init.h

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// Copyright 2014-2018 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__INIT_H_
#define RMW__INIT_H_

#ifdef __cplusplus
extern "C"
{
#endif

#include <stdint.h>

#include "rmw/init_options.h"
#include "rmw/macros.h"
#include "rmw/ret_types.h"
#include "rmw/visibility_control.h"


typedef struct rmw_context_impl_t rmw_context_impl_t;

typedef struct RMW_PUBLIC_TYPE rmw_context_t
{
  uint64_t instance_id;
  const char * implementation_identifier;

  rmw_context_impl_t * impl;
} rmw_context_t;

RMW_PUBLIC
RMW_WARN_UNUSED
rmw_context_t
rmw_get_zero_initialized_context(void);


RMW_PUBLIC
RMW_WARN_UNUSED
rmw_ret_t
rmw_init(const rmw_init_options_t * options, rmw_context_t * context);


RMW_PUBLIC
RMW_WARN_UNUSED
rmw_ret_t
rmw_shutdown(rmw_context_t * context);


RMW_PUBLIC
RMW_WARN_UNUSED
rmw_ret_t
rmw_context_fini(rmw_context_t * context);

#ifdef __cplusplus
}
#endif

#endif  // RMW__INIT_H_