw_node_t *
rmw_create_node(
  const char * name,
  const char * namespace_,
  size_t domain_id,
  const rmw_node_security_options_t * security_options);

RMW_PUBLIC
RMW_WARN_UNUSED
rmw_ret_t
rmw_destroy_node(rmw_node_t * node);


RMW_PUBLIC
RMW_WARN_UNUSED
const rmw_guard_condition_t *
rmw_node_get_graph_guard_condition(const rmw_node_t * node);

RMW_PUBLIC
RMW_WARN_UNUSED
rmw_publisher_t *
rmw_create_publisher(
  const rmw_node_t * node,
  const rosidl_message_type_support_t * type_support,
  const char * topic_name,
  const rmw_qos_profile_t * qos_policies);

RMW_PUBLIC
RMW_WARN_UNUSED
rmw_ret_t
rmw_destroy_publisher(rmw_node_t * node, rmw_publisher_t * publisher);

RMW_PUBLIC
RMW_WARN_UNUSED
rmw_ret_t
rmw_publish(const rmw_publisher_t * publisher, const void * ros_message);

RMW_PUBLIC
RMW_WARN_UNUSED
rmw_subscription_t *
rmw_create_subscription(
  const rmw_node_t * node,
  const rosidl_message_type_support_t * type_support,
  const char * topic_name,
  const rmw_qos_profile_t * qos_policies,
  bool ignore_local_publications);

RMW_PUBLIC
RMW_WARN_UNUSED
rmw_ret_t
rmw_destroy_subscription(rmw_node_t * node, rmw_subscription_t * subscription);

RMW_PUBLIC
RMW_WARN_UNUSED
rmw_ret_t
rmw_take(const rmw_subscription_t * subscription, void * ros_message, bool * taken);

RMW_PUBLIC
RMW_WARN_UNUSED
rmw_ret_t
rmw_take_with_info(
  const rmw_subscription_t * subscription,
  void * ros_message,
  bool * taken,
  rmw_message_info_t * message_info);

RMW_PUBLIC
RMW_WARN_UNUSED
rmw_client_t *
rmw_create_client(
  const rmw_node_t * node,
  const rosidl_service_type_support_t * type_support,
  const char * service_name,
  const rmw_qos_profile_t * qos_policies);

RMW_PUBLIC
RMW_WARN_UNUSED
rmw_ret_t
rmw_destroy_client(rmw_node_t * node, rmw_client_t * client);

RMW_PUBLIC
RMW_WARN_UNUSED
rmw_ret_t
rmw_send_request(
  const rmw_client_t * client,
  const void * ros_request,
  int64_t * sequence_id);

RMW_PUBLIC
RMW_WARN_UNUSED
rmw_ret_t
rmw_take_response(
  const rmw_client_t * client,
  rmw_request_id_t * request_header,
  void * ros_response,
  bool * taken);

RMW_PUBLIC
RMW_WARN_UNUSED
rmw_service_t *
rmw_create_service(
  const rmw_node_t * node,
  const rosidl_service_type_support_t * type_support,
  const char * service_name,
  const rmw_qos_profile_t * qos_policies);

RMW_PUBLIC
RMW_WARN_UNUSED
rmw_ret_t
rmw_destroy_service(rmw_node_t * node, rmw_service_t * service);

RMW_PUBLIC
RMW_WARN_UNUSED
rmw_ret_t
rmw_take_request(
  const rmw_service_t * service,
  rmw_request_id_t * request_header,
  void * ros_request,
  bool * taken);

RMW_PUBLIC
RMW_WARN_UNUSED
rmw_ret_t
rmw_send_response(
  const rmw_service_t * service,
  rmw_request_id_t * request_header,
  void * ros_response);

RMW_PUBLIC
RMW_WARN_UNUSED
rmw_guard_condition_t *
rmw_create_guard_condition(void);

RMW_PUBLIC
RMW_WARN_UNUSED
rmw_ret_t
rmw_destroy_guard_condition(rmw_guard_condition_t * guard_condition);

RMW_PUBLIC
RMW_WARN_UNUSED
rmw_ret_t
rmw_trigger_guard_condition(const rmw_guard_condition_t * guard_condition);


RMW_PUBLIC
RMW_WARN_UNUSED
rmw_waitset_t *
rmw_create_waitset(size_t max_conditions);

RMW_PUBLIC
RMW_WARN_UNUSED
rmw_ret_t
rmw_destroy_waitset(rmw_waitset_t * waitset);


RMW_PUBLIC
RMW_WARN_UNUSED
rmw_ret_t
rmw_wait(
  rmw_subscriptions_t * subscriptions,
  rmw_guard_conditions_t * guard_conditions,
  rmw_services_t * services,
  rmw_clients_t * clients,
  rmw_waitset_t * waitset,
  const rmw_time_t * wait_timeout);

RMW_PUBLIC
RMW_WARN_UNUSED
rmw_ret_t
rmw_get_node_names(
  const rmw_node_t * node,
  rcutils_string_array_t * node_names);

RMW_PUBLIC
RMW_WARN_UNUSED
rmw_ret_t
rmw_count_publishers(
  const rmw_node_t * node,
  const char * topic_name,
  size_t * count);

RMW_PUBLIC
RMW_WARN_UNUSED
rmw_ret_t
rmw_count_subscribers(
  const rmw_node_t * node,
  const char * topic_name,
  size_t * count);

RMW_PUBLIC
RMW_WARN_UNUSED
rmw_ret_t
rmw_get_gid_for_publisher(const rmw_publisher_t * publisher, rmw_gid_t * gid);

RMW_PUBLIC
RMW_WARN_UNUSED
rmw_ret_t
rmw_compare_gids_equal(const rmw_gid_t * gid1, const rmw_gid_t * gid2, bool * result);


RMW_PUBLIC
RMW_WARN_UNUSED
rmw_ret_t
rmw_service_server_is_available(
  const rmw_node_t * node,
  const rmw_client_t * client,
  bool * is_available);

#if __cplusplus
}
#endif

#endif  // RMW__RMW_H_