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This commit is contained in:
Dirk Thomas 2015-04-07 10:57:00 -07:00
parent 02db75de16
commit dd5f1deec8
2 changed files with 40 additions and 31 deletions
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27
rcl/include/rcl/rcl.h
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@ -37,7 +37,8 @@ rcl_destroy_node(rcl_node_t * node);
/// Creates a rcl_publisher_t; used to implement a ROS Publisher. /// Creates a rcl_publisher_t; used to implement a ROS Publisher.
rcl_publisher_t * rcl_publisher_t *
rcl_create_publisher(const rcl_node_t * node, rcl_create_publisher(
const rcl_node_t * node,
const rosidl_message_type_support_t * type_support, const rosidl_message_type_support_t * type_support,
const char * topic_name, const char * topic_name,
size_t queue_size); size_t queue_size);
@ -52,7 +53,8 @@ rcl_publish(const rcl_publisher_t * publisher, const void * ros_message);
/// Creates a rcl_subscription_t; used to implement a ROS Subscription. /// Creates a rcl_subscription_t; used to implement a ROS Subscription.
rcl_subscription_t * rcl_subscription_t *
rcl_create_subscription(const rcl_node_t * node, rcl_create_subscription(
const rcl_node_t * node,
const rosidl_message_type_support_t * type_support, const rosidl_message_type_support_t * type_support,
const char * topic_name, const char * topic_name,
size_t queue_size); size_t queue_size);
@ -90,7 +92,8 @@ rcl_destroy_callback_group(rcl_callback_group_t * callback_group);
/// Creates a rcl_subscription_info_t, which associates rcl_subscription_t's /// Creates a rcl_subscription_info_t, which associates rcl_subscription_t's
/// to a callback group. /// to a callback group.
rcl_subscription_info_t * rcl_subscription_info_t *
rcl_create_subscription_info(rcl_subscription_t * const subscription, rcl_create_subscription_info(
rcl_subscription_t * const subscription,
rcl_callback_group_t * const callback_group); rcl_callback_group_t * const callback_group);
/// Destroys a rcl_subscription_info_t. /// Destroys a rcl_subscription_info_t.
@ -100,7 +103,8 @@ rcl_destroy_subscription_info(rcl_subscription_info_t * subscription_info);
/// Creates a rcl_timer_info_t, which associates a ROS Timer's guard condition /// Creates a rcl_timer_info_t, which associates a ROS Timer's guard condition
/// with a callback group. /// with a callback group.
rcl_timer_info_t * rcl_timer_info_t *
rcl_create_timer_info(rcl_guard_condition_t * const guard_condition, rcl_create_timer_info(
rcl_guard_condition_t * const guard_condition,
rcl_callback_group_t * const callback_group); rcl_callback_group_t * const callback_group);
/// Destroys a rcl_timer_info_t. /// Destroys a rcl_timer_info_t.
@ -117,27 +121,32 @@ rcl_destroy_executor_helper(rcl_executor_helper_t * executor_helper);
/// Add a rcl_subscription_info_t to the collection of callable items. /// Add a rcl_subscription_info_t to the collection of callable items.
rcl_ret_t rcl_ret_t
rcl_add_subscription_info(rcl_executor_helper_t * executor_helper, rcl_add_subscription_info(
rcl_executor_helper_t * executor_helper,
rcl_subscription_info_t * subscription_info); rcl_subscription_info_t * subscription_info);
/// Removes a rcl_subscription_t from the collection of callable items. /// Removes a rcl_subscription_t from the collection of callable items.
rcl_ret_t rcl_ret_t
rcl_remove_subscription_info(rcl_executor_helper_t * executor_helper, rcl_remove_subscription_info(
rcl_executor_helper_t * executor_helper,
rcl_subscription_info_t * subscription_info); rcl_subscription_info_t * subscription_info);
/// Add a rcl_timer_info_t to the collection of callable items. /// Add a rcl_timer_info_t to the collection of callable items.
rcl_ret_t rcl_ret_t
rcl_add_timer_info(rcl_executor_helper_t * executor_helper, rcl_add_timer_info(
rcl_executor_helper_t * executor_helper,
rcl_timer_info_t * timer_info); rcl_timer_info_t * timer_info);
/// Removes a rcl_subscription_t from the collection of callable items. /// Removes a rcl_subscription_t from the collection of callable items.
rcl_ret_t rcl_ret_t
rcl_remove_timer_info(rcl_executor_helper_t * executor_helper, rcl_remove_timer_info(
rcl_executor_helper_t * executor_helper,
rcl_timer_info_t * timer_info); rcl_timer_info_t * timer_info);
/// Finds the next ready to be called item if one exists; optionally blocking. /// Finds the next ready to be called item if one exists; optionally blocking.
rcl_ret_t rcl_ret_t
rcl_get_next_any_executable(rcl_executor_helper_t * executor_helper, rcl_get_next_any_executable(
rcl_executor_helper_t * executor_helper,
rcl_any_executable_t * any_executable, rcl_any_executable_t * any_executable,
bool non_blocking); bool non_blocking);