graph.h

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// Copyright 2016-2017 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 RCL__GRAPH_H_
#define RCL__GRAPH_H_

#if __cplusplus
extern "C"
{
#endif

#include <rmw/names_and_types.h>
#include <rmw/get_topic_names_and_types.h>

#include "rcutils/types.h"

#include "rosidl_generator_c/service_type_support_struct.h"

#include "rcl/macros.h"
#include "rcl/client.h"
#include "rcl/node.h"
#include "rcl/visibility_control.h"

typedef rmw_names_and_types_t rcl_names_and_types_t;

#define rcl_get_zero_initialized_names_and_types rmw_get_zero_initialized_names_and_types


RCL_PUBLIC
RCL_WARN_UNUSED
rcl_ret_t
rcl_get_topic_names_and_types(
  const rcl_node_t * node,
  rcl_allocator_t * allocator,
  bool no_demangle,
  rcl_names_and_types_t * topic_names_and_types);


RCL_PUBLIC
RCL_WARN_UNUSED
rcl_ret_t
rcl_get_service_names_and_types(
  const rcl_node_t * node,
  rcl_allocator_t * allocator,
  rcl_names_and_types_t * service_names_and_types);


RCL_PUBLIC
RCL_WARN_UNUSED
rcl_ret_t
rcl_names_and_types_fini(rcl_names_and_types_t * names_and_types);


RCL_PUBLIC
RCL_WARN_UNUSED
rcl_ret_t
rcl_get_node_names(
  const rcl_node_t * node,
  rcl_allocator_t allocator,
  rcutils_string_array_t * node_names);


RCL_PUBLIC
RCL_WARN_UNUSED
rcl_ret_t
rcl_count_publishers(
  const rcl_node_t * node,
  const char * topic_name,
  size_t * count);


RCL_PUBLIC
RCL_WARN_UNUSED
rcl_ret_t
rcl_count_subscribers(
  const rcl_node_t * node,
  const char * topic_name,
  size_t * count);


RCL_PUBLIC
RCL_WARN_UNUSED
rcl_ret_t
rcl_service_server_is_available(
  const rcl_node_t * node,
  const rcl_client_t * client,
  bool * is_available);

#if __cplusplus
}
#endif

#endif  // RCL__GRAPH_H_