types.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__TYPES_H_
#define RMW__TYPES_H_

#ifdef __cplusplus
extern "C"
{
#endif

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

// map rcutils specific log levels to rmw speicfic type
#include <rcutils/logging.h>

#include "rmw/visibility_control.h"

typedef int rmw_ret_t;
#define RMW_RET_OK 0
#define RMW_RET_ERROR 1
#define RMW_RET_TIMEOUT 2

#define RMW_RET_BAD_ALLOC 10
#define RMW_RET_INVALID_ARGUMENT 11

// 24 bytes is the most memory needed to represent the GID by any current
// implementation. It may need to be increased in the future.
#define RMW_GID_STORAGE_SIZE 24

typedef struct RMW_PUBLIC_TYPE rmw_node_t
{
  const char * implementation_identifier;
  void * data;
  const char * name;
  const char * namespace_;
} rmw_node_t;

typedef struct RMW_PUBLIC_TYPE rmw_publisher_t
{
  const char * implementation_identifier;
  void * data;
  const char * topic_name;
} rmw_publisher_t;

typedef struct RMW_PUBLIC_TYPE rmw_subscription_t
{
  const char * implementation_identifier;
  void * data;
  const char * topic_name;
} rmw_subscription_t;

typedef struct RMW_PUBLIC_TYPE rmw_service_t
{
  const char * implementation_identifier;
  void * data;
  const char * service_name;
} rmw_service_t;

typedef struct RMW_PUBLIC_TYPE rmw_client_t
{
  const char * implementation_identifier;
  void * data;
  const char * service_name;
} rmw_client_t;

typedef struct RMW_PUBLIC_TYPE rmw_guard_condition_t
{
  const char * implementation_identifier;
  void * data;
} rmw_guard_condition_t;


typedef struct RMW_PUBLIC_TYPE rmw_subscriptions_t
{
  size_t subscriber_count;
  void ** subscribers;
} rmw_subscriptions_t;


typedef struct RMW_PUBLIC_TYPE rmw_services_t
{
  size_t service_count;
  void ** services;
} rmw_services_t;


typedef struct RMW_PUBLIC_TYPE rmw_clients_t
{
  size_t client_count;
  void ** clients;
} rmw_clients_t;


typedef struct RMW_PUBLIC_TYPE rmw_guard_conditions_t
{
  size_t guard_condition_count;
  void ** guard_conditions;
} rmw_guard_conditions_t;

typedef struct RMW_PUBLIC_TYPE rmw_wait_set_t
{
  const char * implementation_identifier;
  rmw_guard_conditions_t * guard_conditions;
  void * data;
} rmw_wait_set_t;

typedef struct RMW_PUBLIC_TYPE rmw_request_id_t
{
  int8_t writer_guid[16];
  int64_t sequence_number;
} rmw_request_id_t;

typedef struct RMW_PUBLIC_TYPE rmw_time_t
{
  uint64_t sec;
  uint64_t nsec;
} rmw_time_t;

enum RMW_PUBLIC_TYPE rmw_security_enforcement_policy_t
{
  RMW_SECURITY_ENFORCEMENT_PERMISSIVE,
  RMW_SECURITY_ENFORCEMENT_ENFORCE,
};

typedef struct RMW_PUBLIC_TYPE rmw_node_security_options_t
{
  enum rmw_security_enforcement_policy_t enforce_security;
  const char * security_root_path;
} rmw_node_security_options_t;

enum RMW_PUBLIC_TYPE rmw_qos_reliability_policy_t
{
  RMW_QOS_POLICY_RELIABILITY_SYSTEM_DEFAULT,
  RMW_QOS_POLICY_RELIABILITY_RELIABLE,
  RMW_QOS_POLICY_RELIABILITY_BEST_EFFORT
};

enum RMW_PUBLIC_TYPE rmw_qos_history_policy_t
{
  RMW_QOS_POLICY_HISTORY_SYSTEM_DEFAULT,
  RMW_QOS_POLICY_HISTORY_KEEP_LAST,
  RMW_QOS_POLICY_HISTORY_KEEP_ALL
};

enum RMW_PUBLIC_TYPE rmw_qos_durability_policy_t
{
  RMW_QOS_POLICY_DURABILITY_SYSTEM_DEFAULT,
  RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL,
  RMW_QOS_POLICY_DURABILITY_VOLATILE
};

typedef struct RMW_PUBLIC_TYPE rmw_qos_profile_t
{
  enum rmw_qos_history_policy_t history;
  size_t depth;
  enum rmw_qos_reliability_policy_t reliability;
  enum rmw_qos_durability_policy_t durability;

  bool avoid_ros_namespace_conventions;
} rmw_qos_profile_t;

typedef struct RMW_PUBLIC_TYPE rmw_gid_t
{
  const char * implementation_identifier;
  uint8_t data[RMW_GID_STORAGE_SIZE];
} rmw_gid_t;

typedef struct RMW_PUBLIC_TYPE rmw_serialized_message_t
{
  // serialized message data
  char * buffer;
  size_t buffer_length;
  size_t buffer_capacity;
  rcutils_allocator_t allocator;
} rmw_serialized_message_t;

typedef struct RMW_PUBLIC_TYPE rmw_message_info_t
{
  // const rmw_time_t received_timestamp;
  rmw_gid_t publisher_gid;
  bool from_intra_process;
} rmw_message_info_t;

enum {RMW_QOS_POLICY_DEPTH_SYSTEM_DEFAULT = 0};

// Type mapping of rcutil log severity types to
// rmw specific types.
typedef enum RWM_PUBLIC_TYPE
{
  RMW_LOG_SEVERITY_DEBUG = RCUTILS_LOG_SEVERITY_DEBUG,
  RMW_LOG_SEVERITY_INFO = RCUTILS_LOG_SEVERITY_INFO,
  RMW_LOG_SEVERITY_WARN = RCUTILS_LOG_SEVERITY_WARN,
  RMW_LOG_SEVERITY_ERROR = RCUTILS_LOG_SEVERITY_ERROR,
  RMW_LOG_SEVERITY_FATAL = RCUTILS_LOG_SEVERITY_FATAL
} rmw_log_severity_t;

#ifdef __cplusplus
}
#endif

#endif  // RMW__TYPES_H_