rclcpp  master
C++ ROS Client Library API
utilities.hpp
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1 // Copyright 2014 Open Source Robotics Foundation, Inc.
2 //
3 // Licensed under the Apache License, Version 2.0 (the "License");
4 // you may not use this file except in compliance with the License.
5 // You may obtain a copy of the License at
6 //
7 // http://www.apache.org/licenses/LICENSE-2.0
8 //
9 // Unless required by applicable law or agreed to in writing, software
10 // distributed under the License is distributed on an "AS IS" BASIS,
11 // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
12 // See the License for the specific language governing permissions and
13 // limitations under the License.
14 
15 #ifndef RCLCPP__UTILITIES_HPP_
16 #define RCLCPP__UTILITIES_HPP_
17 
18 #include <chrono>
19 #include <functional>
20 #include <limits>
21 #include <vector>
22 
23 #include "rclcpp/context.hpp"
24 #include "rclcpp/init_options.hpp"
25 #include "rclcpp/visibility_control.hpp"
26 
27 #include "rmw/macros.h"
28 #include "rmw/rmw.h"
29 
30 #ifdef ANDROID
31 #include <string>
32 #include <sstream>
33 
34 namespace std
35 {
36 template<typename T>
37 std::string to_string(T value)
38 {
39  std::ostringstream os;
40  os << value;
41  return os.str();
42 }
43 }
44 #endif
45 
46 namespace rclcpp
47 {
49 
57 RCLCPP_PUBLIC
58 void
59 init(int argc, char const * const argv[], const InitOptions & init_options = InitOptions());
60 
62 
75 RCLCPP_PUBLIC
76 bool
77 install_signal_handlers();
78 
80 RCLCPP_PUBLIC
81 bool
82 signal_handlers_installed();
83 
85 
97 RCLCPP_PUBLIC
98 bool
99 uninstall_signal_handlers();
100 
102 
108 RCLCPP_PUBLIC
109 std::vector<std::string>
110 init_and_remove_ros_arguments(
111  int argc,
112  char const * const argv[],
113  const InitOptions & init_options = InitOptions());
114 
116 
126 RCLCPP_PUBLIC
127 std::vector<std::string>
128 remove_ros_arguments(int argc, char const * const argv[]);
129 
131 
142 RCLCPP_PUBLIC
143 bool
144 ok(rclcpp::Context::SharedPtr context = nullptr);
145 
147 
156 RCLCPP_PUBLIC
157 bool
158 is_initialized(rclcpp::Context::SharedPtr context = nullptr);
159 
161 
173 RCLCPP_PUBLIC
174 bool
175 shutdown(
176  rclcpp::Context::SharedPtr context = nullptr,
177  const std::string & reason = "user called rclcpp::shutdown()");
178 
180 
194 RCLCPP_PUBLIC
195 void
196 on_shutdown(std::function<void()> callback, rclcpp::Context::SharedPtr context = nullptr);
197 
199 
211 RCLCPP_PUBLIC
212 bool
213 sleep_for(
214  const std::chrono::nanoseconds & nanoseconds,
215  rclcpp::Context::SharedPtr context = nullptr);
216 
218 
227 template<typename T>
228 bool
229 add_will_overflow(const T x, const T y)
230 {
231  return (y > 0) && (x > (std::numeric_limits<T>::max() - y));
232 }
233 
235 
244 template<typename T>
245 bool
246 add_will_underflow(const T x, const T y)
247 {
248  return (y < 0) && (x < (std::numeric_limits<T>::min() - y));
249 }
250 
252 
261 template<typename T>
262 bool
263 sub_will_overflow(const T x, const T y)
264 {
265  return (y < 0) && (x > (std::numeric_limits<T>::max() + y));
266 }
267 
269 
278 template<typename T>
279 bool
280 sub_will_underflow(const T x, const T y)
281 {
282  return (y > 0) && (x < (std::numeric_limits<T>::min() + y));
283 }
284 
286 
292 RCLCPP_PUBLIC
293 const char *
294 get_c_string(const char * string_in);
295 
297 
301 RCLCPP_PUBLIC
302 const char *
303 get_c_string(const std::string & string_in);
304 
305 } // namespace rclcpp
306 
307 #endif // RCLCPP__UTILITIES_HPP_
rclcpp::signal_handlers_installed
bool signal_handlers_installed()
Return true if the signal handlers are installed, otherwise false.
rclcpp::sub_will_overflow
bool sub_will_overflow(const T x, const T y)
Safely check if subtraction will overflow.
Definition: utilities.hpp:263
std::to_string
T to_string(T... args)
rclcpp
Definition: allocator_common.hpp:24
rclcpp::add_will_underflow
bool add_will_underflow(const T x, const T y)
Safely check if addition will underflow.
Definition: utilities.hpp:246
rclcpp::shutdown
bool shutdown(rclcpp::Context::SharedPtr context=nullptr, const std::string &reason="user called rclcpp::shutdown()")
Shutdown rclcpp context, invalidating it for derived entities.
rclcpp::get_c_string
const char * get_c_string(const std::string &string_in)
Return the C string from the given std::string.
rclcpp::init
void init(int argc, char const *const argv[], const InitOptions &init_options=InitOptions())
Initialize communications via the rmw implementation and set up a global signal handler.
rclcpp::sleep_for
bool sleep_for(const std::chrono::nanoseconds &nanoseconds, rclcpp::Context::SharedPtr context=nullptr)
Use the global condition variable to block for the specified amount of time.
init_options.hpp
rclcpp::sub_will_underflow
bool sub_will_underflow(const T x, const T y)
Safely check if subtraction will underflow.
Definition: utilities.hpp:280
rclcpp::is_initialized
bool is_initialized(rclcpp::Context::SharedPtr context=nullptr)
Return true if init() has already been called for the given context.
std::ostringstream::str
T str(T... args)
rclcpp::on_shutdown
void on_shutdown(std::function< void()> callback, rclcpp::Context::SharedPtr context=nullptr)
Register a function to be called when shutdown is called on the context.
rclcpp::add_will_overflow
bool add_will_overflow(const T x, const T y)
Safely check if addition will overflow.
Definition: utilities.hpp:229
std::numeric_limits::max
T max(T... args)
RCLCPP_PUBLIC
#define RCLCPP_PUBLIC
Definition: visibility_control.hpp:50
rclcpp::ok
bool ok(rclcpp::Context::SharedPtr context=nullptr)
Check rclcpp&#39;s status.
rclcpp::init_and_remove_ros_arguments
std::vector< std::string > init_and_remove_ros_arguments(int argc, char const *const argv[], const InitOptions &init_options=InitOptions())
Initialize communications via the rmw implementation and set up a global signal handler.
visibility_control.hpp
rclcpp::uninstall_signal_handlers
bool uninstall_signal_handlers()
Uninstall the global signal handler for rclcpp.
rclcpp::remove_ros_arguments
std::vector< std::string > remove_ros_arguments(int argc, char const *const argv[])
Remove ROS-specific arguments from argument vector.
rclcpp::install_signal_handlers
bool install_signal_handlers()
Install the global signal handler for rclcpp.
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