[rcl action] Add action services and topics name getters
This commit is contained in:
Michel Hidalgo
parent
77ef88a4f6
commit
8b65abeed5
4 changed files with 409 additions and 1 deletions
194
rcl_action/include/rcl_action/names.h
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194
rcl_action/include/rcl_action/names.h
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// Copyright 2018 Open Source Robotics Foundation, Inc.
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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#ifndef RCL_ACTION__NAMES_H_
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#define RCL_ACTION__NAMES_H_
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#ifdef __cplusplus
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extern "C"
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{
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#endif
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#include "rcl_action/visibility_control.h"
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#include "rcl/allocator.h"
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#include "rcl/macros.h"
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#include "rcl/types.h"
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/// Get the goal service name of an action.
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/**
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* This function returns the goal service name for a given action name
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* that must be used by action clients and action servers to successfully
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* communicate with each other.
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*
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* <hr>
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* Attribute | Adherence
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* ------------------ | -------------
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* Allocates Memory | Yes
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* Thread-Safe | No
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* Uses Atomics | No
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* Lock-Free | Yes
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*
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* \param[in] action_name The name of the action whose goal service name is
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* being returned.
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* \param[in] allocator A valid allocator to be used.
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* \param[out] goal_service_name Either an allocated string with the action
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* goal service name, or `NULL` if the function failed to allocate memory
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* for it.
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* \return `RCL_RET_OK` if the action goal service name was returned, or
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* \return `RCL_RET_INVALID_ARGUMENT` if any arguments are invalid, or
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* \return `RCL_RET_BAD_ALLOC` if allocating memory failed.
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*/
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RCL_ACTION_PUBLIC
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RCL_WARN_UNUSED
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rcl_ret_t
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rcl_action_get_goal_service_name(
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const char * action_name,
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rcl_allocator_t allocator,
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char ** goal_service_name);
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/// Get the cancel service name of an action.
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/**
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* This function returns the cancel service name for a given action name
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* that must be used by action clients and action servers to successfully
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* communicate with each other.
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*
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* <hr>
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* Attribute | Adherence
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* ------------------ | -------------
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* Allocates Memory | Yes
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* Thread-Safe | No
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* Uses Atomics | No
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* Lock-Free | Yes
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*
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* \param[in] action_name The name of the action whose cancel service name is
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* being returned.
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* \param[in] allocator A valid allocator to be used.
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* \param[out] cancel_service_name Either an allocated string with the action
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* cancel service name, or `NULL` if the function failed to allocate memory
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* for it.
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* \return `RCL_RET_OK` if the action cancel service name was returned, or
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* \return `RCL_RET_INVALID_ARGUMENT` if any arguments are invalid, or
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* \return `RCL_RET_BAD_ALLOC` if allocating memory failed.
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*/
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RCL_ACTION_PUBLIC
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RCL_WARN_UNUSED
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rcl_ret_t
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rcl_action_get_cancel_service_name(
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const char * action_name,
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rcl_allocator_t allocator,
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char ** cancel_service_name);
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/// Get the result service name of an action.
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/**
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* This function returns the result service name for a given action name
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* that must be used by action clients and action servers to successfully
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* communicate with each other.
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*
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* <hr>
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* Attribute | Adherence
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* ------------------ | -------------
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* Allocates Memory | Yes
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* Thread-Safe | No
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* Uses Atomics | No
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* Lock-Free | Yes
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*
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* \param[in] action_name The name of the action whose result service name is
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* being returned.
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* \param[in] allocator A valid allocator to be used.
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* \param[out] result_service_name Either an allocated string with the action
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* result service name, or `NULL` if the function failed to allocate memory
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* for it.
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* \return `RCL_RET_OK` if the action result service name was returned, or
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* \return `RCL_RET_INVALID_ARGUMENT` if any arguments are invalid, or
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* \return `RCL_RET_BAD_ALLOC` if allocating memory failed.
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*/
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RCL_ACTION_PUBLIC
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RCL_WARN_UNUSED
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rcl_ret_t
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rcl_action_get_result_service_name(
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const char * action_name,
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rcl_allocator_t allocator,
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char ** result_service_name);
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/// Get the feedback topic name of an action.
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/**
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* This function returns the feedback topic name for a given action name
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* that must be used by action clients and action servers to successfully
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* communicate with each other.
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*
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* <hr>
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* Attribute | Adherence
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* ------------------ | -------------
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* Allocates Memory | Yes
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* Thread-Safe | No
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* Uses Atomics | No
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* Lock-Free | Yes
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*
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* \param[in] action_name The name of the action whose feedback topic name is
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* being returned.
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* \param[in] allocator A valid allocator to be used.
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* \param[out] result_service_name Either an allocated string with the action
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* feedback topic name, or `NULL` if the function failed to allocate memory
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* for it.
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* \return `RCL_RET_OK` if the action feedback topic name was returned, or
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* \return `RCL_RET_INVALID_ARGUMENT` if any arguments are invalid, or
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* \return `RCL_RET_BAD_ALLOC` if allocating memory failed.
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*/
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RCL_ACTION_PUBLIC
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RCL_WARN_UNUSED
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rcl_ret_t
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rcl_action_get_feedback_topic_name(
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const char * action_name,
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rcl_allocator_t allocator,
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char ** feedback_topic_name);
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/// Get the status topic name of an action.
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/**
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* This function returns the status topic name for a given action name
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* that must be used by action clients and action servers to successfully
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* communicate with each other.
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*
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* <hr>
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* Attribute | Adherence
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* ------------------ | -------------
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* Allocates Memory | Yes
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* Thread-Safe | No
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* Uses Atomics | No
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* Lock-Free | Yes
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*
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* \param[in] action_name The name of the action whose status topic name is
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* being returned.
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* \param[in] allocator A valid allocator to be used.
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* \param[out] result_service_name Either an allocated string with the action
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* status topic name, or `NULL` if the function failed to allocate memory
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* for it.
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* \return `RCL_RET_OK` if the action status topic name was returned, or
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* \return `RCL_RET_INVALID_ARGUMENT` if any arguments are invalid, or
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* \return `RCL_RET_BAD_ALLOC` if allocating memory failed.
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*/
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RCL_ACTION_PUBLIC
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RCL_WARN_UNUSED
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rcl_ret_t
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rcl_action_get_status_topic_name(
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const char * action_name,
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rcl_allocator_t allocator,
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char ** status_topic_name);
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#ifdef __cplusplus
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}
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#endif
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#endif // RCL_ACTION__NAMES_H_
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