.. _program_listing_file_include_rcl_graph.h:

Program Listing for File graph.h
================================

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

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

.. code-block:: cpp

   // Copyright 2016-2017 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 RCL__GRAPH_H_
   #define RCL__GRAPH_H_
   
   #ifdef __cplusplus
   extern "C"
   {
   #endif
   
   #include <rmw/names_and_types.h>
   #include <rmw/get_topic_names_and_types.h>
   #include <rmw/topic_endpoint_info_array.h>
   
   #include "rcutils/time.h"
   #include "rcutils/types.h"
   
   #include "rosidl_runtime_c/service_type_support_struct.h"
   
   #include "rcl/macros.h"
   #include "rcl/client.h"
   #include "rcl/node.h"
   #include "rcl/visibility_control.h"
   
   typedef rmw_names_and_types_t rcl_names_and_types_t;
   
   typedef rmw_topic_endpoint_info_t rcl_topic_endpoint_info_t;
   
   typedef rmw_topic_endpoint_info_array_t rcl_topic_endpoint_info_array_t;
   
   #define rcl_get_zero_initialized_names_and_types rmw_get_zero_initialized_names_and_types
   
   #define rcl_get_zero_initialized_topic_endpoint_info_array \
     rmw_get_zero_initialized_topic_endpoint_info_array
   
   #define rcl_topic_endpoint_info_array_fini rmw_topic_endpoint_info_array_fini
   
   
   RCL_PUBLIC
   RCL_WARN_UNUSED
   rcl_ret_t
   rcl_get_publisher_names_and_types_by_node(
     const rcl_node_t * node,
     rcl_allocator_t * allocator,
     bool no_demangle,
     const char * node_name,
     const char * node_namespace,
     rcl_names_and_types_t * topic_names_and_types);
   
   
   RCL_PUBLIC
   RCL_WARN_UNUSED
   rcl_ret_t
   rcl_get_subscriber_names_and_types_by_node(
     const rcl_node_t * node,
     rcl_allocator_t * allocator,
     bool no_demangle,
     const char * node_name,
     const char * node_namespace,
     rcl_names_and_types_t * topic_names_and_types);
   
   
   RCL_PUBLIC
   RCL_WARN_UNUSED
   rcl_ret_t
   rcl_get_service_names_and_types_by_node(
     const rcl_node_t * node,
     rcl_allocator_t * allocator,
     const char * node_name,
     const char * node_namespace,
     rcl_names_and_types_t * service_names_and_types);
   
   
   RCL_PUBLIC
   RCL_WARN_UNUSED
   rcl_ret_t
   rcl_get_client_names_and_types_by_node(
     const rcl_node_t * node,
     rcl_allocator_t * allocator,
     const char * node_name,
     const char * node_namespace,
     rcl_names_and_types_t * service_names_and_types);
   
   
   RCL_PUBLIC
   RCL_WARN_UNUSED
   rcl_ret_t
   rcl_get_topic_names_and_types(
     const rcl_node_t * node,
     rcl_allocator_t * allocator,
     bool no_demangle,
     rcl_names_and_types_t * topic_names_and_types);
   
   
   RCL_PUBLIC
   RCL_WARN_UNUSED
   rcl_ret_t
   rcl_get_service_names_and_types(
     const rcl_node_t * node,
     rcl_allocator_t * allocator,
     rcl_names_and_types_t * service_names_and_types);
   
   
   RCL_PUBLIC
   RCL_WARN_UNUSED
   rcl_ret_t
   rcl_names_and_types_init(
     rcl_names_and_types_t * names_and_types,
     size_t size,
     rcl_allocator_t * allocator);
   
   
   RCL_PUBLIC
   RCL_WARN_UNUSED
   rcl_ret_t
   rcl_names_and_types_fini(rcl_names_and_types_t * names_and_types);
   
   
   RCL_PUBLIC
   RCL_WARN_UNUSED
   rcl_ret_t
   rcl_get_node_names(
     const rcl_node_t * node,
     rcl_allocator_t allocator,
     rcutils_string_array_t * node_names,
     rcutils_string_array_t * node_namespaces);
   
   
   RCL_PUBLIC
   RCL_WARN_UNUSED
   rcl_ret_t
   rcl_get_node_names_with_enclaves(
     const rcl_node_t * node,
     rcl_allocator_t allocator,
     rcutils_string_array_t * node_names,
     rcutils_string_array_t * node_namespaces,
     rcutils_string_array_t * enclaves);
   
   
   RCL_PUBLIC
   RCL_WARN_UNUSED
   rcl_ret_t
   rcl_count_publishers(
     const rcl_node_t * node,
     const char * topic_name,
     size_t * count);
   
   
   RCL_PUBLIC
   RCL_WARN_UNUSED
   rcl_ret_t
   rcl_count_subscribers(
     const rcl_node_t * node,
     const char * topic_name,
     size_t * count);
   
   
   RCL_PUBLIC
   RCL_WARN_UNUSED
   rcl_ret_t
   rcl_wait_for_publishers(
     const rcl_node_t * node,
     rcl_allocator_t * allocator,
     const char * topic_name,
     const size_t count,
     rcutils_duration_value_t timeout,
     bool * success);
   
   
   RCL_PUBLIC
   RCL_WARN_UNUSED
   rcl_ret_t
   rcl_wait_for_subscribers(
     const rcl_node_t * node,
     rcl_allocator_t * allocator,
     const char * topic_name,
     const size_t count,
     rcutils_duration_value_t timeout,
     bool * success);
   
   
   RCL_PUBLIC
   RCL_WARN_UNUSED
   rcl_ret_t
   rcl_get_publishers_info_by_topic(
     const rcl_node_t * node,
     rcutils_allocator_t * allocator,
     const char * topic_name,
     bool no_mangle,
     rcl_topic_endpoint_info_array_t * publishers_info);
   
   
   RCL_PUBLIC
   RCL_WARN_UNUSED
   rcl_ret_t
   rcl_get_subscriptions_info_by_topic(
     const rcl_node_t * node,
     rcutils_allocator_t * allocator,
     const char * topic_name,
     bool no_mangle,
     rcl_topic_endpoint_info_array_t * subscriptions_info);
   
   
   RCL_PUBLIC
   RCL_WARN_UNUSED
   rcl_ret_t
   rcl_service_server_is_available(
     const rcl_node_t * node,
     const rcl_client_t * client,
     bool * is_available);
   
   #ifdef __cplusplus
   }
   #endif
   
   #endif  // RCL__GRAPH_H_