.. _program_listing_file_include_rmw_rmw.h:

Program Listing for File rmw.h
==============================

|exhale_lsh| :ref:`Return to documentation for file <file_include_rmw_rmw.h>` (``include/rmw/rmw.h``)

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

.. code-block:: cpp

   // Copyright 2014-2017 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 RMW__RMW_H_
   #define RMW__RMW_H_
   
   #ifdef __cplusplus
   extern "C"
   {
   #endif
   
   #include <stdbool.h>
   #include <stddef.h>
   #include <stdint.h>
   
   #include "rcutils/allocator.h"
   #include "rcutils/macros.h"
   #include "rcutils/types.h"
   
   #include "rosidl_runtime_c/message_type_support_struct.h"
   #include "rosidl_runtime_c/service_type_support_struct.h"
   #include "rosidl_runtime_c/sequence_bound.h"
   
   #include "rmw/event.h"
   #include "rmw/init.h"
   #include "rmw/event_callback_type.h"
   #include "rmw/macros.h"
   #include "rmw/message_sequence.h"
   #include "rmw/publisher_options.h"
   #include "rmw/qos_profiles.h"
   #include "rmw/subscription_options.h"
   #include "rmw/types.h"
   #include "rmw/visibility_control.h"
   
   
   RMW_PUBLIC
   RMW_WARN_UNUSED
   const char *
   rmw_get_implementation_identifier(void);
   
   
   RMW_PUBLIC
   RMW_WARN_UNUSED
   const char *
   rmw_get_serialization_format(void);
   
   // TODO(wjwwood): refactor this API to return a return code when updated to use an allocator
   
   RMW_PUBLIC
   RMW_WARN_UNUSED
   rmw_node_t *
   rmw_create_node(
     rmw_context_t * context,
     const char * name,
     const char * namespace_);
   
   
   RMW_PUBLIC
   RMW_WARN_UNUSED
   rmw_ret_t
   rmw_destroy_node(rmw_node_t * node);
   
   RMW_PUBLIC
   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_PUBLIC
   RMW_WARN_UNUSED
   const rmw_guard_condition_t *
   rmw_node_get_graph_guard_condition(const rmw_node_t * node);
   
   
   RMW_PUBLIC
   RMW_WARN_UNUSED
   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);
   
   
   RMW_PUBLIC
   RMW_WARN_UNUSED
   rmw_ret_t
   rmw_fini_publisher_allocation(
     rmw_publisher_allocation_t * allocation);
   
   
   RMW_PUBLIC
   RMW_WARN_UNUSED
   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);
   
   
   RMW_PUBLIC
   RMW_WARN_UNUSED
   rmw_ret_t
   rmw_destroy_publisher(rmw_node_t * node, rmw_publisher_t * publisher);
   
   
   RMW_PUBLIC
   RMW_WARN_UNUSED
   rmw_ret_t
   rmw_borrow_loaned_message(
     const rmw_publisher_t * publisher,
     const rosidl_message_type_support_t * type_support,
     void ** ros_message);
   
   
   RMW_PUBLIC
   RMW_WARN_UNUSED
   rmw_ret_t
   rmw_return_loaned_message_from_publisher(
     const rmw_publisher_t * publisher,
     void * loaned_message);
   
   
   RMW_PUBLIC
   RMW_WARN_UNUSED
   rmw_ret_t
   rmw_publish(
     const rmw_publisher_t * publisher,
     const void * ros_message,
     rmw_publisher_allocation_t * allocation);
   
   
   RMW_PUBLIC
   RMW_WARN_UNUSED
   rmw_ret_t
   rmw_publish_loaned_message(
     const rmw_publisher_t * publisher,
     void * ros_message,
     rmw_publisher_allocation_t * allocation);
   
   
   RMW_PUBLIC
   RMW_WARN_UNUSED
   rmw_ret_t
   rmw_publisher_count_matched_subscriptions(
     const rmw_publisher_t * publisher,
     size_t * subscription_count);
   
   
   RMW_PUBLIC
   RMW_WARN_UNUSED
   rmw_ret_t
   rmw_publisher_get_actual_qos(
     const rmw_publisher_t * publisher,
     rmw_qos_profile_t * qos);
   
   
   RMW_PUBLIC
   RMW_WARN_UNUSED
   rmw_ret_t
   rmw_publish_serialized_message(
     const rmw_publisher_t * publisher,
     const rmw_serialized_message_t * serialized_message,
     rmw_publisher_allocation_t * allocation);
   
   
   RMW_PUBLIC
   RMW_WARN_UNUSED
   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);
   
   
   RMW_PUBLIC
   RMW_WARN_UNUSED
   rmw_ret_t
   rmw_publisher_assert_liveliness(const rmw_publisher_t * publisher);
   
   
   RMW_PUBLIC
   RMW_WARN_UNUSED
   rmw_ret_t
   rmw_publisher_wait_for_all_acked(
     const rmw_publisher_t * publisher,
     rmw_time_t wait_timeout);
   
   
   RMW_PUBLIC
   RMW_WARN_UNUSED
   rmw_ret_t
   rmw_serialize(
     const void * ros_message,
     const rosidl_message_type_support_t * type_support,
     rmw_serialized_message_t * serialized_message);
   
   
   RMW_PUBLIC
   RMW_WARN_UNUSED
   rmw_ret_t
   rmw_deserialize(
     const rmw_serialized_message_t * serialized_message,
     const rosidl_message_type_support_t * type_support,
     void * ros_message);
   
   
   RMW_PUBLIC
   RMW_WARN_UNUSED
   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);
   
   
   RMW_PUBLIC
   RMW_WARN_UNUSED
   rmw_ret_t
   rmw_fini_subscription_allocation(
     rmw_subscription_allocation_t * allocation);
   
   
   RMW_PUBLIC
   RMW_WARN_UNUSED
   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);
   
   
   RMW_PUBLIC
   RMW_WARN_UNUSED
   rmw_ret_t
   rmw_destroy_subscription(rmw_node_t * node, rmw_subscription_t * subscription);
   
   
   RMW_PUBLIC
   RMW_WARN_UNUSED
   rmw_ret_t
   rmw_subscription_count_matched_publishers(
     const rmw_subscription_t * subscription,
     size_t * publisher_count);
   
   
   RMW_PUBLIC
   RMW_WARN_UNUSED
   rmw_ret_t
   rmw_subscription_get_actual_qos(
     const rmw_subscription_t * subscription,
     rmw_qos_profile_t * qos);
   
   
   RMW_PUBLIC
   RMW_WARN_UNUSED
   rmw_ret_t
   rmw_subscription_set_content_filter(
     rmw_subscription_t * subscription,
     const rmw_subscription_content_filter_options_t * options);
   
   
   RMW_PUBLIC
   RMW_WARN_UNUSED
   rmw_ret_t
   rmw_subscription_get_content_filter(
     const rmw_subscription_t * subscription,
     rcutils_allocator_t * allocator,
     rmw_subscription_content_filter_options_t * options);
   
   
   RMW_PUBLIC
   RMW_WARN_UNUSED
   rmw_ret_t
   rmw_take(
     const rmw_subscription_t * subscription,
     void * ros_message,
     bool * taken,
     rmw_subscription_allocation_t * allocation);
   
   
   RMW_PUBLIC
   RMW_WARN_UNUSED
   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);
   
   
   RMW_PUBLIC
   RMW_WARN_UNUSED
   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);
   
   
   RMW_PUBLIC
   RMW_WARN_UNUSED
   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);
   
   
   RMW_PUBLIC
   RMW_WARN_UNUSED
   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);
   
   
   RMW_PUBLIC
   RMW_WARN_UNUSED
   rmw_ret_t
   rmw_take_loaned_message(
     const rmw_subscription_t * subscription,
     void ** loaned_message,
     bool * taken,
     rmw_subscription_allocation_t * allocation);
   
   
   RMW_PUBLIC
   RMW_WARN_UNUSED
   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);
   
   
   RMW_PUBLIC
   RMW_WARN_UNUSED
   rmw_ret_t
   rmw_return_loaned_message_from_subscription(
     const rmw_subscription_t * subscription,
     void * loaned_message);
   
   
   RMW_PUBLIC
   RMW_WARN_UNUSED
   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);
   
   
   RMW_PUBLIC
   RMW_WARN_UNUSED
   rmw_ret_t
   rmw_destroy_client(rmw_node_t * node, rmw_client_t * client);
   
   
   RMW_PUBLIC
   RMW_WARN_UNUSED
   rmw_ret_t
   rmw_send_request(
     const rmw_client_t * client,
     const void * ros_request,
     int64_t * sequence_id);
   
   
   RMW_PUBLIC
   RMW_WARN_UNUSED
   rmw_ret_t
   rmw_take_response(
     const rmw_client_t * client,
     rmw_service_info_t * request_header,
     void * ros_response,
     bool * taken);
   
   
   RMW_PUBLIC
   RMW_WARN_UNUSED
   rmw_ret_t
   rmw_client_request_publisher_get_actual_qos(
     const rmw_client_t * client,
     rmw_qos_profile_t * qos);
   
   
   RMW_PUBLIC
   RMW_WARN_UNUSED
   rmw_ret_t
   rmw_client_response_subscription_get_actual_qos(
     const rmw_client_t * client,
     rmw_qos_profile_t * qos);
   
   
   RMW_PUBLIC
   RMW_WARN_UNUSED
   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);
   
   
   RMW_PUBLIC
   RMW_WARN_UNUSED
   rmw_ret_t
   rmw_destroy_service(rmw_node_t * node, rmw_service_t * service);
   
   
   RMW_PUBLIC
   RMW_WARN_UNUSED
   rmw_ret_t
   rmw_take_request(
     const rmw_service_t * service,
     rmw_service_info_t * request_header,
     void * ros_request,
     bool * taken);
   
   
   RMW_PUBLIC
   RMW_WARN_UNUSED
   rmw_ret_t
   rmw_send_response(
     const rmw_service_t * service,
     rmw_request_id_t * request_header,
     void * ros_response);
   
   
   RMW_PUBLIC
   RMW_WARN_UNUSED
   rmw_ret_t
   rmw_service_request_subscription_get_actual_qos(
     const rmw_service_t * service,
     rmw_qos_profile_t * qos);
   
   
   RMW_PUBLIC
   RMW_WARN_UNUSED
   rmw_ret_t
   rmw_service_response_publisher_get_actual_qos(
     const rmw_service_t * service,
     rmw_qos_profile_t * qos);
   
   // TODO(wjwwood): refactor this API to return a return code when updated to use an allocator
   
   RMW_PUBLIC
   RMW_WARN_UNUSED
   rmw_guard_condition_t *
   rmw_create_guard_condition(rmw_context_t * context);
   
   
   RMW_PUBLIC
   RMW_WARN_UNUSED
   rmw_ret_t
   rmw_destroy_guard_condition(rmw_guard_condition_t * guard_condition);
   
   RMW_PUBLIC
   RMW_WARN_UNUSED
   rmw_ret_t
   rmw_trigger_guard_condition(const rmw_guard_condition_t * guard_condition);
   
   
   RMW_PUBLIC
   RMW_WARN_UNUSED
   rmw_wait_set_t *
   rmw_create_wait_set(rmw_context_t * context, size_t max_conditions);
   
   
   RMW_PUBLIC
   RMW_WARN_UNUSED
   rmw_ret_t
   rmw_destroy_wait_set(rmw_wait_set_t * wait_set);
   
   
   RMW_PUBLIC
   RMW_WARN_UNUSED
   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);
   
   
   RMW_PUBLIC
   RMW_WARN_UNUSED
   rmw_ret_t
   rmw_get_node_names(
     const rmw_node_t * node,
     rcutils_string_array_t * node_names,
     rcutils_string_array_t * node_namespaces);
   
   
   RMW_PUBLIC
   RMW_WARN_UNUSED
   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);
   
   
   RMW_PUBLIC
   RMW_WARN_UNUSED
   rmw_ret_t
   rmw_count_publishers(
     const rmw_node_t * node,
     const char * topic_name,
     size_t * count);
   
   
   RMW_PUBLIC
   RMW_WARN_UNUSED
   rmw_ret_t
   rmw_count_subscribers(
     const rmw_node_t * node,
     const char * topic_name,
     size_t * count);
   
   
   RMW_PUBLIC
   RMW_WARN_UNUSED
   rmw_ret_t
   rmw_get_gid_for_publisher(const rmw_publisher_t * publisher, rmw_gid_t * gid);
   
   
   RMW_PUBLIC
   RMW_WARN_UNUSED
   rmw_ret_t
   rmw_compare_gids_equal(const rmw_gid_t * gid1, const rmw_gid_t * gid2, bool * result);
   
   
   RMW_PUBLIC
   RMW_WARN_UNUSED
   rmw_ret_t
   rmw_service_server_is_available(
     const rmw_node_t * node,
     const rmw_client_t * client,
     bool * is_available);
   
   
   RMW_PUBLIC
   RMW_WARN_UNUSED
   rmw_ret_t
   rmw_set_log_severity(rmw_log_severity_t severity);
   
   
   RMW_PUBLIC
   RMW_WARN_UNUSED
   rmw_ret_t
   rmw_subscription_set_on_new_message_callback(
     rmw_subscription_t * subscription,
     rmw_event_callback_t callback,
     const void * user_data);
   
   
   RMW_PUBLIC
   RMW_WARN_UNUSED
   rmw_ret_t
   rmw_service_set_on_new_request_callback(
     rmw_service_t * service,
     rmw_event_callback_t callback,
     const void * user_data);
   
   
   RMW_PUBLIC
   RMW_WARN_UNUSED
   rmw_ret_t
   rmw_client_set_on_new_response_callback(
     rmw_client_t * client,
     rmw_event_callback_t callback,
     const void * user_data);
   
   
   RMW_PUBLIC
   RMW_WARN_UNUSED
   rmw_ret_t
   rmw_event_set_callback(
     rmw_event_t * event,
     rmw_event_callback_t callback,
     const void * user_data);
   
   #ifdef __cplusplus
   }
   #endif
   
   #endif  // RMW__RMW_H_