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~/get_type_description service (rep2011) (#1052)
* Add ~/get_type_description service API * Add node type cache * Register subscription, publication, service and action types with node type cache * Add functions to convert between rosidl_runtime_c / type_description_interfaces structs RCL does not initialize the get_type_description service itself, instead providing a full enough API for full language clients to initialize it and register its callback within their threading/execution framework Signed-off-by: Hans-Joachim Krauch <[email protected]> Signed-off-by: Emerson Knapp <[email protected]>
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| // Copyright 2023 Open Source Robotics Foundation, Inc. | ||
| // | ||
| // Licensed under the Apache License, Version 2.0 (the "License"); | ||
| // you may not use this file except in compliance with the License. | ||
| // You may obtain a copy of the License at | ||
| // | ||
| // http://www.apache.org/licenses/LICENSE-2.0 | ||
| // | ||
| // Unless required by applicable law or agreed to in writing, software | ||
| // distributed under the License is distributed on an "AS IS" BASIS, | ||
| // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. | ||
| // See the License for the specific language governing permissions and | ||
| // limitations under the License. | ||
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| #ifndef RCL__NODE_TYPE_CACHE_H_ | ||
| #define RCL__NODE_TYPE_CACHE_H_ | ||
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| #include "rcl/node.h" | ||
| #include "rcl/types.h" | ||
| #include "rcl/visibility_control.h" | ||
| #include "rosidl_runtime_c/type_description/type_description__struct.h" | ||
| #include "rosidl_runtime_c/type_description/type_source__struct.h" | ||
| #include "type_description_interfaces/msg/type_description.h" | ||
| #include "type_description_interfaces/msg/type_source.h" | ||
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| #ifdef __cplusplus | ||
| extern "C" { | ||
| #endif | ||
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| typedef struct rcl_type_info_t | ||
| { | ||
| type_description_interfaces__msg__TypeDescription * type_description; | ||
| type_description_interfaces__msg__TypeSource__Sequence * type_sources; | ||
| } rcl_type_info_t; | ||
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| /// Initialize the node's type cache. | ||
| /** | ||
| * This function initializes hash map of the node's type cache such that types | ||
| * can be registered and retrieved. | ||
| * Note that to correctly capture all types used by a node, this needs to be called | ||
| * before any "builtin" publishers or services are created. | ||
| * | ||
| * <hr> | ||
| * Attribute | Adherence | ||
| * ------------------ | ------------- | ||
| * Allocates Memory | Yes | ||
| * Thread-Safe | No | ||
| * Uses Atomics | No | ||
| * Lock-Free | Yes | ||
| * | ||
| * \param[in] node the handle to the node whose type cache should be initialized | ||
| * \return #RCL_RET_OK if the node's type cache was successfully initialized, or | ||
| * \return #RCL_RET_INVALID_ARGUMENT if any arguments are invalid, or | ||
| * \return #RCL_RET_NODE_INVALID if the given `node` is invalid, or | ||
| * \return #RCL_RET_ERROR if an unspecified error occurs. | ||
| */ | ||
| RCL_WARN_UNUSED | ||
| rcl_ret_t rcl_node_type_cache_init(rcl_node_t * node); | ||
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| /// Finalize the node's type cache. | ||
| /** | ||
| * This function clears the hash map of the node's type cache and deallocates | ||
| * used memory. | ||
| * | ||
| * <hr> | ||
| * Attribute | Adherence | ||
| * ------------------ | ------------- | ||
| * Allocates Memory | No | ||
| * Thread-Safe | No | ||
| * Uses Atomics | No | ||
| * Lock-Free | Yes | ||
| * | ||
| * \param[in] node the handle to the node whose type cache should be finalized | ||
| * \return #RCL_RET_OK if the node's type cache was successfully finalized, or | ||
| * \return #RCL_RET_INVALID_ARGUMENT if any arguments are invalid, or | ||
| * \return #RCL_RET_NODE_INVALID if the given `node` is invalid, or | ||
| * \return #RCL_RET_ERROR if an unspecified error occurs. | ||
| */ | ||
| RCL_WARN_UNUSED | ||
| rcl_ret_t rcl_node_type_cache_fini(rcl_node_t * node); | ||
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| /// Register a type with the node's type cache. | ||
| /** | ||
| * This function registers the given type, uniquely identified by the type_hash, | ||
| * with the node with the node's type cache. Multiple registrations of the same | ||
| * type will increment its registration count. | ||
| * | ||
| * <hr> | ||
| * Attribute | Adherence | ||
| * ------------------ | ------------- | ||
| * Allocates Memory | Yes | ||
| * Thread-Safe | No | ||
| * Uses Atomics | No | ||
| * Lock-Free | Yes | ||
| * | ||
| * \param[in] node the handle to the node whose type cache should be finalized | ||
| * \param[in] type_hash hash of the type | ||
| * \param[in] type_description type description struct | ||
| * \param[in] type_description_sources type description sources struct | ||
| * \return #RCL_RET_OK if the type was successfully registered, or | ||
| * \return #RCL_RET_INVALID_ARGUMENT if any arguments are invalid, or | ||
| * \return #RCL_RET_NODE_INVALID if the given `node` is invalid, or | ||
| * \return #RCL_RET_ERROR if an unspecified error occurs. | ||
| */ | ||
| RCL_PUBLIC | ||
| RCL_WARN_UNUSED | ||
| rcl_ret_t rcl_node_type_cache_register_type( | ||
| const rcl_node_t * node, const rosidl_type_hash_t * type_hash, | ||
| const rosidl_runtime_c__type_description__TypeDescription * type_description, | ||
| const rosidl_runtime_c__type_description__TypeSource__Sequence * type_description_sources | ||
| ); | ||
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| /// Unregister a message type from the node's type cache. | ||
| /** | ||
| * This function uses the given `type_hash` to unregister the associated type in | ||
| * the node's type cache. If the type has been registered multiple times, the | ||
| * type will only be removed if its registration count reaches 0. | ||
| * | ||
| * <hr> | ||
| * Attribute | Adherence | ||
| * ------------------ | ------------- | ||
| * Allocates Memory | Yes | ||
| * Thread-Safe | No | ||
| * Uses Atomics | No | ||
| * Lock-Free | Yes | ||
| * | ||
| * \param[in] node the handle to the node whose type cache should be finalized | ||
| * \param[in] type_hash type hash | ||
| * \return #RCL_RET_OK if the type was successfully registered, or | ||
| * \return #RCL_RET_INVALID_ARGUMENT if any arguments are invalid, or | ||
| * \return #RCL_RET_NODE_INVALID if the given `node` is invalid, or | ||
| * \return #RCL_RET_ERROR if an unspecified error occurs. | ||
| */ | ||
| RCL_PUBLIC | ||
| RCL_WARN_UNUSED | ||
| rcl_ret_t rcl_node_type_cache_unregister_type( | ||
| const rcl_node_t * node, const rosidl_type_hash_t * type_hash); | ||
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| /// Retrieve type information from the node's type cache. | ||
| /** | ||
| * This function returns the desired type information from the node's type cache | ||
| * | ||
| * The `type_info` field must point to an allocated `rcl_type_info_t` object to | ||
| * which the type information will be written. | ||
| * | ||
| * <hr> | ||
| * Attribute | Adherence | ||
| * ------------------ | ------------- | ||
| * Allocates Memory | No | ||
| * Thread-Safe | No | ||
| * Uses Atomics | No | ||
| * Lock-Free | Yes | ||
| * | ||
| * \param[in] node the handle to the node whose type cache should be queried | ||
| * \param[in] type_hash type hash | ||
| * \param[out] type_info pointer to the type info struct that will be populated | ||
| * \return #RCL_RET_OK if type information was retrieved successfully | ||
| * \return #RCL_RET_INVALID_ARGUMENT if any arguments are invalid, or | ||
| * \return #RCL_RET_NODE_INVALID if the given `node` is invalid, or | ||
| * \return #RCL_RET_NOT_INIT if node's type cache has not been initialized, or | ||
| * \return #RCL_RET_ERROR if an unspecified error occurs. | ||
| */ | ||
| RCL_PUBLIC | ||
| RCL_WARN_UNUSED | ||
| rcl_ret_t rcl_node_type_cache_get_type_info( | ||
| const rcl_node_t * node, | ||
| const rosidl_type_hash_t * type_hash, | ||
| rcl_type_info_t * type_info); | ||
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| #ifdef __cplusplus | ||
| } | ||
| #endif | ||
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| #endif // RCL__NODE_TYPE_CACHE_H_ |
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