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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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57
rcl/include/rcl/rcl.h
View file

@ -25,7 +25,7 @@
/// Global initialization for rcl; should be called once per process.
rcl_ret_t
rcl_init(int argc, char **argv);
rcl_init(int argc, char ** argv);
/// Creates a rcl_node_t; used to implement a ROS Node.
rcl_node_t *
@ -37,10 +37,11 @@ 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);
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
@ -52,10 +53,11 @@ 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);
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
@ -90,8 +92,9 @@ 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);
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
@ -100,8 +103,9 @@ 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);
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
@ -117,28 +121,33 @@ 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);
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);
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);
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);
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);
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_ */

14
rcl/include/rcl/types.h
View file

@ -29,19 +29,19 @@ typedef rmw_guard_conditions_t rcl_guard_conditions_t;
typedef struct rcl_callback_group_t
{
rcl_node_t * * node;
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_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_guard_condition_t ** guard_condition;
rcl_callback_group_t ** callback_group;
} rcl_timer_info_t;
typedef struct rcl_executor_helper_t
@ -51,8 +51,8 @@ typedef struct rcl_executor_helper_t
typedef struct rcl_any_executable_t
{
rcl_subscription_info_t * * subscription_info;
rcl_timer_info_t * * timer_info;
rcl_subscription_info_t ** subscription_info;
rcl_timer_info_t ** timer_info;
} rcl_any_executable_t;
#endif /* RCL_RCL_TYPES_H_ */