.. _program_listing_file_docs_FEATURES.md:

Program Listing for File FEATURES.md
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|exhale_lsh| :ref:`Return to documentation for file <file_docs_FEATURES.md>` (``docs/FEATURES.md``)

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

.. code-block:: md

   # rosidl_typesupport_c features
   
   `rosidl_typesupport_c` provides a Python generator executable, `rosidl_typesupport_c`, based on Empy to create rosidl C source files.
   
   The templates utilized by this generator executable are located in the `resource` directory and generate source files for messages, services and actions.
   
   The generator also generates a visibility_control header based on https://gcc.gnu.org/wiki/Visibility.
   
   `rosidl_typesupport_c` defines a typesupport identifier, which is declared in `identifier.h`.
   
   `rosidl_typesupport_c` provides the following functionality for incorporation into generated typesupport source files.
   
   * `message_type_support_dispatch.h`: Look up message type support handle functions from available libraries.
   * `service_type_support_dispatch.h`: Look up service type support handle functions from available libraries.
   * `type_support_map_t.h`: This defines the lookup of C typesupport handlers.