.. _program_listing_file_include_rcl_subscription.h:

Program Listing for File subscription.h
=======================================

|exhale_lsh| :ref:`Return to documentation for file <file_include_rcl_subscription.h>` (``include/rcl/subscription.h``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   // Copyright 2015 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 RCL__SUBSCRIPTION_H_
   #define RCL__SUBSCRIPTION_H_
   
   #ifdef __cplusplus
   extern "C"
   {
   #endif
   
   #include "rosidl_runtime_c/message_type_support_struct.h"
   
   #include "rcl/event_callback.h"
   #include "rcl/macros.h"
   #include "rcl/node.h"
   #include "rcl/visibility_control.h"
   
   #include "rmw/dynamic_message_type_support.h"
   #include "rmw/message_sequence.h"
   
   typedef struct rcl_subscription_impl_s rcl_subscription_impl_t;
   
   typedef struct rcl_subscription_s
   {
     rcl_subscription_impl_t * impl;
   } rcl_subscription_t;
   
   typedef struct rcl_subscription_options_s
   {
     rmw_qos_profile_t qos;
   
     rcl_allocator_t allocator;
     rmw_subscription_options_t rmw_subscription_options;
     bool disable_loaned_message;
   } rcl_subscription_options_t;
   
   typedef struct rcl_subscription_content_filter_options_s
   {
     rmw_subscription_content_filter_options_t rmw_subscription_content_filter_options;
   } rcl_subscription_content_filter_options_t;
   
   
   RCL_PUBLIC
   RCL_WARN_UNUSED
   rcl_subscription_t
   rcl_get_zero_initialized_subscription(void);
   
   
   RCL_PUBLIC
   RCL_WARN_UNUSED
   rcl_ret_t
   rcl_subscription_init(
     rcl_subscription_t * subscription,
     const rcl_node_t * node,
     const rosidl_message_type_support_t * type_support,
     const char * topic_name,
     const rcl_subscription_options_t * options
   );
   
   
   RCL_PUBLIC
   RCL_WARN_UNUSED
   rcl_ret_t
   rcl_subscription_fini(rcl_subscription_t * subscription, rcl_node_t * node);
   
   
   RCL_PUBLIC
   RCL_WARN_UNUSED
   rcl_subscription_options_t
   rcl_subscription_get_default_options(void);
   
   
   RCL_PUBLIC
   RCL_WARN_UNUSED
   rcl_ret_t
   rcl_subscription_options_fini(rcl_subscription_options_t * option);
   
   
   RCL_PUBLIC
   RCL_WARN_UNUSED
   rcl_ret_t
   rcl_subscription_options_set_content_filter_options(
     const char * filter_expression,
     size_t expression_parameters_argc,
     const char * expression_parameter_argv[],
     rcl_subscription_options_t * options);
   
   RCL_PUBLIC
   RCL_WARN_UNUSED
   rcl_subscription_content_filter_options_t
   rcl_get_zero_initialized_subscription_content_filter_options(void);
   
   
   RCL_PUBLIC
   RCL_WARN_UNUSED
   rcl_ret_t
   rcl_subscription_content_filter_options_init(
     const rcl_subscription_t * subscription,
     const char * filter_expression,
     size_t expression_parameters_argc,
     const char * expression_parameter_argv[],
     rcl_subscription_content_filter_options_t * options);
   
   
   RCL_PUBLIC
   RCL_WARN_UNUSED
   rcl_ret_t
   rcl_subscription_content_filter_options_set(
     const rcl_subscription_t * subscription,
     const char * filter_expression,
     size_t expression_parameters_argc,
     const char * expression_parameter_argv[],
     rcl_subscription_content_filter_options_t * options);
   
   
   RCL_PUBLIC
   RCL_WARN_UNUSED
   rcl_ret_t
   rcl_subscription_content_filter_options_fini(
     const rcl_subscription_t * subscription,
     rcl_subscription_content_filter_options_t * options);
   
   
   RCL_PUBLIC
   RCL_WARN_UNUSED
   bool
   rcl_subscription_is_cft_enabled(const rcl_subscription_t * subscription);
   
   
   RCL_PUBLIC
   RCL_WARN_UNUSED
   rcl_ret_t
   rcl_subscription_set_content_filter(
     const rcl_subscription_t * subscription,
     const rcl_subscription_content_filter_options_t * options
   );
   
   
   RCL_PUBLIC
   RCL_WARN_UNUSED
   rcl_ret_t
   rcl_subscription_get_content_filter(
     const rcl_subscription_t * subscription,
     rcl_subscription_content_filter_options_t * options
   );
   
   
   RCL_PUBLIC
   RCL_WARN_UNUSED
   rcl_ret_t
   rcl_take(
     const rcl_subscription_t * subscription,
     void * ros_message,
     rmw_message_info_t * message_info,
     rmw_subscription_allocation_t * allocation
   );
   
   
   RCL_PUBLIC
   RCL_WARN_UNUSED
   rcl_ret_t
   rcl_take_sequence(
     const rcl_subscription_t * subscription,
     size_t count,
     rmw_message_sequence_t * message_sequence,
     rmw_message_info_sequence_t * message_info_sequence,
     rmw_subscription_allocation_t * allocation
   );
   
   
   RCL_PUBLIC
   RCL_WARN_UNUSED
   rcl_ret_t
   rcl_take_serialized_message(
     const rcl_subscription_t * subscription,
     rcl_serialized_message_t * serialized_message,
     rmw_message_info_t * message_info,
     rmw_subscription_allocation_t * allocation);
   
   
   RCL_PUBLIC
   RCL_WARN_UNUSED
   rcl_ret_t
   rcl_take_dynamic_message(
     const rcl_subscription_t * subscription,
     rosidl_dynamic_typesupport_dynamic_data_t * dynamic_message,
     rmw_message_info_t * message_info,
     rmw_subscription_allocation_t * allocation);
   
   
   RCL_PUBLIC
   RCL_WARN_UNUSED
   rcl_ret_t
   rcl_take_loaned_message(
     const rcl_subscription_t * subscription,
     void ** loaned_message,
     rmw_message_info_t * message_info,
     rmw_subscription_allocation_t * allocation);
   
   
   RCL_PUBLIC
   RCL_WARN_UNUSED
   rcl_ret_t
   rcl_return_loaned_message_from_subscription(
     const rcl_subscription_t * subscription,
     void * loaned_message);
   
   
   RCL_PUBLIC
   RCL_WARN_UNUSED
   const char *
   rcl_subscription_get_topic_name(const rcl_subscription_t * subscription);
   
   
   RCL_PUBLIC
   RCL_WARN_UNUSED
   const rcl_subscription_options_t *
   rcl_subscription_get_options(const rcl_subscription_t * subscription);
   
   
   RCL_PUBLIC
   RCL_WARN_UNUSED
   rmw_subscription_t *
   rcl_subscription_get_rmw_handle(const rcl_subscription_t * subscription);
   
   
   RCL_PUBLIC
   bool
   rcl_subscription_is_valid(const rcl_subscription_t * subscription);
   
   
   RCL_PUBLIC
   RCL_WARN_UNUSED
   rmw_ret_t
   rcl_subscription_get_publisher_count(
     const rcl_subscription_t * subscription,
     size_t * publisher_count);
   
   
   RCL_PUBLIC
   RCL_WARN_UNUSED
   const rmw_qos_profile_t *
   rcl_subscription_get_actual_qos(const rcl_subscription_t * subscription);
   
   
   RCL_PUBLIC
   bool
   rcl_subscription_can_loan_messages(const rcl_subscription_t * subscription);
   
   
   RCL_PUBLIC
   RCL_WARN_UNUSED
   rcl_ret_t
   rcl_subscription_set_on_new_message_callback(
     const rcl_subscription_t * subscription,
     rcl_event_callback_t callback,
     const void * user_data);
   
   #ifdef __cplusplus
   }
   #endif
   
   #endif  // RCL__SUBSCRIPTION_H_