.. _program_listing_file_docs_FEATURES.md:

Program Listing for File FEATURES.md
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|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_runtime_c Features
   
   ## Primitive sequence definitions initializations and finalizations
   
   `rosidl_runtime_c` provides default definitions, as well as initialization and finalization functions for the supported rosidl primitive sequence types.
   These functions are defined in the following headers:
   
   * `primitives_sequence.h`: C struct definitions for all supported primitive sequence types.
   * `primitive_sequence_functions.h`: initialization and finalization functionality for the above defined sequences.
   * `sequence_bound.h`: Struct designed to track the upper bounds size of a sequence. Currently unused.
   
   ## String and u16string definitions, initializations and finalizations
   
   Like the sequences described above, `rosidl_runtime_c` provides definitions, as well as initialization and finalization functions for 8-bit and 16-bit character strings.
   
   * `string.h`: C struct definition for an 8-bit string.
   * `string_functions.h`: initialization and finalization functionality for the rosidl 8-bit string.
   * `string_bound.h`: Designed to track the upper bounds size of a string. Currently unused.
   
   * `u16string.h`: C struct definition for a 16-bit string.
   * `u16string_functions.h`: initialization and finalization functionality for the rosidl 16-bit string.
   
   ## Typesupport structs
   
   This package defines several structs which are utilized for providing access to properties and functionality of different rosidl types.
   They are defined for the three main ROS 2 rosidl types:
   * Messages (`message_type_support_struct.h`)
   * Services (`service_type_support_struct.h`)
   * Actions (`action_type_support_struct.h`)