node.h

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// Copyright 2015 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__NODE_H_
#define RCL__NODE_H_

#ifdef __cplusplus
extern "C"
{
#endif

#include <stdint.h>

#include "rcl/allocator.h"
#include "rcl/arguments.h"
#include "rcl/context.h"
#include "rcl/macros.h"
#include "rcl/types.h"
#include "rcl/visibility_control.h"

#define RCL_NODE_OPTIONS_DEFAULT_DOMAIN_ID SIZE_MAX

struct rcl_guard_condition_t;
struct rcl_node_impl_t;

typedef struct rcl_node_t
{
  rcl_context_t * context;

  struct rcl_node_impl_t * impl;
} rcl_node_t;

typedef struct rcl_node_options_t
{
  // bool anonymous_name;

  // rmw_qos_profile_t parameter_qos;

  // bool no_parameters;


  size_t domain_id;

  rcl_allocator_t allocator;

  bool use_global_arguments;

  rcl_arguments_t arguments;
} rcl_node_options_t;


RCL_PUBLIC
rcl_node_options_t
rcl_node_get_default_options(void);

RCL_PUBLIC
RCL_WARN_UNUSED
rcl_node_t
rcl_get_zero_initialized_node(void);


RCL_PUBLIC
RCL_WARN_UNUSED
rcl_ret_t
rcl_node_init(
  rcl_node_t * node,
  const char * name,
  const char * namespace_,
  rcl_context_t * context,
  const rcl_node_options_t * options);


RCL_PUBLIC
RCL_WARN_UNUSED
rcl_ret_t
rcl_node_fini(rcl_node_t * node);


RCL_PUBLIC
RCL_WARN_UNUSED
rcl_ret_t
rcl_node_options_copy(
  const rcl_node_options_t * options,
  rcl_node_options_t * options_out);


RCL_PUBLIC
bool
rcl_node_is_valid(const rcl_node_t * node);


RCL_PUBLIC
bool
rcl_node_is_valid_except_context(const rcl_node_t * node);


RCL_PUBLIC
RCL_WARN_UNUSED
const char *
rcl_node_get_name(const rcl_node_t * node);


RCL_PUBLIC
RCL_WARN_UNUSED
const char *
rcl_node_get_namespace(const rcl_node_t * node);


RCL_PUBLIC
RCL_WARN_UNUSED
const rcl_node_options_t *
rcl_node_get_options(const rcl_node_t * node);


RCL_PUBLIC
RCL_WARN_UNUSED
rcl_ret_t
rcl_node_get_domain_id(const rcl_node_t * node, size_t * domain_id);


RCL_PUBLIC
RCL_WARN_UNUSED
rmw_node_t *
rcl_node_get_rmw_handle(const rcl_node_t * node);


RCL_PUBLIC
RCL_WARN_UNUSED
uint64_t
rcl_node_get_rcl_instance_id(const rcl_node_t * node);


RCL_PUBLIC
RCL_WARN_UNUSED
const struct rcl_guard_condition_t *
rcl_node_get_graph_guard_condition(const rcl_node_t * node);


RCL_PUBLIC
RCL_WARN_UNUSED
const char *
rcl_node_get_logger_name(const rcl_node_t * node);

#ifdef __cplusplus
}
#endif

#endif  // RCL__NODE_H_