Program Listing for File rmw.h

↰ Return to documentation for file (include/rmw/rmw.h)

// 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/dynamic_message_type_support.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_count_clients(
  const rmw_node_t * node,
  const char * service_name,
  size_t * count);


RMW_PUBLIC
RMW_WARN_UNUSED
rmw_ret_t
rmw_count_services(
  const rmw_node_t * node,
  const char * service_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_get_gid_for_client(const rmw_client_t * client, 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_