Function rclc_executor_add_subscription_with_context

• Defined in File executor.h

Function Documentation

rcl_ret_t rclc_executor_add_subscription_with_context(rclc_executor_t *executor, rcl_subscription_t *subscription, void *msg, rclc_subscription_callback_with_context_t callback, void *context, rclc_executor_handle_invocation_t invocation)

Adds a subscription to an executor.

• An error is returned, if rclc_executor_t.handles array is full.

• The total number_of_subscriptions field of rclc_executor_t.info is incremented by one.

Attribute	Adherence
Allocates Memory	No
Thread-Safe	No
Uses Atomics	No
Lock-Free	Yes

Parameters:

• executor – [inout] pointer to initialized executor

• subscription – [in] pointer to an allocated subscription

• msg – [in] pointer to an allocated message

• callback – [in] function pointer to a callback

• context – [in] type-erased ptr to additional callback context

• invocation – [in] invocation type for the callback (ALWAYS or only ON_NEW_DATA)

Returns:

RCL_RET_OK if add-operation was successful

Returns:

RCL_RET_INVALID_ARGUMENT if any parameter is a null pointer (NULL context is ignored)

Returns:

RCL_RET_ERROR if any other error occured