topic_endpoint_info.h File Reference

#include "rcutils/allocator.h"
#include "rmw/types.h"
#include "rmw/visibility_control.h"

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Classes
struct	rmw_topic_endpoint_info_t

Typedefs
typedef struct RMW_PUBLIC_TYPE rmw_topic_endpoint_info_t	rmw_topic_endpoint_info_t

Functions
rmw_topic_endpoint_info_t	rmw_get_zero_initialized_topic_endpoint_info (void)
	Return zero initialized topic endpoint info data structure. More...
rmw_ret_t	rmw_topic_endpoint_info_fini (rmw_topic_endpoint_info_t *topic_endpoint_info, rcutils_allocator_t *allocator)
	Finalize a topic endpoint info data structure. More...
rmw_ret_t	rmw_topic_endpoint_info_set_topic_type (rmw_topic_endpoint_info_t *topic_endpoint_info, const char *topic_type, rcutils_allocator_t *allocator)
	Set the topic type in the given topic endpoint info data structure. More...
rmw_ret_t	rmw_topic_endpoint_info_set_node_name (rmw_topic_endpoint_info_t *topic_endpoint_info, const char *node_name, rcutils_allocator_t *allocator)
	Set the node name in the given topic endpoint info data structure. More...
rmw_ret_t	rmw_topic_endpoint_info_set_node_namespace (rmw_topic_endpoint_info_t *topic_endpoint_info, const char *node_namespace, rcutils_allocator_t *allocator)
	Set the node namespace in the given topic endpoint info data structure. More...
rmw_ret_t	rmw_topic_endpoint_info_set_endpoint_type (rmw_topic_endpoint_info_t *topic_endpoint_info, rmw_endpoint_type_t type)
	Set the endpoint type in the given topic endpoint info data structure. More...
rmw_ret_t	rmw_topic_endpoint_info_set_gid (rmw_topic_endpoint_info_t *topic_endpoint_info, const uint8_t gid[], size_t size)
	Set the endpoint gid in the given topic endpoint info data structure. More...
rmw_ret_t	rmw_topic_endpoint_info_set_qos_profile (rmw_topic_endpoint_info_t *topic_endpoint_info, const rmw_qos_profile_t *qos_profile)
	Set the endpoint QoS profile in the given topic endpoint info data structure. More...

Typedef Documentation

rmw_topic_endpoint_info_t

typedef struct RMW_PUBLIC_TYPE rmw_topic_endpoint_info_t rmw_topic_endpoint_info_t

A data structure that encapsulates the node name, node namespace, topic_type, gid, and qos_profile of publishers and subscriptions for a topic.

Function Documentation

rmw_get_zero_initialized_topic_endpoint_info()

rmw_topic_endpoint_info_t rmw_get_zero_initialized_topic_endpoint_info

(

void

)

Return zero initialized topic endpoint info data structure.

Endpoint type will be invalid. Endpoint QoS profile will be the system default.

rmw_topic_endpoint_info_fini()

rmw_ret_t rmw_topic_endpoint_info_fini	(	rmw_topic_endpoint_info_t *	topic_endpoint_info,
		rcutils_allocator_t *	allocator
	)

Finalize a topic endpoint info data structure.

This function deallocates all allocated members of the given data structure, and then zero initializes it. If a logical error, such as RMW_RET_INVALID_ARGUMENT, ensues, this function will return early, leaving the given data structure unchanged. Otherwise, it will proceed despite errors.

---

Attribute	Adherence
Allocates Memory	No
Thread-Safe	No
Uses Atomics	No
Lock-Free	Yes

Thread-safety

Finalization is a reentrant procedure, but:

• Access to the topic endpoint info data structure is not synchronized. It is not safe to read or write topic_endpoint during finalization.
• The default allocators are thread-safe objects, but any custom allocator may not be. Check your allocator documentation for further reference.

Parameters

[in,out]	topic_endpoint_info	Data structure to be finalized.
[in]	allocator	Allocator used to populate the given topic_endpoint_info.

Returns

RMW_RET_OK if successful, or

RMW_RET_INVALID_ARGUMENT if topic_endpoint_info is NULL, or

RMW_RET_INVALID_ARGUMENT if allocator is invalid, by rcutils_allocator_is_valid() definition, or

RMW_RET_ERROR when an unspecified error occurs.

Remarks

This function sets the RMW error state on failure.

rmw_topic_endpoint_info_set_topic_type()

rmw_ret_t rmw_topic_endpoint_info_set_topic_type	(	rmw_topic_endpoint_info_t *	topic_endpoint_info,
		const char *	topic_type,
		rcutils_allocator_t *	allocator
	)

Set the topic type in the given topic endpoint info data structure.

This functions allocates memory and copies the value of the topic_type argument to set the data structure topic_type member.

---

Attribute	Adherence
Allocates Memory	Yes
Thread-Safe	No
Uses Atomics	No
Lock-Free	Yes

Thread-safety

Setting a member is a reentrant procedure, but:

• Access to the topic endpoint info data structure is not synchronized. It is not safe to read or write the topic_type member of the given topic_endpoint while setting it.
• Access to C-style string arguments is read-only but it is not synchronized. Concurrent topic_type reads are safe, but concurrent reads and writes are not.
• The default allocators are thread-safe objects, but any custom allocator may not be. Check your allocator documentation for further reference.

Precondition

Given topic_type is a valid C-style string i.e. NULL terminated.

Parameters

[in,out]	topic_endpoint_info	Data structure to be populated.
[in]	topic_type	Type name to be set.
[in]	allocator	Allocator to be used.

Returns

RMW_RET_OK if successful, or

RMW_RET_INVALID_ARGUMENT if topic_endpoint_info is NULL, or

RMW_RET_INVALID_ARGUMENT if topic_type is NULL, or

RMW_RET_BAD_ALLOC if memory allocation fails, or

RMW_RET_ERROR when an unspecified error occurs.

Remarks

This function sets the RMW error state on failure.

rmw_topic_endpoint_info_set_node_name()

rmw_ret_t rmw_topic_endpoint_info_set_node_name	(	rmw_topic_endpoint_info_t *	topic_endpoint_info,
		const char *	node_name,
		rcutils_allocator_t *	allocator
	)

Set the node name in the given topic endpoint info data structure.

This functions allocates memory and copies the value of the node_name argument to set the data structure node_name member.

---

Attribute	Adherence
Allocates Memory	Yes
Thread-Safe	No
Uses Atomics	No
Lock-Free	Yes

Thread-safety

Setting a member is a reentrant procedure, but:

• Access to the topic endpoint info data structure is not synchronized. It is not safe to read or write the node_name member of the given topic_endpoint while setting it.
• Access to C-style string arguments is read-only but it is not synchronized. Concurrent node_name reads are safe, but concurrent reads and writes are not.
• The default allocators are thread-safe objects, but any custom allocator may not be. Check your allocator documentation for further reference.

Precondition

Given node_name is a valid C-style string i.e. NULL terminated.

Parameters

[in,out]	topic_endpoint_info	Data structure to be populated.
[in]	node_name	Node name to be set.
[in]	allocator	Allocator to be used.

Returns

RMW_RET_OK if successful, or

RMW_RET_INVALID_ARGUMENT if topic_endpoint_info is NULL, or

RMW_RET_INVALID_ARGUMENT if node_name is NULL, or

RMW_RET_BAD_ALLOC if memory allocation fails, or

RMW_RET_ERROR when an unspecified error occurs.

Remarks

This function sets the RMW error state on failure.

rmw_topic_endpoint_info_set_node_namespace()

rmw_ret_t rmw_topic_endpoint_info_set_node_namespace	(	rmw_topic_endpoint_info_t *	topic_endpoint_info,
		const char *	node_namespace,
		rcutils_allocator_t *	allocator
	)

Set the node namespace in the given topic endpoint info data structure.

This functions allocates memory and copies the value of the node_namespace argument to set the data structure node_namespace member.

---

Attribute	Adherence
Allocates Memory	Yes
Thread-Safe	No
Uses Atomics	No
Lock-Free	Yes

Thread-safety

Setting a member is a reentrant procedure, but:

• Access to the topic endpoint info data structure is not synchronized. It is not safe to read or write the node_namespace member of the given topic_endpoint while setting it.
• Access to C-style string arguments is read-only but it is not synchronized. Concurrent node_namespace reads are safe, but concurrent reads and writes are not.
• The default allocators are thread-safe objects, but any custom allocator may not be. Check your allocator documentation for further reference.

Precondition

Given node_namespace is a valid C-style string i.e. NULL terminated.

Parameters

[in,out]	topic_endpoint_info	Data structure to be populated.
[in]	node_namespace	Node namespace to be set.
[in]	allocator	Allocator to be used.

Returns

RMW_RET_OK if successful, or

RMW_RET_INVALID_ARGUMENT if topic_endpoint_info is NULL, or

RMW_RET_INVALID_ARGUMENT if node_namespace is NULL, or

RMW_RET_BAD_ALLOC if memory allocation fails, or

RMW_RET_ERROR when an unspecified error occurs.

Remarks

This function sets the RMW error state on failure.

rmw_topic_endpoint_info_set_endpoint_type()

rmw_ret_t rmw_topic_endpoint_info_set_endpoint_type	(	rmw_topic_endpoint_info_t *	topic_endpoint_info,
		rmw_endpoint_type_t	type
	)

Set the endpoint type in the given topic endpoint info data structure.

This functions assigns the value of the type argument to the data structure endpoint_type member.

---

Attribute	Adherence
Allocates Memory	No
Thread-Safe	No
Uses Atomics	No
Lock-Free	Yes

Thread-safety

Setting a member is a reentrant procedure, but access to the topic endpoint info data structure is not synchronized. It is not safe to read or write the endpoint_type member of the given topic_endpoint while setting it.

Parameters

[in,out]	topic_endpoint_info	Data structure to be populated.
[in]	type	Endpoint type to be set.

Returns

RMW_RET_OK if successful, or

RMW_RET_INVALID_ARGUMENT if topic_endpoint_info is NULL, or

RMW_RET_ERROR when an unspecified error occurs.

Remarks

This function sets the RMW error state on failure.

rmw_topic_endpoint_info_set_gid()

rmw_ret_t rmw_topic_endpoint_info_set_gid	(	rmw_topic_endpoint_info_t *	topic_endpoint_info,
		const uint8_t	gid[],
		size_t	size
	)

Set the endpoint gid in the given topic endpoint info data structure.

This functions copies the value of the gid argument to the data structure endpoint_gid member.

---

Attribute	Adherence
Allocates Memory	No
Thread-Safe	No
Uses Atomics	No
Lock-Free	Yes

Thread-safety

Setting a member is a reentrant procedure, but access to the topic endpoint info data structure is not synchronized. It is not safe to read or write the gid member of the given topic_endpoint while setting it.

Parameters

[in,out]	topic_endpoint_info	Data structure to be populated.
[in]	gid	Endpoint gid to be set.
[in]	size	Size of the given gid.

Returns

RMW_RET_OK if successful, or

RMW_RET_INVALID_ARGUMENT if topic_endpoint_info is NULL, or

RMW_RET_INVALID_ARGUMENT if gid is NULL, or

RMW_RET_INVALID_ARGUMENT if size is greater than RMW_GID_STORAGE_SIZE, or

RMW_RET_ERROR when an unspecified error occurs.

Remarks

This function sets the RMW error state on failure.

rmw_topic_endpoint_info_set_qos_profile()

rmw_ret_t rmw_topic_endpoint_info_set_qos_profile	(	rmw_topic_endpoint_info_t *	topic_endpoint_info,
		const rmw_qos_profile_t *	qos_profile
	)

Set the endpoint QoS profile in the given topic endpoint info data structure.

This functions assigns the value of the qos_profile argument to the data structure qos_profile member.

---

Attribute	Adherence
Allocates Memory	No
Thread-Safe	No
Uses Atomics	No
Lock-Free	Yes

Thread-safety

Setting a member is a reentrant procedure, but access to the topic endpoint info data structure is not synchronized. It is not safe to read or write the qos_profile member of the given topic_endpoint while setting it.

Parameters

[in,out]	topic_endpoint_info	Data structure to be populated.
[in]	qos_profile	QoS profile to be set.

Returns

RMW_RET_OK if successful, or

RMW_RET_INVALID_ARGUMENT if topic_endpoint_info is NULL, or

RMW_RET_INVALID_ARGUMENT if qos_profile is NULL, or

RMW_RET_ERROR when an unspecified error occurs.

Remarks

This function sets the RMW error state on failure.