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rmw
master
C API providing a middleware abstraction layer which is used to implement the rest of ROS.
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97 #include "rosidl_runtime_c/message_type_support_struct.h"
98 #include "rosidl_runtime_c/service_type_support_struct.h"
99 #include "rosidl_runtime_c/sequence_bound.h"
170 const char * namespace_);
199 "rmw_node_assert_liveliness implementation was removed."
200 " If manual liveliness assertion is needed, use MANUAL_BY_TOPIC.")
202 rmw_node_assert_liveliness(const
rmw_node_t * node);
280 const rosidl_message_type_support_t * type_support,
281 const rosidl_runtime_c__Sequence__bound * message_bounds,
344 const rosidl_message_type_support_t * type_support,
345 const
char * topic_name,
435 const rosidl_message_type_support_t * type_support,
436 void ** ros_message);
491 void * loaned_message);
556 const
void * ros_message,
659 size_t * subscription_count);
781 const rosidl_message_type_support_t * type_support,
782 const rosidl_runtime_c__Sequence__bound * message_bounds,
844 const
void * ros_message,
845 const rosidl_message_type_support_t * type_support,
885 const rosidl_message_type_support_t * type_support,
910 const rosidl_message_type_support_t * type_support,
911 const rosidl_runtime_c__Sequence__bound * message_bounds,
968 const rosidl_message_type_support_t * type_support,
969 const
char * topic_name,
1034 size_t * publisher_count);
1631 void ** loaned_message,
1721 void ** loaned_message,
1780 void * loaned_message);
1824 const rosidl_service_type_support_t * type_support,
1825 const
char * service_name,
1932 const
void * ros_request,
1933 int64_t * sequence_id);
2018 void * ros_response,
2063 const rosidl_service_type_support_t * type_support,
2064 const
char * service_name,
2249 void * ros_response);
2623 const
char * topic_name,
2674 const
char * topic_name,
2781 bool * is_available);
2797 #endif // RMW__RMW_H_
Serialized message as a string of bytes.
Array of guard condition handles.
Definition: types.h:327
rmw_ret_t rmw_destroy_node(rmw_node_t *node)
Finalize a given node handle, reclaim the resources, and deallocate the node handle.
Structure which encapsulates an rmw node.
Definition: types.h:44
rmw_ret_t rmw_destroy_subscription(rmw_node_t *node, rmw_subscription_t *subscription)
rmw_ret_t rmw_destroy_wait_set(rmw_wait_set_t *wait_set)
Destroy a wait set.
const rmw_guard_condition_t * rmw_node_get_graph_guard_condition(const rmw_node_t *node)
Return a guard condition which is triggered when the ROS graph changes.
rmw_ret_t rmw_take_request(const rmw_service_t *service, rmw_service_info_t *request_header, void *ros_request, bool *taken)
Take an incoming ROS service request.
rmw_ret_t rmw_get_serialized_message_size(const rosidl_message_type_support_t *type_support, const rosidl_runtime_c__Sequence__bound *message_bounds, size_t *size)
Compute the size of a serialized message.
#define RMW_PUBLIC
Definition: visibility_control.h:48
rmw_ret_t rmw_take_loaned_message_with_info(const rmw_subscription_t *subscription, void **loaned_message, bool *taken, rmw_message_info_t *message_info, rmw_subscription_allocation_t *allocation)
Take a loaned message and with its additional message information.
A handle to an rmw service.
Definition: types.h:209
rmw_ret_t rmw_borrow_loaned_message(const rmw_publisher_t *publisher, const rosidl_message_type_support_t *type_support, void **ros_message)
Borrow a loaned ROS message.
RCUTILS_DEPRECATED_WITH_MSG("rmw_node_assert_liveliness implementation was removed." " If manual liveliness assertion is needed, use MANUAL_BY_TOPIC.") rmw_ret_t rmw_node_assert_liveliness(const rmw_node_t *node)
rmw_ret_t rmw_subscription_get_actual_qos(const rmw_subscription_t *subscription, rmw_qos_profile_t *qos)
Retrieve the actual qos settings of the subscription.
rmw_ret_t rmw_send_response(const rmw_service_t *service, rmw_request_id_t *request_header, void *ros_response)
Send a ROS service response.
rmw_ret_t rmw_publish_loaned_message(const rmw_publisher_t *publisher, void *ros_message, rmw_publisher_allocation_t *allocation)
Publish a loaned ROS message.
rmw_guard_condition_t * rmw_create_guard_condition(rmw_context_t *context)
Create a guard condition and return a handle to that guard condition.
Information describing an rmw message.
Definition: types.h:519
A struct representing a duration or relative time in RMW - does not encode an origin.
Definition: time.h:31
rmw_ret_t rmw_publisher_count_matched_subscriptions(const rmw_publisher_t *publisher, size_t *subscription_count)
Retrieve the number of matched subscriptions to a publisher.
enum RMW_PUBLIC_TYPE rmw_log_severity_t
Type mapping of rcutils log severity types to rmw specific types.
Allocation of memory for an rmw subscription.
Definition: types.h:258
rmw_ret_t rmw_publisher_assert_liveliness(const rmw_publisher_t *publisher)
Manually assert that this Publisher is alive (for RMW_QOS_POLICY_LIVELINESS_MANUAL_BY_TOPIC)
rmw_ret_t rmw_fini_publisher_allocation(rmw_publisher_allocation_t *allocation)
Destroy a publisher allocation object.
rmw_publisher_t * rmw_create_publisher(const rmw_node_t *node, const rosidl_message_type_support_t *type_support, const char *topic_name, const rmw_qos_profile_t *qos_profile, const rmw_publisher_options_t *publisher_options)
Create a publisher and return a handle to that publisher.
rmw_ret_t rmw_init_publisher_allocation(const rosidl_message_type_support_t *type_support, const rosidl_runtime_c__Sequence__bound *message_bounds, rmw_publisher_allocation_t *allocation)
Initialize a publisher allocation to be used with later publications.
Handle for an rmw guard condition.
Definition: types.h:235
rmw_subscription_t * rmw_create_subscription(const rmw_node_t *node, const rosidl_message_type_support_t *type_support, const char *topic_name, const rmw_qos_profile_t *qos_policies, const rmw_subscription_options_t *subscription_options)
Create a subscription and return a handle to that subscription.
Structure to hold a sequence of message infos.
Definition: message_sequence.h:43
rmw_ret_t rmw_count_publishers(const rmw_node_t *node, const char *topic_name, size_t *count)
Count the number of known publishers matching a topic name.
Options that can be used to configure the creation of a publisher in rmw.
Definition: types.h:94
Container for guard conditions to be waited on.
Definition: types.h:336
rmw_ret_t rmw_take(const rmw_subscription_t *subscription, void *ros_message, bool *taken, rmw_subscription_allocation_t *allocation)
Take an incoming ROS message.
rmw_client_t * rmw_create_client(const rmw_node_t *node, const rosidl_service_type_support_t *type_support, const char *service_name, const rmw_qos_profile_t *qos_policies)
Create a service client that can send requests to and receive replies from a service server.
rmw_ret_t rmw_take_with_info(const rmw_subscription_t *subscription, void *ros_message, bool *taken, rmw_message_info_t *message_info, rmw_subscription_allocation_t *allocation)
Take an incoming ROS message with its metadata.
const char * rmw_get_implementation_identifier(void)
Get the name of the rmw implementation being used.
#define RMW_WARN_UNUSED
Indicate that a variable is not used, and prevent compiler from issuing warnings.
Definition: macros.h:24
Meta-data for a service-related take.
Definition: types.h:359
rmw_service_t * rmw_create_service(const rmw_node_t *node, const rosidl_service_type_support_t *type_support, const char *service_name, const rmw_qos_profile_t *qos_profile)
Create a service server that can receive requests from and send replies to a service client.
Initialization context structure which is used to store init specific information.
Definition: init.h:37
rmw_ret_t rmw_serialize(const void *ros_message, const rosidl_message_type_support_t *type_support, rmw_serialized_message_t *serialized_message)
Serialize a ROS message into a rmw_serialized_message_t.
rmw_ret_t rmw_take_serialized_message(const rmw_subscription_t *subscription, rmw_serialized_message_t *serialized_message, bool *taken, rmw_subscription_allocation_t *allocation)
Take an incoming ROS message as a byte stream.
A handle to an rmw service client.
Definition: types.h:222
Allocation of memory for an rmw publisher.
Definition: types.h:248
rmw_ret_t rmw_take_response(const rmw_client_t *client, rmw_service_info_t *request_header, void *ros_response, bool *taken)
Take an incoming ROS service response.
rmw_ret_t rmw_service_server_is_available(const rmw_node_t *node, const rmw_client_t *client, bool *is_available)
Check if a service server is available for the given service client.
rmw_ret_t rmw_trigger_guard_condition(const rmw_guard_condition_t *guard_condition)
rmw_ret_t rmw_publish(const rmw_publisher_t *publisher, const void *ros_message, rmw_publisher_allocation_t *allocation)
Publish a ROS message.
rmw_node_t * rmw_create_node(rmw_context_t *context, const char *name, const char *namespace_)
Create a node and return a handle to that node.
rmw_ret_t rmw_subscription_count_matched_publishers(const rmw_subscription_t *subscription, size_t *publisher_count)
Retrieve the number of matched publishers to a subscription.
rmw_ret_t rmw_return_loaned_message_from_publisher(const rmw_publisher_t *publisher, void *loaned_message)
Return a loaned message previously borrowed from a publisher.
rmw_ret_t rmw_compare_gids_equal(const rmw_gid_t *gid1, const rmw_gid_t *gid2, bool *result)
Check if two unique identifiers (gids) are equal.
rmw_ret_t rmw_destroy_guard_condition(rmw_guard_condition_t *guard_condition)
Finalize a given guard condition handle, reclaim the resources, and deallocate the handle.
const char * rmw_get_serialization_format(void)
Get the unique serialization format for this middleware.
rmw_ret_t rmw_publisher_get_actual_qos(const rmw_publisher_t *publisher, rmw_qos_profile_t *qos)
Retrieve the actual qos settings of the publisher.
Structure which encapsulates an rmw publisher.
Definition: types.h:119
An rmw service request identifier.
Definition: types.h:349
rmw_ret_t rmw_init_subscription_allocation(const rosidl_message_type_support_t *type_support, const rosidl_runtime_c__Sequence__bound *message_bounds, rmw_subscription_allocation_t *allocation)
Initialize a subscription allocation to be used with later takes.
int32_t rmw_ret_t
Return code for rmw functions.
Definition: ret_types.h:26
Structure to hold a sequence of ROS messages.
Definition: message_sequence.h:30
rmw_ret_t rmw_return_loaned_message_from_subscription(const rmw_subscription_t *subscription, void *loaned_message)
Return a loaned ROS message previously taken from a subscription.
rmw_ret_t rmw_send_request(const rmw_client_t *client, const void *ros_request, int64_t *sequence_id)
Send a ROS service request.
Array of service handles.
Definition: types.h:289
Options that can be used to configure the creation of a subscription in rmw.
Definition: types.h:146
ROS graph ID of the topic.
Definition: types.h:509
rmw_ret_t rmw_count_subscribers(const rmw_node_t *node, const char *topic_name, size_t *count)
Count the number of known subscribers matching a topic name.
rmw_ret_t rmw_get_node_names_with_enclaves(const rmw_node_t *node, rcutils_string_array_t *node_names, rcutils_string_array_t *node_namespaces, rcutils_string_array_t *enclaves)
Return the name, namespae, and enclave name of all nodes in the ROS graph.
rmw_wait_set_t * rmw_create_wait_set(rmw_context_t *context, size_t max_conditions)
Create a wait set to store conditions that the middleware can wait on.
rmw_ret_t rmw_wait(rmw_subscriptions_t *subscriptions, rmw_guard_conditions_t *guard_conditions, rmw_services_t *services, rmw_clients_t *clients, rmw_events_t *events, rmw_wait_set_t *wait_set, const rmw_time_t *wait_timeout)
Waits on sets of different entities and returns when one is ready.
rmw_ret_t rmw_destroy_publisher(rmw_node_t *node, rmw_publisher_t *publisher)
Finalize a given publisher handle, reclaim the resources, and deallocate the publisher handle.
rmw_ret_t rmw_publish_serialized_message(const rmw_publisher_t *publisher, const rmw_serialized_message_t *serialized_message, rmw_publisher_allocation_t *allocation)
Publish a ROS message as a byte stream.
rmw_ret_t rmw_get_node_names(const rmw_node_t *node, rcutils_string_array_t *node_names, rcutils_string_array_t *node_namespaces)
Return the name and namespace of all nodes in the ROS graph.
Array of subscriber handles.
Definition: types.h:274
rmw_publisher_options_t rmw_get_default_publisher_options(void)
Return a rmw_publisher_options_t initialized with default values.
ROS MiddleWare quality of service profile.
Definition: types.h:462
rmw_ret_t rmw_destroy_client(rmw_node_t *node, rmw_client_t *client)
Destroy and unregister a service client from its node.
rmw_ret_t rmw_deserialize(const rmw_serialized_message_t *serialized_message, const rosidl_message_type_support_t *type_support, void *ros_message)
Deserialize a ROS message.
rmw_ret_t rmw_take_loaned_message(const rmw_subscription_t *subscription, void **loaned_message, bool *taken, rmw_subscription_allocation_t *allocation)
Take an incoming ROS message, loaned by the middleware.
rmw_ret_t rmw_destroy_service(rmw_node_t *node, rmw_service_t *service)
Destroy and unregister a service server from its node.
rmw_ret_t rmw_take_serialized_message_with_info(const rmw_subscription_t *subscription, rmw_serialized_message_t *serialized_message, bool *taken, rmw_message_info_t *message_info, rmw_subscription_allocation_t *allocation)
Take an incoming ROS message as a byte stream with its metadata.
rmw_ret_t rmw_take_sequence(const rmw_subscription_t *subscription, size_t count, rmw_message_sequence_t *message_sequence, rmw_message_info_sequence_t *message_info_sequence, size_t *taken, rmw_subscription_allocation_t *allocation)
Take multiple incoming ROS messages with their metadata.
Array of client handles.
Definition: types.h:304
rmw_ret_t rmw_get_gid_for_publisher(const rmw_publisher_t *publisher, rmw_gid_t *gid)
Get the unique identifier (gid) of a publisher.
rmw_ret_t rmw_set_log_severity(rmw_log_severity_t severity)
Set the current log severity.
rmw_ret_t rmw_fini_subscription_allocation(rmw_subscription_allocation_t *allocation)
Destroy a publisher allocation object.
