initial commit of rcl interface

LICENSE

@@ -186,7 +186,7 @@ Apache License
       same "printed page" as the copyright notice for easier
       identification within third-party archives.
 
-   Copyright {yyyy} {name of copyright owner}
+   Copyright 2014 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.

rcl/CMakeLists.txt

@@ -0,0 +1,16 @@
+cmake_minimum_required(VERSION 2.8.3)
+
+project(rcl)
+
+find_package(ament_cmake REQUIRED)
+
+ament_export_dependencies(ros_middleware_interface)
+
+ament_export_include_directories(include)
+
+ament_package()
+
+install(
+  DIRECTORY include/
+  DESTINATION include
+)

rcl/include/rcl/rcl.h

@@ -0,0 +1,145 @@
+/* Copyright 2014 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_RCL_RCL_H_
+#define RCL_RCL_RCL_H_
+
+#include <stdbool.h>  // For bool
+#include <stddef.h>  // For size_t
+
+// For rosidl_message_type_support_t
+#include <rosidl_generator_c/message_type_support.h>
+
+#include "types.h"  // For rcl_*_t types
+
+/// Global initialization for rcl; should be called once per process.
+rcl_ret_t
+rcl_init(int argc, char **argv);
+
+/// Creates a rcl_node_t; used to implement a ROS Node.
+rcl_node_t *
+rcl_create_node(const char * name);
+
+/// Destroys a rcl_node_t.
+rcl_ret_t
+rcl_destroy_node(rcl_node_t * node);
+
+/// Creates a rcl_publisher_t; used to implement a ROS Publisher.
+rcl_publisher_t *
+rcl_create_publisher(const rcl_node_t * node,
+                     const rosidl_message_type_support_t * type_support,
+                     const char * topic_name,
+                     size_t queue_size);
+
+/// Destroys a rcl_publisher_t.
+rcl_ret_t
+rcl_destroy_publisher(rcl_publisher_t * publisher);
+
+/// Publishes a ROS message to a ROS Topic using a rcl_publisher_t.
+rcl_ret_t
+rcl_publish(const rcl_publisher_t * publisher, const void * ros_message);
+
+/// Creates a rcl_subscription_t; used to implement a ROS Subscription.
+rcl_subscription_t *
+rcl_create_subscription(const rcl_node_t * node,
+                        const rosidl_message_type_support_t * type_support,
+                        const char * topic_name,
+                        size_t queue_size);
+
+/// Destroys a rcl_subscription_t.
+rcl_ret_t
+rcl_destroy_subscription(rcl_subscription_t * subscription);
+
+/// Takes a ROS message from a given rcl_subscription_t if one is available.
+rcl_ret_t
+rcl_take(const rcl_subscription_t * subscriber, void * ros_message);
+
+/// Creates a rcl_guard_condition_t; is used by the implementation to
+/// asynchronously interrupt rmw_wait.
+rcl_guard_condition_t *
+rcl_create_guard_condition();
+
+/// Destroys a rcl_guard_condition_t.
+rcl_ret_t
+rcl_destroy_guard_condition(rcl_guard_condition_t * guard_condition);
+
+/// Triggers the condition, which will interrupt rmw_wait asynchronously.
+rcl_ret_t
+rcl_trigger_guard_condition(const rcl_guard_condition_t * guard_condition);
+
+/// Creates a rcl_callback_group_t, which provides hints about how to execute
+/// groups of callbacks to an executor.
+rcl_callback_group_t *
+rcl_create_callback_group(rcl_node_t * node);
+
+/// Destroys a rcl_callback_group_t.
+rcl_ret_t
+rcl_destroy_callback_group(rcl_callback_group_t * callback_group);
+
+/// Creates a rcl_subscription_info_t, which associates rcl_subscription_t's
+/// to a callback group.
+rcl_subscription_info_t *
+rcl_create_subscription_info(rcl_subscription_t * const subscription,
+                             rcl_callback_group_t * const callback_group);
+
+/// Destroys a rcl_subscription_info_t.
+rcl_ret_t
+rcl_destroy_subscription_info(rcl_subscription_info_t * subscription_info);
+
+/// Creates a rcl_timer_info_t, which associates a ROS Timer's guard condition
+/// with a callback group.
+rcl_timer_info_t *
+rcl_create_timer_info(rcl_guard_condition_t * const guard_condition,
+                      rcl_callback_group_t * const callback_group);
+
+/// Destroys a rcl_timer_info_t.
+rcl_ret_t
+rcl_destroy_timer_info(rcl_timer_info_t * timer_info);
+
+/// Creates a rcl_executor_helper_t, which is a collection of callable items.
+rcl_executor_helper_t *
+rcl_create_executor_helper();
+
+/// Destroys a rcl_executor_helper_t.
+rcl_ret_t
+rcl_destroy_executor_helper(rcl_executor_helper_t * executor_helper);
+
+/// Add a rcl_subscription_info_t to the collection of callable items.
+rcl_ret_t
+rcl_add_subscription_info(rcl_executor_helper_t * executor_helper,
+                          rcl_subscription_info_t * subscription_info);
+
+/// Removes a rcl_subscription_t from the collection of callable items.
+rcl_ret_t
+rcl_remove_subscription_info(rcl_executor_helper_t * executor_helper,
+                             rcl_subscription_info_t * subscription_info);
+
+/// Add a rcl_timer_info_t to the collection of callable items.
+rcl_ret_t
+rcl_add_timer_info(rcl_executor_helper_t * executor_helper,
+                   rcl_timer_info_t * timer_info);
+
+/// Removes a rcl_subscription_t from the collection of callable items.
+rcl_ret_t
+rcl_remove_timer_info(rcl_executor_helper_t * executor_helper,
+                      rcl_timer_info_t * timer_info);
+
+/// Finds the next ready to be called item if one exists; optionally blocking.
+rcl_ret_t
+rcl_get_next_any_executable(rcl_executor_helper_t * executor_helper,
+                            rcl_any_executable_t * any_executable,
+                            bool non_blocking);
+
+#endif  /* RCL_RCL_RCL_H_ */

rcl/include/rcl/types.h

@@ -0,0 +1,59 @@
+/* Copyright 2014 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_RCL_TYPES_H_
+#define RCL_RCL_TYPES_H_
+
+#include <rmw/types.h>
+
+typedef rmw_ret_t rcl_ret_t;
+#define RCL_RET_OK RMW_RET_OK
+
+typedef rmw_node_t rcl_node_t;
+typedef rmw_publisher_t rcl_publisher_t;
+typedef rmw_subscription_t rcl_subscription_t;
+typedef rmw_guard_condition_t rcl_guard_condition_t;
+typedef rmw_subscriptions_t rcl_subscriptions_t;
+typedef rmw_guard_conditions_t rcl_guard_conditions_t;
+
+typedef struct rcl_callback_group_t
+{
+  rcl_node_t * * node;
+} rcl_callback_group_t;
+
+typedef struct rcl_subscription_info_t
+{
+  rcl_subscription_t * * subscription;
+  rcl_callback_group_t * * callback_group;
+} rcl_subscription_info_t;
+
+typedef struct rcl_timer_info_t
+{
+  rcl_guard_condition_t * * guard_condition;
+  rcl_callback_group_t * * callback_group;
+} rcl_timer_info_t;
+
+typedef struct rcl_executor_helper_t
+{
+  // TODO: fill with something
+} rcl_executor_helper_t;
+
+typedef struct rcl_any_executable_t
+{
+  rcl_subscription_info_t * * subscription_info;
+  rcl_timer_info_t * * timer_info;
+} rcl_any_executable_t;
+
+#endif  /* RCL_RCL_TYPES_H_ */

rcl/package.xml

@@ -0,0 +1,17 @@
+<?xml version="1.0"?>
+<package format="2">
+  <name>rcl</name>
+  <version>0.0.0</version>
+  <description>The ROS client library common implementation.
+    This package contains an API which builds on the ROS middleware API and is optionally built upon by the other ROS client libraries.
+  </description>
+  <maintainer email="william@osrfoundation.org">William Woodall</maintainer>
+  <license>Apache License 2.0</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+
+  <build_depend>ros_middleware_interface</build_depend>
+
+  <build_export_depend>ros_middleware_interface</build_export_depend>
+
+</package>