graph.h File Reference

#include "rcl/graph.h"
#include "rcl/node.h"
#include "rcl_action/visibility_control.h"

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Functions
RCL_ACTION_PUBLIC rcl_ret_t	rcl_action_get_client_names_and_types_by_node (const rcl_node_t *node, rcl_allocator_t *allocator, const char *node_name, const char *node_namespace, rcl_names_and_types_t *action_names_and_types)
	Get a list of action names and types for action clients associated with a node. More...
RCL_ACTION_PUBLIC rcl_ret_t	rcl_action_get_server_names_and_types_by_node (const rcl_node_t *node, rcl_allocator_t *allocator, const char *node_name, const char *node_namespace, rcl_names_and_types_t *action_names_and_types)
	Get a list of action names and types for action servers associated with a node. More...
RCL_ACTION_PUBLIC rcl_ret_t	rcl_action_get_names_and_types (const rcl_node_t *node, rcl_allocator_t *allocator, rcl_names_and_types_t *action_names_and_types)
	Return a list of action names and their types. More...

Function Documentation

rcl_action_get_client_names_and_types_by_node()

RCL_ACTION_PUBLIC rcl_ret_t rcl_action_get_client_names_and_types_by_node	(	const rcl_node_t *	node,
		rcl_allocator_t *	allocator,
		const char *	node_name,
		const char *	node_namespace,
		rcl_names_and_types_t *	action_names_and_types
	)

Get a list of action names and types for action clients associated with a node.

The node parameter must point to a valid node.

The action_names_and_types parameter must be allocated and zero initialized. This function allocates memory for the returned list of names and types and so it is the callers responsibility to pass action_names_and_types to rcl_names_and_types_fini() when it is no longer needed. Failing to do so will result in leaked memory.

The returned names are not automatically remapped by this function. Attempting to create action clients or action servers with names returned by this function may not result in the desired action name depending on the remap rules in use.

---

Attribute	Adherence
Allocates Memory	Yes
Thread-Safe	No
Uses Atomics	No
Lock-Free	Maybe [1]

[1] implementation may need to protect the data structure with a lock

Parameters

[in]	node	the handle to the node being used to query the ROS graph
[in]	allocator	allocator for allocating space for strings
[in]	node_name	the node name of the actions to return
[in]	node_namespace	the node namespace of the actions to return
[out]	action_names_and_types	list of action names and their types

Returns

RCL_RET_OK if the query was successful, or

RCL_RET_NODE_INVALID if the node is invalid, or

RCL_RET_INVALID_ARGUMENT if any arguments are invalid, or

RCL_RET_ERROR if an unspecified error occurs.

rcl_action_get_server_names_and_types_by_node()

RCL_ACTION_PUBLIC rcl_ret_t rcl_action_get_server_names_and_types_by_node	(	const rcl_node_t *	node,
		rcl_allocator_t *	allocator,
		const char *	node_name,
		const char *	node_namespace,
		rcl_names_and_types_t *	action_names_and_types
	)

Get a list of action names and types for action servers associated with a node.

This function returns a list of action names and types for action servers associated with the provided node name.

The node parameter must point to a valid node.

The action_names_and_types parameter must be allocated and zero initialized. This function allocates memory for the returned list of names and types and so it is the callers responsibility to pass action_names_and_types to rcl_names_and_types_fini() when it is no longer needed. Failing to do so will result in leaked memory.

The returned names are not automatically remapped by this function. Attempting to create action clients or action servers with names returned by this function may not result in the desired action name depending on the remap rules in use.

---

Attribute	Adherence
Allocates Memory	Yes
Thread-Safe	No
Uses Atomics	No
Lock-Free	Maybe [1]

[1] implementation may need to protect the data structure with a lock

Parameters

[in]	node	the handle to the node being used to query the ROS graph
[in]	allocator	allocator for allocating space for strings
[in]	node_name	the node name of the actions to return
[in]	node_namespace	the node namespace of the actions to return
[out]	action_names_and_types	list of action names and their types

Returns

RCL_RET_OK if the query was successful, or

RCL_RET_NODE_INVALID if the node is invalid, or

RCL_RET_INVALID_ARGUMENT if any arguments are invalid, or

RCL_RET_ERROR if an unspecified error occurs.

rcl_action_get_names_and_types()

RCL_ACTION_PUBLIC rcl_ret_t rcl_action_get_names_and_types	(	const rcl_node_t *	node,
		rcl_allocator_t *	allocator,
		rcl_names_and_types_t *	action_names_and_types
	)

Return a list of action names and their types.

This function returns a list of action names and types in the ROS graph.

The node parameter must point to a valid node.

The action_names_and_types parameter must be allocated and zero initialized. This function allocates memory for the returned list of names and types and so it is the callers responsibility to pass action_names_and_types to rcl_names_and_types_fini() when it is no longer needed. Failing to do so will result in leaked memory.

The returned names are not automatically remapped by this function. Attempting to create action clients or action servers with names returned by this function may not result in the desired action name depending on the remap rules in use.

---

Attribute	Adherence
Allocates Memory	Yes
Thread-Safe	No
Uses Atomics	No
Lock-Free	Maybe [1]

[1] implementation may need to protect the data structure with a lock

Parameters

[in]	node	the handle to the node being used to query the ROS graph
[in]	allocator	allocator for allocating space for strings
[out]	action_names_and_types	list of action names and types

Returns

RCL_RET_OK if the query was successful, or

RCL_RET_NODE_INVALID if the node is invalid, or

RCL_RET_INVALID_ARGUMENT if any arguments are invalid, or

RCL_RET_ERROR if an unspecified error occurs.