Program Listing for File service_type_support_struct.h

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// Copyright 2015-2016 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 ROSIDL_RUNTIME_C__SERVICE_TYPE_SUPPORT_STRUCT_H_
#define ROSIDL_RUNTIME_C__SERVICE_TYPE_SUPPORT_STRUCT_H_

#include <stdint.h>

#include "rcutils/allocator.h"
#include "rosidl_runtime_c/message_type_support_struct.h"
#include "rosidl_runtime_c/type_hash.h"
#include "rosidl_runtime_c/visibility_control.h"

#include "rosidl_typesupport_interface/macros.h"

#ifdef __cplusplus
extern "C"
{
#endif

typedef struct rosidl_service_type_support_t rosidl_service_type_support_t;

typedef const rosidl_service_type_support_t * (* rosidl_service_typesupport_handle_function)(
  const rosidl_service_type_support_t *, const char *);

typedef struct rosidl_service_introspection_info_s
{
  uint8_t event_type;
  int32_t stamp_sec;
  uint32_t stamp_nanosec;
  uint8_t client_gid[16];
  int64_t sequence_number;
} rosidl_service_introspection_info_t;


typedef void * (* rosidl_event_message_create_handle_function_function)(
  const rosidl_service_introspection_info_t * info,
  rcutils_allocator_t * allocator,
  const void * request_message,
  const void * response_message);


typedef bool (* rosidl_event_message_destroy_handle_function_function)(
  void * event_message,
  rcutils_allocator_t * allocator);

typedef const rosidl_type_hash_t *
(* rosidl_service_get_type_hash_function)(const rosidl_service_type_support_t *);

typedef const rosidl_runtime_c__type_description__TypeDescription *
(* rosidl_service_get_type_description_function)(const rosidl_service_type_support_t *);

typedef const rosidl_runtime_c__type_description__TypeSource__Sequence *
(* rosidl_service_get_type_description_sources_function)(const rosidl_service_type_support_t *);

struct rosidl_service_type_support_t
{
  const char * typesupport_identifier;
  const void * data;
  rosidl_service_typesupport_handle_function func;
  const rosidl_message_type_support_t * request_typesupport;
  const rosidl_message_type_support_t * response_typesupport;
  const rosidl_message_type_support_t * event_typesupport;
  rosidl_event_message_create_handle_function_function event_message_create_handle_function;
  rosidl_event_message_destroy_handle_function_function event_message_destroy_handle_function;
  rosidl_service_get_type_hash_function get_type_hash_func;
  rosidl_service_get_type_description_function get_type_description_func;
  rosidl_service_get_type_description_sources_function get_type_description_sources_func;
};


ROSIDL_GENERATOR_C_PUBLIC
const rosidl_service_type_support_t * get_service_typesupport_handle(
  const rosidl_service_type_support_t * handle, const char * identifier);


ROSIDL_GENERATOR_C_PUBLIC
const rosidl_service_type_support_t * get_service_typesupport_handle_function(
  const rosidl_service_type_support_t * handle, const char * identifier);


#define ROSIDL_GET_SRV_TYPE_SUPPORT(PkgName, SrvSubfolder, SrvName) \
  ROSIDL_TYPESUPPORT_INTERFACE__SERVICE_SYMBOL_NAME( \
    rosidl_typesupport_c, PkgName, SrvSubfolder, SrvName)()

#ifdef __cplusplus
}
#endif

#endif  // ROSIDL_RUNTIME_C__SERVICE_TYPE_SUPPORT_STRUCT_H_