node_options.h File Reference

#include "rcl/allocator.h"
#include "rcl/arguments.h"

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Classes
struct	rcl_node_options_t
	Structure which encapsulates the options for creating a rcl_node_t. More...

Macros
#define	RCL_NODE_OPTIONS_DEFAULT_DOMAIN_ID   SIZE_MAX
	Constant which indicates that the default domain id should be used. More...

Typedefs
typedef struct rcl_node_options_t	rcl_node_options_t
	Structure which encapsulates the options for creating a rcl_node_t. More...

Functions
rcl_node_options_t	rcl_node_get_default_options (void)
	Return the default node options in a rcl_node_options_t. More...
rcl_ret_t	rcl_node_options_copy (const rcl_node_options_t *options, rcl_node_options_t *options_out)
	Copy one options structure into another. More...
rcl_ret_t	rcl_node_options_fini (rcl_node_options_t *options)
	Finalize the given node_options. More...

Macro Definition Documentation

RCL_NODE_OPTIONS_DEFAULT_DOMAIN_ID

#define RCL_NODE_OPTIONS_DEFAULT_DOMAIN_ID   SIZE_MAX

Constant which indicates that the default domain id should be used.

Typedef Documentation

rcl_node_options_t

typedef struct rcl_node_options_t rcl_node_options_t

Structure which encapsulates the options for creating a rcl_node_t.

Function Documentation

rcl_node_get_default_options()

rcl_node_options_t rcl_node_get_default_options

(

void

)

Return the default node options in a rcl_node_options_t.

The default values are:

• domain_id = RCL_NODE_OPTIONS_DEFAULT_DOMAIN_ID
• allocator = rcl_get_default_allocator()
• use_global_arguments = true
• arguments = rcl_get_zero_initialized_arguments()

rcl_node_options_copy()

rcl_ret_t rcl_node_options_copy	(	const rcl_node_options_t *	options,
		rcl_node_options_t *	options_out
	)

Copy one options structure into another.

---

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

Parameters

[in]	options	The structure to be copied. Its allocator is used to copy memory into the new structure.
[out]	options_out	An options structure containing default values.

Returns

RCL_RET_OK if the structure was copied successfully, or

RCL_RET_INVALID_ARGUMENT if any function arguments are invalid, or

RCL_RET_BAD_ALLOC if allocating memory failed, or

RCL_RET_ERROR if an unspecified error occurs.

rcl_node_options_fini()

rcl_ret_t rcl_node_options_fini

(

rcl_node_options_t *

options

)

Finalize the given node_options.

The given node_options must be non-NULL and valid, i.e. had rcl_node_get_default_options() 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]

node_options

object to be finalized

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.