.. _program_listing_file_include_rcl_context.h:

Program Listing for File context.h
==================================

|exhale_lsh| :ref:`Return to documentation for file <file_include_rcl_context.h>` (``include/rcl/context.h``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

      |               |
   +--> uninitialized +---> rcl_get_zero_initialized_context() +
   |  |               |                                        |
   |  +---------------+                                        |
   |                                                           |
   |           +-----------------------------------------------+
   |           |
   |  +--------v---------+                +-----------------------+
   |  |                  |                |                       |
   |  | zero-initialized +-> rcl_init() +-> initialized and valid +-> rcl_shutdown() +
   |  |                  |                |                       |                  |
   |  +------------------+                +-----------------------+                  |
   |                                                                                 |
   |               +-----------------------------------------------------------------+
   |               |
   |  +------------v------------+
   |  |                         |
   |  | initialized but invalid +---> finalize all entities, then rcl_context_fini() +
   |  |                         |                                                    |
   |  +-------------------------+                                                    |
   |                                                                                 |
   +---------------------------------------------------------------------------------+
   // Copyright 2018 Open Source Robotics Foundation, Inc.
   //
   // Licensed under the Apache License, Version 2.0 (the "License");
   // you may not use this file except in compliance with the License.
   // You may obtain a copy of the License at
   //
   //     http://www.apache.org/licenses/LICENSE-2.0
   //
   // Unless required by applicable law or agreed to in writing, software
   // distributed under the License is distributed on an "AS IS" BASIS,
   // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
   // See the License for the specific language governing permissions and
   // limitations under the License.
   
   
   #ifndef RCL__CONTEXT_H_
   #define RCL__CONTEXT_H_
   
   #ifdef __cplusplus
   extern "C"
   {
   #endif
   
   #include "rmw/init.h"
   
   #include "rcl/allocator.h"
   #include "rcl/arguments.h"
   #include "rcl/init_options.h"
   #include "rcl/macros.h"
   #include "rcl/types.h"
   #include "rcl/visibility_control.h"
   
   #ifdef _MSC_VER
   #define RCL_ALIGNAS(N) __declspec(align(N))
   #else
   #include <stdalign.h>
   #define RCL_ALIGNAS(N) alignas(N)
   #endif
   
   typedef uint64_t rcl_context_instance_id_t;
   
   typedef struct rcl_context_impl_s rcl_context_impl_t;
   
   
   typedef struct rcl_context_s
   {
   
     rcl_arguments_t global_arguments;
   
     rcl_context_impl_t * impl;
   
     // The assumption that this is big enough for an atomic_uint_least64_t is
     // ensured with a static_assert in the context.c file.
     // In most cases it should just be a plain uint64_t.
   #if !defined(RCL_CONTEXT_ATOMIC_INSTANCE_ID_STORAGE_SIZE)
   #define RCL_CONTEXT_ATOMIC_INSTANCE_ID_STORAGE_SIZE sizeof(uint_least64_t)
   #endif
   
     RCL_ALIGNAS(8) uint8_t instance_id_storage[RCL_CONTEXT_ATOMIC_INSTANCE_ID_STORAGE_SIZE];
   } rcl_context_t;
   
   RCL_PUBLIC
   RCL_WARN_UNUSED
   rcl_context_t
   rcl_get_zero_initialized_context(void);
   
   
   RCL_PUBLIC
   RCL_WARN_UNUSED
   rcl_ret_t
   rcl_context_fini(rcl_context_t * context);
   
   
   RCL_PUBLIC
   RCL_WARN_UNUSED
   const rcl_init_options_t *
   rcl_context_get_init_options(const rcl_context_t * context);
   
   
   RCL_PUBLIC
   RCL_WARN_UNUSED
   rcl_context_instance_id_t
   rcl_context_get_instance_id(const rcl_context_t * context);
   
   
   RCL_PUBLIC
   RCL_WARN_UNUSED
   rcl_ret_t
   rcl_context_get_domain_id(rcl_context_t * context, size_t * domain_id);
   
   
   RCL_PUBLIC
   RCL_WARN_UNUSED
   bool
   rcl_context_is_valid(const rcl_context_t * context);
   
   
   RCL_PUBLIC
   RCL_WARN_UNUSED
   rmw_context_t *
   rcl_context_get_rmw_context(rcl_context_t * context);
   
   #ifdef __cplusplus
   }
   #endif
   
   #endif  // RCL__CONTEXT_H_