code style only
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02db75de16
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dd5f1deec8
2 changed files with 40 additions and 31 deletions
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@ -25,7 +25,7 @@
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/// Global initialization for rcl; should be called once per process.
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/// Global initialization for rcl; should be called once per process.
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rcl_ret_t
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rcl_ret_t
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rcl_init(int argc, char **argv);
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rcl_init(int argc, char ** argv);
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/// Creates a rcl_node_t; used to implement a ROS Node.
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/// Creates a rcl_node_t; used to implement a ROS Node.
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rcl_node_t *
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rcl_node_t *
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@ -37,7 +37,8 @@ rcl_destroy_node(rcl_node_t * node);
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/// Creates a rcl_publisher_t; used to implement a ROS Publisher.
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/// Creates a rcl_publisher_t; used to implement a ROS Publisher.
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rcl_publisher_t *
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rcl_publisher_t *
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rcl_create_publisher(const rcl_node_t * node,
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rcl_create_publisher(
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const rcl_node_t * node,
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const rosidl_message_type_support_t * type_support,
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const rosidl_message_type_support_t * type_support,
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const char * topic_name,
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const char * topic_name,
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size_t queue_size);
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size_t queue_size);
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@ -52,7 +53,8 @@ rcl_publish(const rcl_publisher_t * publisher, const void * ros_message);
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/// Creates a rcl_subscription_t; used to implement a ROS Subscription.
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/// Creates a rcl_subscription_t; used to implement a ROS Subscription.
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rcl_subscription_t *
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rcl_subscription_t *
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rcl_create_subscription(const rcl_node_t * node,
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rcl_create_subscription(
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const rcl_node_t * node,
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const rosidl_message_type_support_t * type_support,
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const rosidl_message_type_support_t * type_support,
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const char * topic_name,
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const char * topic_name,
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size_t queue_size);
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size_t queue_size);
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@ -90,7 +92,8 @@ rcl_destroy_callback_group(rcl_callback_group_t * callback_group);
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/// Creates a rcl_subscription_info_t, which associates rcl_subscription_t's
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/// Creates a rcl_subscription_info_t, which associates rcl_subscription_t's
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/// to a callback group.
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/// to a callback group.
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rcl_subscription_info_t *
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rcl_subscription_info_t *
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rcl_create_subscription_info(rcl_subscription_t * const subscription,
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rcl_create_subscription_info(
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rcl_subscription_t * const subscription,
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rcl_callback_group_t * const callback_group);
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rcl_callback_group_t * const callback_group);
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/// Destroys a rcl_subscription_info_t.
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/// Destroys a rcl_subscription_info_t.
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@ -100,7 +103,8 @@ rcl_destroy_subscription_info(rcl_subscription_info_t * subscription_info);
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/// Creates a rcl_timer_info_t, which associates a ROS Timer's guard condition
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/// Creates a rcl_timer_info_t, which associates a ROS Timer's guard condition
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/// with a callback group.
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/// with a callback group.
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rcl_timer_info_t *
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rcl_timer_info_t *
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rcl_create_timer_info(rcl_guard_condition_t * const guard_condition,
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rcl_create_timer_info(
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rcl_guard_condition_t * const guard_condition,
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rcl_callback_group_t * const callback_group);
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rcl_callback_group_t * const callback_group);
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/// Destroys a rcl_timer_info_t.
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/// Destroys a rcl_timer_info_t.
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@ -117,27 +121,32 @@ rcl_destroy_executor_helper(rcl_executor_helper_t * executor_helper);
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/// Add a rcl_subscription_info_t to the collection of callable items.
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/// Add a rcl_subscription_info_t to the collection of callable items.
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rcl_ret_t
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rcl_ret_t
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rcl_add_subscription_info(rcl_executor_helper_t * executor_helper,
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rcl_add_subscription_info(
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rcl_executor_helper_t * executor_helper,
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rcl_subscription_info_t * subscription_info);
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rcl_subscription_info_t * subscription_info);
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/// Removes a rcl_subscription_t from the collection of callable items.
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/// Removes a rcl_subscription_t from the collection of callable items.
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rcl_ret_t
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rcl_ret_t
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rcl_remove_subscription_info(rcl_executor_helper_t * executor_helper,
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rcl_remove_subscription_info(
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rcl_executor_helper_t * executor_helper,
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rcl_subscription_info_t * subscription_info);
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rcl_subscription_info_t * subscription_info);
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/// Add a rcl_timer_info_t to the collection of callable items.
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/// Add a rcl_timer_info_t to the collection of callable items.
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rcl_ret_t
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rcl_ret_t
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rcl_add_timer_info(rcl_executor_helper_t * executor_helper,
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rcl_add_timer_info(
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rcl_executor_helper_t * executor_helper,
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rcl_timer_info_t * timer_info);
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rcl_timer_info_t * timer_info);
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/// Removes a rcl_subscription_t from the collection of callable items.
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/// Removes a rcl_subscription_t from the collection of callable items.
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rcl_ret_t
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rcl_ret_t
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rcl_remove_timer_info(rcl_executor_helper_t * executor_helper,
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rcl_remove_timer_info(
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rcl_executor_helper_t * executor_helper,
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rcl_timer_info_t * timer_info);
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rcl_timer_info_t * timer_info);
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/// Finds the next ready to be called item if one exists; optionally blocking.
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/// Finds the next ready to be called item if one exists; optionally blocking.
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rcl_ret_t
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rcl_ret_t
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rcl_get_next_any_executable(rcl_executor_helper_t * executor_helper,
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rcl_get_next_any_executable(
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rcl_executor_helper_t * executor_helper,
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rcl_any_executable_t * any_executable,
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rcl_any_executable_t * any_executable,
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bool non_blocking);
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bool non_blocking);
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@ -29,19 +29,19 @@ typedef rmw_guard_conditions_t rcl_guard_conditions_t;
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typedef struct rcl_callback_group_t
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typedef struct rcl_callback_group_t
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{
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{
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rcl_node_t * * node;
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rcl_node_t ** node;
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} rcl_callback_group_t;
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} rcl_callback_group_t;
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typedef struct rcl_subscription_info_t
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typedef struct rcl_subscription_info_t
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{
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{
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rcl_subscription_t * * subscription;
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rcl_subscription_t ** subscription;
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rcl_callback_group_t * * callback_group;
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rcl_callback_group_t ** callback_group;
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} rcl_subscription_info_t;
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} rcl_subscription_info_t;
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typedef struct rcl_timer_info_t
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typedef struct rcl_timer_info_t
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{
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{
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rcl_guard_condition_t * * guard_condition;
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rcl_guard_condition_t ** guard_condition;
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rcl_callback_group_t * * callback_group;
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rcl_callback_group_t ** callback_group;
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} rcl_timer_info_t;
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} rcl_timer_info_t;
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typedef struct rcl_executor_helper_t
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typedef struct rcl_executor_helper_t
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typedef struct rcl_any_executable_t
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typedef struct rcl_any_executable_t
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{
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{
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rcl_subscription_info_t * * subscription_info;
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rcl_subscription_info_t ** subscription_info;
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rcl_timer_info_t * * timer_info;
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rcl_timer_info_t ** timer_info;
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} rcl_any_executable_t;
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} rcl_any_executable_t;
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#endif /* RCL_RCL_TYPES_H_ */
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#endif /* RCL_RCL_TYPES_H_ */
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