.. _program_listing_file_docs_FEATURES.md:

Program Listing for File FEATURES.md
====================================

|exhale_lsh| :ref:`Return to documentation for file <file_docs_FEATURES.md>` (``docs/FEATURES.md``)

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

.. code-block:: md

   # rosidl_typesupport_introspection_cpp features
   
   `rosidl_typesupport_introspection_cpp` provides a Python generator executable, `rosidl_typesupport_introspection_cpp`, based on Empy to create C++ source files that describes the type of a ROS 2 C++ message and provides interfaces to construct and interpret such messages.
   
   The templates utilized by this generator executable are located in the `resource` directory and generate source files for messages, services and actions.
   
   `rosidl_typesupport_introspection_cpp` defines a typesupport identifier, which is declared in `identifier.hpp`.
   
   `rosidl_typesupport_introspection_cpp` provides the following functionality for incorporation into generated typesupport source files.
   
   * `message_type_support_decl.hpp`: Look up message type support handle functions from available libraries.
   * `service_type_support_decl.hpp`: Look up service type support handle functions from available libraries.
   * `message_introspection.hpp`: Defines the representation of message members and functions to construct or destruct messages and members and to compute member addresses.
   * `service_introspection.hpp`: Provides access to service name, namespace and message types.
   * `field_types.hpp`: Defines the codes used to identify a members' types.