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Merge remote-tracking branch 'upstream/master' into qos
Signed-off-by: Emerson Knapp <eknapp@amazon.com>
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| Original file line number | Diff line number | Diff line change |
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| // Copyright 2019 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_ACTION__GRAPH_H_ | ||
| #define RCL_ACTION__GRAPH_H_ | ||
|
|
||
| #ifdef __cplusplus | ||
| extern "C" | ||
| { | ||
| #endif | ||
|
|
||
| #include "rcl/graph.h" | ||
| #include "rcl/node.h" | ||
|
|
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| #include "rcl_action/visibility_control.h" | ||
|
|
||
| /// Get a list of action names and types for action clients associated with a node. | ||
| /** | ||
| * The `node` parameter must point to a valid node. | ||
| * | ||
| * The `action_names_and_types` parameter must be allocated and zero initialized. | ||
| * This function allocates memory for the returned list of names and types and so it is the | ||
| * callers responsibility to pass `action_names_and_types` to rcl_names_and_types_fini() | ||
| * when it is no longer needed. | ||
| * Failing to do so will result in leaked memory. | ||
| * | ||
| * The returned names are not automatically remapped by this function. | ||
| * Attempting to create action clients or action servers with names returned by this function may | ||
| * not result in the desired action name depending on the remap rules in use. | ||
| * | ||
| * <hr> | ||
| * Attribute | Adherence | ||
| * ------------------ | ------------- | ||
| * Allocates Memory | Yes | ||
| * Thread-Safe | No | ||
| * Uses Atomics | No | ||
| * Lock-Free | Maybe [1] | ||
| * <i>[1] implementation may need to protect the data structure with a lock</i> | ||
| * | ||
| * \param[in] node the handle to the node being used to query the ROS graph | ||
| * \param[in] allocator allocator for allocating space for strings | ||
| * \param[in] node_name the node name of the actions to return | ||
| * \param[in] node_namespace the node namespace of the actions to return | ||
| * \param[out] action_names_and_types list of action names and their types | ||
| * \return `RCL_RET_OK` if the query was successful, or | ||
| * \return `RCL_RET_NODE_INVALID` if the node is invalid, or | ||
| * \return `RCL_RET_INVALID_ARGUMENT` if any arguments are invalid, or | ||
| * \return `RCL_RET_ERROR` if an unspecified error occurs. | ||
| */ | ||
| RCL_ACTION_PUBLIC | ||
| RCL_WARN_UNUSED | ||
| rcl_ret_t | ||
| rcl_action_get_client_names_and_types_by_node( | ||
| const rcl_node_t * node, | ||
| rcl_allocator_t * allocator, | ||
| const char * node_name, | ||
| const char * node_namespace, | ||
| rcl_names_and_types_t * action_names_and_types); | ||
|
|
||
| /// Get a list of action names and types for action servers associated with a node. | ||
| /** | ||
| * This function returns a list of action names and types for action servers associated with | ||
| * the provided node name. | ||
| * | ||
| * The `node` parameter must point to a valid node. | ||
| * | ||
| * The `action_names_and_types` parameter must be allocated and zero initialized. | ||
| * This function allocates memory for the returned list of names and types and so it is the | ||
| * callers responsibility to pass `action_names_and_types` to rcl_names_and_types_fini() | ||
| * when it is no longer needed. | ||
| * Failing to do so will result in leaked memory. | ||
| * | ||
| * The returned names are not automatically remapped by this function. | ||
| * Attempting to create action clients or action servers with names returned by this function may | ||
| * not result in the desired action name depending on the remap rules in use. | ||
| * | ||
| * <hr> | ||
| * Attribute | Adherence | ||
| * ------------------ | ------------- | ||
| * Allocates Memory | Yes | ||
| * Thread-Safe | No | ||
| * Uses Atomics | No | ||
| * Lock-Free | Maybe [1] | ||
| * <i>[1] implementation may need to protect the data structure with a lock</i> | ||
| * | ||
| * \param[in] node the handle to the node being used to query the ROS graph | ||
| * \param[in] allocator allocator for allocating space for strings | ||
| * \param[in] node_name the node name of the actions to return | ||
| * \param[in] node_namespace the node namespace of the actions to return | ||
| * \param[out] action_names_and_types list of action names and their types | ||
| * \return `RCL_RET_OK` if the query was successful, or | ||
| * \return `RCL_RET_NODE_INVALID` if the node is invalid, or | ||
| * \return `RCL_RET_INVALID_ARGUMENT` if any arguments are invalid, or | ||
| * \return `RCL_RET_ERROR` if an unspecified error occurs. | ||
| */ | ||
| RCL_ACTION_PUBLIC | ||
| RCL_WARN_UNUSED | ||
| rcl_ret_t | ||
| rcl_action_get_server_names_and_types_by_node( | ||
| const rcl_node_t * node, | ||
| rcl_allocator_t * allocator, | ||
| const char * node_name, | ||
| const char * node_namespace, | ||
| rcl_names_and_types_t * action_names_and_types); | ||
|
|
||
| /// Return a list of action names and their types. | ||
| /** | ||
| * This function returns a list of action names and types in the ROS graph. | ||
| * | ||
| * The `node` parameter must point to a valid node. | ||
| * | ||
| * The `action_names_and_types` parameter must be allocated and zero initialized. | ||
| * This function allocates memory for the returned list of names and types and so it is the | ||
| * callers responsibility to pass `action_names_and_types` to rcl_names_and_types_fini() | ||
| * when it is no longer needed. | ||
| * Failing to do so will result in leaked memory. | ||
| * | ||
| * The returned names are not automatically remapped by this function. | ||
| * Attempting to create action clients or action servers with names returned by this function may | ||
| * not result in the desired action name depending on the remap rules in use. | ||
| * | ||
| * <hr> | ||
| * Attribute | Adherence | ||
| * ------------------ | ------------- | ||
| * Allocates Memory | Yes | ||
| * Thread-Safe | No | ||
| * Uses Atomics | No | ||
| * Lock-Free | Maybe [1] | ||
| * <i>[1] implementation may need to protect the data structure with a lock</i> | ||
| * | ||
| * \param[in] node the handle to the node being used to query the ROS graph | ||
| * \param[in] allocator allocator for allocating space for strings | ||
| * \param[out] action_names_and_types list of action names and types | ||
| * \return `RCL_RET_OK` if the query was successful, or | ||
| * \return `RCL_RET_NODE_INVALID` if the node is invalid, or | ||
| * \return `RCL_RET_INVALID_ARGUMENT` if any arguments are invalid, or | ||
| * \return `RCL_RET_ERROR` if an unspecified error occurs. | ||
| */ | ||
| RCL_ACTION_PUBLIC | ||
| RCL_WARN_UNUSED | ||
| rcl_ret_t | ||
| rcl_action_get_names_and_types( | ||
| const rcl_node_t * node, | ||
| rcl_allocator_t * allocator, | ||
| rcl_names_and_types_t * action_names_and_types); | ||
|
|
||
| #ifdef __cplusplus | ||
| } | ||
| #endif | ||
|
|
||
| #endif // RCL_ACTION__GRAPH_H_ |
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