init.h File Reference

#include <stdint.h>
#include "rmw/init_options.h"
#include "rmw/macros.h"
#include "rmw/ret_types.h"
#include "rmw/visibility_control.h"

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Classes
struct	rmw_context_t
	Initialization context structure which is used to store init specific information. More...

Typedefs
typedef struct rmw_context_impl_t	rmw_context_impl_t
	Implementation defined context structure returned by rmw_init(). More...
typedef struct RMW_PUBLIC_TYPE rmw_context_t	rmw_context_t
	Initialization context structure which is used to store init specific information. More...

Functions
rmw_context_t	rmw_get_zero_initialized_context (void)
	Return a zero initialized context structure. More...
rmw_ret_t	rmw_init (const rmw_init_options_t *options, rmw_context_t *context)
	Initialize the middleware with the given options, and yielding an context. More...
rmw_ret_t	rmw_shutdown (rmw_context_t *context)
	Shutdown the middleware for a given context. More...
rmw_ret_t	rmw_context_fini (rmw_context_t *context)
	Finalize a context. More...

Typedef Documentation

rmw_context_impl_t

typedef struct rmw_context_impl_t rmw_context_impl_t

Implementation defined context structure returned by rmw_init().

This should be defined by the rmw implementation.

rmw_context_t

typedef struct RMW_PUBLIC_TYPE rmw_context_t rmw_context_t

Initialization context structure which is used to store init specific information.

Function Documentation

rmw_get_zero_initialized_context()

rmw_context_t rmw_get_zero_initialized_context

(

void

)

Return a zero initialized context structure.

rmw_init()

rmw_ret_t rmw_init	(	const rmw_init_options_t *	options,
		rmw_context_t *	context
	)

Initialize the middleware with the given options, and yielding an context.

The given context must be zero initialized, and is filled with middleware specific data upon success of this function. The context is used when initializing some entities like nodes and guard conditions, and is also required to properly call rmw_shutdown().

---

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

This should be defined by the rmw implementation.

Parameters

[in]	options	initialization options to be used during initialization
[out]	context	resulting context struct

Returns

RMW_RET_OK if successful, or

RMW_RET_INCORRECT_RMW_IMPLEMENTATION if the implementation identifier does not match, or

RMW_RET_INVALID_ARGUMENT if any arguments are null or invalid, or

RMW_RET_ERROR if an unexpected error occurs.

rmw_shutdown()

rmw_ret_t rmw_shutdown

(

rmw_context_t *

context

)

Shutdown the middleware for a given context.

The given context must be a valid context which has been initialized with rmw_init().

---

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

This should be defined by the rmw implementation.

Parameters

[in]

context

resulting context struct

Returns

RMW_RET_OK if successful, or

RMW_RET_INCORRECT_RMW_IMPLEMENTATION if the implementation identifier does not match, or

RMW_RET_INVALID_ARGUMENT if the argument is null or invalid, or

RMW_RET_ERROR if an unexpected error occurs.

rmw_context_fini()

rmw_ret_t rmw_context_fini

(

rmw_context_t *

context

)

Finalize a context.

The context to be finalized must have been previously initialized with rmw_init(), and then later invalidated with rmw_shutdown(). If context is NULL, then RMW_RET_INVALID_ARGUMENT is returned. If context is zero-initialized, then RMW_RET_INVALID_ARGUMENT is returned. If context is initialized and valid (rmw_shutdown() was not called on it), then RMW_RET_INVALID_ARGUMENT is returned.

---

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

[1] if atomic_is_lock_free() returns true for atomic_uint_least64_t

Returns

RMW_RET_OK if the shutdown was completed successfully, or

RMW_RET_INVALID_ARGUMENT if any arguments are invalid, or

RMW_RET_ERROR if an unspecified error occur.