c37bfec072
* use rcl_allocator for rcl_lifecycle * correct return value interpretation * fix unsigned comparison * use namespace for lifecycle in-built topics * linters
58 lines
1.7 KiB
C
58 lines
1.7 KiB
C
// Copyright 2016 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 COM_INTERFACE_H_
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#define COM_INTERFACE_H_
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#if __cplusplus
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extern "C"
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{
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#endif
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#include <rcl/macros.h>
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#include "rcl_lifecycle/data_types.h"
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rcl_lifecycle_com_interface_t
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rcl_lifecycle_get_zero_initialized_com_interface();
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rcl_ret_t
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RCL_WARN_UNUSED
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rcl_lifecycle_com_interface_init(
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rcl_lifecycle_com_interface_t * com_interface,
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rcl_node_t * node_handle,
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const rosidl_message_type_support_t * ts_pub_notify,
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const rosidl_service_type_support_t * ts_srv_change_state,
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const rosidl_service_type_support_t * ts_srv_get_state,
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const rosidl_service_type_support_t * ts_srv_get_available_states,
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const rosidl_service_type_support_t * ts_srv_get_available_transitions,
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const rcl_allocator_t * allocator);
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rcl_ret_t
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RCL_WARN_UNUSED
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rcl_lifecycle_com_interface_fini(
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rcl_lifecycle_com_interface_t * com_interface,
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rcl_node_t * node_handle);
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rcl_ret_t
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RCL_WARN_UNUSED
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rcl_lifecycle_com_interface_publish_notification(
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rcl_lifecycle_com_interface_t * com_interface,
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const rcl_lifecycle_state_t * start, const rcl_lifecycle_state_t * goal);
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#if __cplusplus
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}
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#endif
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#endif // COM_INTERFACE_H_
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