init_options.h File Reference

#include "rmw/init.h"
#include "rcl/allocator.h"
#include "rcl/macros.h"
#include "rcl/types.h"
#include "rcl/visibility_control.h"

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Classes
struct	rcl_init_options_t
	Encapsulation of init options and implementation defined init options. More...

Typedefs
typedef struct rcl_init_options_t	rcl_init_options_t
	Encapsulation of init options and implementation defined init options. More...

Functions
rcl_init_options_t	rcl_get_zero_initialized_init_options (void)
	Return a zero initialized rcl_init_options_t struct. More...
rcl_ret_t	rcl_init_options_init (rcl_init_options_t *init_options, rcl_allocator_t allocator)
	Initialize given init_options with the default values and implementation specific values. More...
rcl_ret_t	rcl_init_options_copy (const rcl_init_options_t *src, rcl_init_options_t *dst)
	Copy the given source init_options to the destination init_options. More...
rcl_ret_t	rcl_init_options_fini (rcl_init_options_t *init_options)
	Finalize the given init_options. More...
rmw_init_options_t *	rcl_init_options_get_rmw_init_options (rcl_init_options_t *init_options)
	Return the rmw init options which are stored internally. More...

Typedef Documentation

rcl_init_options_t

typedef struct rcl_init_options_t rcl_init_options_t

Encapsulation of init options and implementation defined init options.

Function Documentation

rcl_get_zero_initialized_init_options()

rcl_init_options_t rcl_get_zero_initialized_init_options

(

void

)

Return a zero initialized rcl_init_options_t struct.

rcl_init_options_init()

rcl_ret_t rcl_init_options_init	(	rcl_init_options_t *	init_options,
		rcl_allocator_t	allocator
	)

Initialize given init_options with the default values and implementation specific values.

The given allocator is used, if required, during setup of the init options, but is also used during initialization.

In either case the given allocator is stored in the returned init options.

The impl pointer should not be changed manually.

---

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

Parameters

[in,out]	init_options	object to be setup
[in]	allocator	to be used during setup and during initialization

Returns

RCL_RET_OK if setup is successful, or

RCL_RET_ALREADY_INIT if init_options has already be initialized, or

RCL_RET_INVALID_ARGUMENT if any arguments are invalid, or

RCL_RET_BAD_ALLOC if allocating memory failed, or

RCL_RET_ERROR if an unspecified error occurs.

rcl_init_options_copy()

rcl_ret_t rcl_init_options_copy	(	const rcl_init_options_t *	src,
		rcl_init_options_t *	dst
	)

Copy the given source init_options to the destination init_options.

The allocator from the source is used for any allocations and stored in the destination.

The destination should either be zero initialized with rcl_get_zero_initialized_init_options() or should have had rcl_init_options_fini() called on it. Giving an already initialized init options for the destination will result in a failure with return code RCL_RET_ALREADY_INIT.

---

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

Parameters

[in]	src	rcl_init_options_t object to be copied from
[out]	dst	rcl_init_options_t object to be copied into

Returns

RCL_RET_OK if the copy is successful, or

RCL_RET_ALREADY_INIT if the dst has already be initialized, or

RCL_RET_INVALID_ARGUMENT if any arguments are invalid, or

RCL_RET_BAD_ALLOC if allocating memory failed, or

RCL_RET_ERROR if an unspecified error occurs.

rcl_init_options_fini()

rcl_ret_t rcl_init_options_fini

(

rcl_init_options_t *

init_options

)

Finalize the given init_options.

The given init_options must be non-NULL and valid, i.e. had rcl_init_options_init() called on it but not this function yet.

---

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

Parameters

[in,out]

init_options

object to be setup

Returns

RCL_RET_OK if setup is successful, or

RCL_RET_INVALID_ARGUMENT if any arguments are invalid, or

RCL_RET_ERROR if an unspecified error occurs.

rcl_init_options_get_rmw_init_options()

rmw_init_options_t* rcl_init_options_get_rmw_init_options

(

rcl_init_options_t *

init_options

)

Return the rmw init options which are stored internally.

This function can fail and return NULL if:

• init_options is NULL
• init_options is invalid, e.g. init_options->impl is NULL

If NULL is returned an error message will have been set.

---

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

Parameters

[in]

init_options

object from which the rmw init options should be retrieved

Returns

pointer to the the rmw init options, or

NULL if there was an error