init.h

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#ifndef ROSCPP_INIT_H
#define ROSCPP_INIT_H

#include "ros/forwards.h"
#include "ros/spinner.h"
#include "common.h"

namespace ros
{

namespace init_options
{
enum InitOption
{
  NoSigintHandler = 1 << 0,
  AnonymousName = 1 << 1,
  NoRosout = 1 << 2,
};
}
typedef init_options::InitOption InitOption;

ROSCPP_DECL void init(int &argc, char **argv, const std::string& name, uint32_t options = 0);

ROSCPP_DECL void init(const M_string& remappings, const std::string& name, uint32_t options = 0);

ROSCPP_DECL void init(const VP_string& remapping_args, const std::string& name, uint32_t options = 0);

ROSCPP_DECL bool isInitialized();
ROSCPP_DECL bool isShuttingDown();

ROSCPP_DECL void spin();

ROSCPP_DECL void spin(Spinner& spinner);
ROSCPP_DECL void spinOnce();

ROSCPP_DECL void waitForShutdown();

ROSCPP_DECL bool ok();
ROSCPP_DECL void shutdown();

ROSCPP_DECL void requestShutdown();

ROSCPP_DECL void start();
ROSCPP_DECL bool isStarted();

ROSCPP_DECL CallbackQueue* getGlobalCallbackQueue();

ROSCPP_DECL std::string getROSArg(int argc, const char* const* argv, const std::string& arg);

ROSCPP_DECL void removeROSArgs(int argc, const char* const* argv, V_string& args_out);

}

#endif