.. _program_listing_file_include_rcl_service.h:

Program Listing for File service.h
==================================

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

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

.. code-block:: cpp

   // Copyright 2016 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__SERVICE_H_
   #define RCL__SERVICE_H_
   
   #ifdef __cplusplus
   extern "C"
   {
   #endif
   
   #include "rosidl_runtime_c/service_type_support_struct.h"
   
   #include "rcl/allocator.h"
   #include "rcl/event_callback.h"
   #include "rcl/macros.h"
   #include "rcl/node.h"
   #include "rcl/publisher.h"
   #include "rcl/service_introspection.h"
   #include "rcl/time.h"
   #include "rcl/visibility_control.h"
   
   #include "rmw/types.h"
   
   typedef struct rcl_service_impl_s rcl_service_impl_t;
   
   typedef struct rcl_service_s
   {
     rcl_service_impl_t * impl;
   } rcl_service_t;
   
   typedef struct rcl_service_options_s
   {
     rmw_qos_profile_t qos;
   
     rcl_allocator_t allocator;
   } rcl_service_options_t;
   
   
   RCL_PUBLIC
   RCL_WARN_UNUSED
   rcl_service_t
   rcl_get_zero_initialized_service(void);
   
   
   RCL_PUBLIC
   RCL_WARN_UNUSED
   rcl_ret_t
   rcl_service_init(
     rcl_service_t * service,
     const rcl_node_t * node,
     const rosidl_service_type_support_t * type_support,
     const char * service_name,
     const rcl_service_options_t * options);
   
   
   RCL_PUBLIC
   RCL_WARN_UNUSED
   rcl_ret_t
   rcl_service_fini(rcl_service_t * service, rcl_node_t * node);
   
   
   RCL_PUBLIC
   RCL_WARN_UNUSED
   rcl_service_options_t
   rcl_service_get_default_options(void);
   
   
   RCL_PUBLIC
   RCL_WARN_UNUSED
   rcl_ret_t
   rcl_take_request_with_info(
     const rcl_service_t * service,
     rmw_service_info_t * request_header,
     void * ros_request);
   
   
   RCL_PUBLIC
   RCL_WARN_UNUSED
   rcl_ret_t
   rcl_take_request(
     const rcl_service_t * service,
     rmw_request_id_t * request_header,
     void * ros_request);
   
   
   RCL_PUBLIC
   RCL_WARN_UNUSED
   rcl_ret_t
   rcl_send_response(
     const rcl_service_t * service,
     rmw_request_id_t * response_header,
     void * ros_response);
   
   
   RCL_PUBLIC
   RCL_WARN_UNUSED
   const char *
   rcl_service_get_service_name(const rcl_service_t * service);
   
   
   RCL_PUBLIC
   RCL_WARN_UNUSED
   const rcl_service_options_t *
   rcl_service_get_options(const rcl_service_t * service);
   
   
   RCL_PUBLIC
   RCL_WARN_UNUSED
   rmw_service_t *
   rcl_service_get_rmw_handle(const rcl_service_t * service);
   
   
   RCL_PUBLIC
   bool
   rcl_service_is_valid(const rcl_service_t * service);
   
   
   RCL_PUBLIC
   RCL_WARN_UNUSED
   const rmw_qos_profile_t *
   rcl_service_request_subscription_get_actual_qos(const rcl_service_t * service);
   
   
   RCL_PUBLIC
   RCL_WARN_UNUSED
   const rmw_qos_profile_t *
   rcl_service_response_publisher_get_actual_qos(const rcl_service_t * service);
   
   
   RCL_PUBLIC
   RCL_WARN_UNUSED
   rcl_ret_t
   rcl_service_set_on_new_request_callback(
     const rcl_service_t * service,
     rcl_event_callback_t callback,
     const void * user_data);
   
   
   RCL_PUBLIC
   RCL_WARN_UNUSED
   rcl_ret_t
   rcl_service_configure_service_introspection(
     rcl_service_t * service,
     rcl_node_t * node,
     rcl_clock_t * clock,
     const rosidl_service_type_support_t * type_support,
     const rcl_publisher_options_t publisher_options,
     rcl_service_introspection_state_t introspection_state);
   
   #ifdef __cplusplus
   }
   #endif
   
   #endif  // RCL__SERVICE_H_