rcl  master
C API providing common ROS client library functionality.
node_options.h
1 // Copyright 2019 Open Source Robotics Foundation, Inc.
2 //
3 // Licensed under the Apache License, Version 2.0 (the "License");
4 // you may not use this file except in compliance with the License.
5 // You may obtain a copy of the License at
6 //
7 // http://www.apache.org/licenses/LICENSE-2.0
8 //
9 // Unless required by applicable law or agreed to in writing, software
10 // distributed under the License is distributed on an "AS IS" BASIS,
11 // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
12 // See the License for the specific language governing permissions and
13 // limitations under the License.
14 
15 #ifndef RCL__NODE_OPTIONS_H_
16 #define RCL__NODE_OPTIONS_H_
17 
18 #ifdef __cplusplus
19 extern "C"
20 {
21 #endif
22 
23 #include "rcl/allocator.h"
24 #include "rcl/arguments.h"
25 
26 #include "rcl/domain_id.h"
27 
29 #define RCL_NODE_OPTIONS_DEFAULT_DOMAIN_ID RCL_DEFAULT_DOMAIN_ID
30 
32 typedef struct rcl_node_options_t
33 {
34  // bool anonymous_name;
35 
36  // rmw_qos_profile_t parameter_qos;
37 
39  // bool no_parameters;
40 
42 
52  size_t domain_id;
53 
56 
59 
62 
66 
68 
77 RCL_PUBLIC
79 rcl_node_get_default_options(void);
80 
82 
99 RCL_PUBLIC
100 RCL_WARN_UNUSED
101 rcl_ret_t
102 rcl_node_options_copy(
103  const rcl_node_options_t * options,
104  rcl_node_options_t * options_out);
105 
107 
124 RCL_PUBLIC
125 RCL_WARN_UNUSED
126 rcl_ret_t
127 rcl_node_options_fini(rcl_node_options_t * options);
128 
129 #ifdef __cplusplus
130 }
131 #endif
132 
133 #endif // RCL__NODE_OPTIONS_H_
rcl_node_options_t::allocator
rcl_allocator_t allocator
Custom allocator used for internal allocations.
Definition: node_options.h:55
rcl_node_options_t
Structure which encapsulates the options for creating a rcl_node_t.
Definition: node_options.h:32
rcl_node_options_t::use_global_arguments
bool use_global_arguments
If false then only use arguments in this struct, otherwise use global arguments also.
Definition: node_options.h:58
rcl_arguments_t
Hold output of parsing command line arguments.
Definition: arguments.h:32
rcl_node_options_t::domain_id
size_t domain_id
If true, no parameter infrastructure will be setup.
Definition: node_options.h:52
rcl_node_options_t::arguments
rcl_arguments_t arguments
Command line arguments that apply only to this node.
Definition: node_options.h:61
rcutils_allocator_t
rcl_node_options_t::enable_rosout
bool enable_rosout
Flag to enable rosout for this node.
Definition: node_options.h:64