.. _program_listing_file_include_rcl_publisher.h:

Program Listing for File publisher.h
====================================

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

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

.. code-block:: cpp

   // Copyright 2015 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__PUBLISHER_H_
   #define RCL__PUBLISHER_H_
   
   #ifdef __cplusplus
   extern "C"
   {
   #endif
   
   #include "rosidl_runtime_c/message_type_support_struct.h"
   
   #include "rcl/macros.h"
   #include "rcl/node.h"
   #include "rcl/visibility_control.h"
   #include "rcl/time.h"
   
   typedef struct rcl_publisher_impl_s rcl_publisher_impl_t;
   
   typedef struct rcl_publisher_s
   {
     rcl_publisher_impl_t * impl;
   } rcl_publisher_t;
   
   typedef struct rcl_publisher_options_s
   {
     rmw_qos_profile_t qos;
   
     rcl_allocator_t allocator;
     rmw_publisher_options_t rmw_publisher_options;
     bool disable_loaned_message;
   } rcl_publisher_options_t;
   
   
   RCL_PUBLIC
   RCL_WARN_UNUSED
   rcl_publisher_t
   rcl_get_zero_initialized_publisher(void);
   
   
   RCL_PUBLIC
   RCL_WARN_UNUSED
   rcl_ret_t
   rcl_publisher_init(
     rcl_publisher_t * publisher,
     const rcl_node_t * node,
     const rosidl_message_type_support_t * type_support,
     const char * topic_name,
     const rcl_publisher_options_t * options);
   
   
   RCL_PUBLIC
   RCL_WARN_UNUSED
   rcl_ret_t
   rcl_publisher_fini(rcl_publisher_t * publisher, rcl_node_t * node);
   
   
   RCL_PUBLIC
   RCL_WARN_UNUSED
   rcl_publisher_options_t
   rcl_publisher_get_default_options(void);
   
   
   RCL_PUBLIC
   RCL_WARN_UNUSED
   rcl_ret_t
   rcl_borrow_loaned_message(
     const rcl_publisher_t * publisher,
     const rosidl_message_type_support_t * type_support,
     void ** ros_message);
   
   
   RCL_PUBLIC
   RCL_WARN_UNUSED
   rcl_ret_t
   rcl_return_loaned_message_from_publisher(
     const rcl_publisher_t * publisher,
     void * loaned_message);
   
   
   RCL_PUBLIC
   RCL_WARN_UNUSED
   rcl_ret_t
   rcl_publish(
     const rcl_publisher_t * publisher,
     const void * ros_message,
     rmw_publisher_allocation_t * allocation);
   
   
   RCL_PUBLIC
   RCL_WARN_UNUSED
   rcl_ret_t
   rcl_publish_serialized_message(
     const rcl_publisher_t * publisher,
     const rcl_serialized_message_t * serialized_message,
     rmw_publisher_allocation_t * allocation);
   
   
   RCL_PUBLIC
   RCL_WARN_UNUSED
   rcl_ret_t
   rcl_publish_loaned_message(
     const rcl_publisher_t * publisher,
     void * ros_message,
     rmw_publisher_allocation_t * allocation);
   
   
   RCL_PUBLIC
   RCL_WARN_UNUSED
   rcl_ret_t
   rcl_publisher_assert_liveliness(const rcl_publisher_t * publisher);
   
   
   RCL_PUBLIC
   RCL_WARN_UNUSED
   rcl_ret_t
   rcl_publisher_wait_for_all_acked(
     const rcl_publisher_t * publisher,
     rcl_duration_value_t timeout);
   
   
   RCL_PUBLIC
   RCL_WARN_UNUSED
   const char *
   rcl_publisher_get_topic_name(const rcl_publisher_t * publisher);
   
   
   RCL_PUBLIC
   RCL_WARN_UNUSED
   const rcl_publisher_options_t *
   rcl_publisher_get_options(const rcl_publisher_t * publisher);
   
   
   RCL_PUBLIC
   RCL_WARN_UNUSED
   rmw_publisher_t *
   rcl_publisher_get_rmw_handle(const rcl_publisher_t * publisher);
   
   
   RCL_PUBLIC
   RCL_WARN_UNUSED
   rcl_context_t *
   rcl_publisher_get_context(const rcl_publisher_t * publisher);
   
   
   RCL_PUBLIC
   bool
   rcl_publisher_is_valid(const rcl_publisher_t * publisher);
   
   
   RCL_PUBLIC
   bool
   rcl_publisher_is_valid_except_context(const rcl_publisher_t * publisher);
   
   
   RCL_PUBLIC
   RCL_WARN_UNUSED
   rcl_ret_t
   rcl_publisher_get_subscription_count(
     const rcl_publisher_t * publisher,
     size_t * subscription_count);
   
   
   RCL_PUBLIC
   RCL_WARN_UNUSED
   const rmw_qos_profile_t *
   rcl_publisher_get_actual_qos(const rcl_publisher_t * publisher);
   
   
   
   RCL_PUBLIC
   bool
   rcl_publisher_can_loan_messages(const rcl_publisher_t * publisher);
   
   #ifdef __cplusplus
   }
   #endif
   
   #endif  // RCL__PUBLISHER_H_