C++ API

rcutils: ROS 2 C Utilities data structures

rcutils is a C API consisting of macros, functions, and data structures used through out the ROS 2 code base.

Quality Declaration

This package claims to be in the Quality Level 1 category, see the Quality Declaration for more details.

API

The API is a combination of parts:

Allocator concept, used to inject the allocating and deallocating methods into a function or type.
- rcutils_allocator_t
- rcutils/allocator.h
Command line interface utilities:
- rcutils/cmdline_parser.h
Utilities for setting error states (error message, file, and line number) like strerror for errno:
- rcutils/error_handling.h
Some basic filesystem utilities like checking for path existence, getting the cwd, etc…:
- rcutils/filesystem.h
A C string find method:
- rcutils_find()
- rcutils_find_last()
- rcutils/find.h
A convenient string formatting function, which takes a custom allocator:
- rcutils_format_string()
- rcutils/format_string.h
Functions for interfacing with process environment variables:
- rcutils_get_env()
- rcutils_get_home_dir()
- rcutils_set_env()
- rcutils/env.h
Extensible logging macros:
- Some examples (not exhaustive):
  - RCUTILS_LOG_DEBUG()
  - RCUTILS_LOG_INFO_NAMED()
  - RCUTILS_LOG_WARN_ONCE()
  - RCUTILS_LOG_ERROR_SKIPFIRST_NAMED()
- rcutils/logging_macros.h
- rcutils/logging.h
Some basic utilities to load, unload and get symbols from shared libraries at run-time.
- rcutils/shared_library.h
A string replacement function which takes an allocator, based on http://creativeandcritical.net/str-replace-c:
- rcutils_repl_str()
- rcutils/repl_str.h
String splitting functions which take a custom allocator:
- rcutils_split()
- rcutils_split_last()
- rcutils/split.h
A version of strdup which takes an allocator:
- rcutils_strdup()
- rcutils/strdup.h
Portable implementations of “get system time” and “get steady time”:
- rcutils_system_time_now()
- rcutils_steady_time_now()
- rcutils/time.h
Some useful data structures:
- A “string array” data structure (analogous to std::vector<std::string>):
  - rcutils_string_array_t
  - rcutils/types/string_array.h
- A “string-string map” data structure (analogous to std::map<std::string, std::string>)
  - rcutils_string_map_t
  - rcutils/types/string_map.h
Macros for controlling symbol visibility and linkage for this library:
- rcutils/visibility_control.h

Page Hierarchy

Class Hierarchy

- Struct rcutils_allocator_s
- Struct rcutils_array_list_s
- Struct rcutils_char_array_s
- Struct rcutils_dir_iter_s
- Struct rcutils_error_state_s
- Struct rcutils_error_string_s
- Struct rcutils_hash_map_s
- Struct rcutils_log_location_s
- Struct rcutils_sha256_ctx_s
- Struct rcutils_shared_library_s
- Struct rcutils_string_array_s
- Struct rcutils_string_map_s
- Struct rcutils_uint8_array_s
- Enum RCUTILS_LOG_SEVERITY

File Hierarchy

- Directory include
  - Directory rcutils
    - Directory testing
      - File fault_injection.h
    - Directory types
      - File array_list.h
      - File char_array.h
      - File hash_map.h
      - File rcutils_ret.h
      - File string_array.h
      - File string_map.h
      - File uint8_array.h
    - File allocator.h
    - File cmdline_parser.h
    - File env.h
    - File error_handling.h
    - File filesystem.h
    - File find.h
    - File format_string.h
    - File isalnum_no_locale.h
    - File logging.h
    - File macros.h
    - File process.h
    - File qsort.h
    - File repl_str.h
    - File sha256.h
    - File shared_library.h
    - File snprintf.h
    - File split.h
    - File stdatomic_helper.h
    - File strcasecmp.h
    - File strdup.h
    - File strerror.h
    - File time.h
    - File types.h
    - File visibility_control.h
    - File visibility_control_macros.h
- File CONTRIBUTING.md
- File QUALITY_DECLARATION.md
- File README.md

Full C++ API

Classes and Structs

Struct rcutils_allocator_s

Struct rcutils_array_list_s

Struct rcutils_char_array_s

Struct rcutils_dir_iter_s

Struct rcutils_error_state_s

Struct rcutils_error_string_s

Struct rcutils_hash_map_s

Struct rcutils_log_location_s

Struct rcutils_sha256_ctx_s

Struct rcutils_shared_library_s

Struct rcutils_string_array_s

Struct rcutils_string_map_s

Struct rcutils_uint8_array_s

Enums

Enum RCUTILS_LOG_SEVERITY

Functions

Function _rcutils_fault_injection_maybe_fail

Function rcutils_allocator_is_valid

Function rcutils_array_list_add

Function rcutils_array_list_fini

Function rcutils_array_list_get

Function rcutils_array_list_get_size

Function rcutils_array_list_init

Function rcutils_array_list_remove

Function rcutils_array_list_set

Function rcutils_atomic_compare_exchange_strong_uint_least64_t

Function rcutils_atomic_exchange_bool

Function rcutils_atomic_exchange_int64_t

Function rcutils_atomic_exchange_uint64_t

Function rcutils_atomic_exchange_uintptr_t

Function rcutils_atomic_fetch_add_uint64_t

Function rcutils_atomic_load_bool

Function rcutils_atomic_load_int64_t

Function rcutils_atomic_load_uint64_t

Function rcutils_atomic_load_uintptr_t

Function rcutils_calculate_directory_size

Function rcutils_calculate_directory_size_with_recursion

Function rcutils_char_array_expand_as_needed

Function rcutils_char_array_fini

Function rcutils_char_array_init

Function rcutils_char_array_memcpy

Function rcutils_char_array_resize

Function rcutils_char_array_strcat

Function rcutils_char_array_strcpy

Function rcutils_char_array_strncat

Function rcutils_char_array_vsprintf

Function rcutils_cli_get_option

Function rcutils_cli_option_exist

Function rcutils_dir_iter_end

Function rcutils_dir_iter_next

Function rcutils_dir_iter_start

Function rcutils_error_is_set

Function rcutils_exists

Function rcutils_expand_user

Function rcutils_fault_injection_get_count

Function rcutils_fault_injection_is_test_complete

Function rcutils_fault_injection_set_count

Function rcutils_find

Function rcutils_find_last

Function rcutils_find_lastn

Function rcutils_findn

Function rcutils_format_string_limit

Function rcutils_get_cwd

Function rcutils_get_default_allocator

Function rcutils_get_env

Function rcutils_get_error_state

Function rcutils_get_error_string

Function rcutils_get_executable_name

Function rcutils_get_file_size

Function rcutils_get_home_dir

Function rcutils_get_pid

Function rcutils_get_platform_library_name

Function rcutils_get_symbol

Function rcutils_get_zero_initialized_allocator

Function rcutils_get_zero_initialized_array_list

Function rcutils_get_zero_initialized_char_array

Function rcutils_get_zero_initialized_hash_map

Function rcutils_get_zero_initialized_shared_library

Function rcutils_get_zero_initialized_string_array

Function rcutils_get_zero_initialized_string_map

Function rcutils_get_zero_initialized_uint8_array

Function rcutils_has_symbol

Function rcutils_hash_map_fini

Function rcutils_hash_map_get

Function rcutils_hash_map_get_capacity

Function rcutils_hash_map_get_next_key_and_data

Function rcutils_hash_map_get_size

Function rcutils_hash_map_init

Function rcutils_hash_map_key_exists

Function rcutils_hash_map_set

Function rcutils_hash_map_string_cmp_func

Function rcutils_hash_map_string_hash_func

Function rcutils_hash_map_unset

Function rcutils_initialize_error_handling_thread_local_storage

Function rcutils_is_directory

Function rcutils_is_file

Function rcutils_is_readable

Function rcutils_is_readable_and_writable

Function rcutils_is_shared_library_loaded

Function rcutils_is_writable

Function rcutils_isalnum_no_locale

Function rcutils_join_path

Function rcutils_load_shared_library

Function rcutils_log

Function rcutils_log_internal

Function rcutils_logging_console_output_handler

Function rcutils_logging_format_message

Function rcutils_logging_get_default_logger_level

Function rcutils_logging_get_logger_effective_level

Function rcutils_logging_get_logger_level

Function rcutils_logging_get_logger_leveln

Function rcutils_logging_get_output_handler

Function rcutils_logging_initialize

Function rcutils_logging_initialize_with_allocator

Function rcutils_logging_logger_is_enabled_for

Function rcutils_logging_set_default_logger_level

Function rcutils_logging_set_logger_level

Function rcutils_logging_set_output_handler

Function rcutils_logging_severity_level_from_string

Function rcutils_logging_shutdown

Function rcutils_mkdir

Function rcutils_qsort

Function rcutils_reallocf

Function rcutils_repl_str

Function rcutils_reset_error

Function rcutils_set_env

Function rcutils_set_env_overwrite

Function rcutils_set_error_state

Function rcutils_sha256_final

Function rcutils_sha256_init

Function rcutils_sha256_update

Function rcutils_snprintf

Function rcutils_split

Function rcutils_split_last

Function rcutils_steady_time_now

Function rcutils_strcasecmp

Function rcutils_strdup

Function rcutils_strerror

Function rcutils_string_array_cmp

Function rcutils_string_array_fini

Function rcutils_string_array_init

Function rcutils_string_array_resize

Function rcutils_string_array_sort

Function rcutils_string_array_sort_compare

Function rcutils_string_map_clear

Function rcutils_string_map_copy

Function rcutils_string_map_fini

Function rcutils_string_map_get

Function rcutils_string_map_get_capacity

Function rcutils_string_map_get_next_key

Function rcutils_string_map_get_size

Function rcutils_string_map_getn

Function rcutils_string_map_init

Function rcutils_string_map_key_exists

Function rcutils_string_map_key_existsn

Function rcutils_string_map_reserve

Function rcutils_string_map_set

Function rcutils_string_map_set_no_resize

Function rcutils_string_map_unset

Function rcutils_strncasecmp

Function rcutils_strndup

Function rcutils_system_time_now

Function rcutils_time_point_value_as_date_string

Function rcutils_time_point_value_as_nanoseconds_string

Function rcutils_time_point_value_as_seconds_string

Function rcutils_to_native_path

Function rcutils_uint8_array_fini

Function rcutils_uint8_array_init

Function rcutils_uint8_array_resize

Function rcutils_unload_shared_library

Function rcutils_vsnprintf

Variables

Variable g_rcutils_log_severity_names

Variable g_rcutils_logging_initialized

Defines

Define __STDC_WANT_LIB_EXT1__

Define ARRAY_LIST_VALIDATE_ARRAY_LIST

Define HASH_MAP_VALIDATE_HASH_MAP

Define my__has_feature

Define rcutils_atomic_compare_exchange_strong

Define rcutils_atomic_exchange

Define rcutils_atomic_fetch_add

Define rcutils_atomic_load

Define rcutils_atomic_store

Define RCUTILS_ATTRIBUTE_PRINTF_FORMAT

Define RCUTILS_CAN_FAIL_WITH

Define RCUTILS_CAN_RETURN_WITH_ERROR_OF

Define RCUTILS_CAN_SET_MSG_AND_RETURN_WITH_ERROR_OF

Define RCUTILS_CHECK_ALLOCATOR

Define RCUTILS_CHECK_ALLOCATOR_WITH_MSG

Define RCUTILS_CHECK_ARGUMENT_FOR_NULL

Define RCUTILS_CHECK_FOR_NULL_WITH_MSG

Define RCUTILS_DEFAULT_LOGGER_DEFAULT_LEVEL

Define RCUTILS_DEPRECATED

Define RCUTILS_DEPRECATED_WITH_MSG

Define RCUTILS_ERROR_FORMATTING_CHARACTERS

Define RCUTILS_ERROR_MESSAGE_MAX_LENGTH

Define RCUTILS_ERROR_STATE_FILE_MAX_LENGTH

Define RCUTILS_ERROR_STATE_LINE_NUMBER_STR_MAX_LENGTH

Define RCUTILS_ERROR_STATE_MESSAGE_MAX_LENGTH

Define RCUTILS_EXPORT

Define RCUTILS_FAULT_INJECTION_FAIL_NOW

Define RCUTILS_FAULT_INJECTION_MAYBE_FAIL

Define RCUTILS_FAULT_INJECTION_MAYBE_RETURN_ERROR

Define RCUTILS_FAULT_INJECTION_NEVER_FAIL

Define RCUTILS_FAULT_INJECTION_TEST

Define rcutils_format_string

Define RCUTILS_HAS_NONNULL

Define RCUTILS_IMPORT

Define RCUTILS_LIKELY

Define RCUTILS_LOCAL

Define RCUTILS_LOGGING_AUTOINIT

Define RCUTILS_LOGGING_AUTOINIT_WITH_ALLOCATOR

Define RCUTILS_LOGGING_SEPARATOR_STRING

Define RCUTILS_MS_TO_NS

Define RCUTILS_NO_FAULT_INJECTION

Define RCUTILS_NONNULL

Define RCUTILS_NONNULL_ARGS

Define RCUTILS_NS_TO_MS

Define RCUTILS_NS_TO_S

Define RCUTILS_NS_TO_US

Define RCUTILS_PUBLIC

Define RCUTILS_PUBLIC_TYPE

Define RCUTILS_RET_BAD_ALLOC

Define RCUTILS_RET_ERROR

Define RCUTILS_RET_HASH_MAP_NO_MORE_ENTRIES

Define RCUTILS_RET_INVALID_ARGUMENT

Define RCUTILS_RET_LOGGING_SEVERITY_MAP_INVALID

Define RCUTILS_RET_LOGGING_SEVERITY_STRING_INVALID

Define RCUTILS_RET_NOT_ENOUGH_SPACE

Define RCUTILS_RET_NOT_FOUND

Define RCUTILS_RET_NOT_INITIALIZED

Define RCUTILS_RET_OK

Define RCUTILS_RET_STRING_KEY_NOT_FOUND

Define RCUTILS_RET_STRING_MAP_ALREADY_INIT

Define RCUTILS_RET_STRING_MAP_INVALID

Define RCUTILS_RET_WARN

Define RCUTILS_RETURNS_NONNULL

Define RCUTILS_S_TO_NS

Define RCUTILS_SAFE_FWRITE_TO_STDERR

Define RCUTILS_SAFE_FWRITE_TO_STDERR_AND_APPEND_PREV_ERROR

Define RCUTILS_SAFE_FWRITE_TO_STDERR_WITH_FORMAT_STRING

Define RCUTILS_SAFE_FWRITE_TO_STDERR_WITH_FORMAT_STRING_AND_APPEND_PREV_ERROR

Define RCUTILS_SET_ERROR_MSG

Define RCUTILS_SET_ERROR_MSG_AND_APPEND_PREV_ERROR

Define RCUTILS_SET_ERROR_MSG_WITH_FORMAT_STRING

Define RCUTILS_SET_ERROR_MSG_WITH_FORMAT_STRING_AND_APPEND_PREV_ERROR

Define RCUTILS_SHA256_BLOCK_SIZE

Define RCUTILS_STEADY_TIME

Define RCUTILS_UNLIKELY

Define RCUTILS_US_TO_NS

Define RCUTILS_WARN_UNUSED

Directories

Directory include

Directory rcutils

Directory testing

Directory types

Pages

CONTRIBUTING

QUALITY_DECLARATION

Todo List