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refactor init to allow options to be passed and to not be global
Signed-off-by: William Woodall <william@osrfoundation.org>
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| Original file line number | Diff line number | Diff line change |
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| @@ -0,0 +1,134 @@ | ||
| // Copyright 2014-2018 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 RMW__RMW_H_ | ||
| #define RMW__RMW_H_ | ||
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| #ifdef __cplusplus | ||
| extern "C" | ||
| { | ||
| #endif | ||
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| #include <stdint.h> | ||
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| #include "rmw/macros.h" | ||
| #include "rmw/types.h" | ||
| #include "rmw/visibility_control.h" | ||
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| /// Implementation defined options structure used during rmw_init(). | ||
| /** | ||
| * This should be defined by the rmw implementation. | ||
| */ | ||
| typedef struct rmw_init_options_impl_t rmw_init_options_impl_t; | ||
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| /// Options structure used during rmw_init(). | ||
| typedef struct RMW_PUBLIC_TYPE rmw_init_options_t { | ||
| /// Locally (process local) unique ID that represents this init/shutdown cycle. | ||
| /** | ||
| * This should be set by the caller of `rmw_init()` to a number that is | ||
| * unique within this process. | ||
| * It is designed to be used with `rcl_init()` and `rcl_get_instance_id()`. | ||
| */ | ||
| uint64_t instance_id; | ||
| /// Implementation defined init options. | ||
| rmw_init_options_impl_t * impl; | ||
| } rmw_init_options_t; | ||
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| /// Return the default init options. | ||
| /** | ||
| * This should be defined by the rmw implementation. | ||
| */ | ||
| RMW_PUBLIC | ||
| RMW_WARN_UNUSED | ||
| rmw_init_options_t | ||
| rmw_get_default_init_options(void); | ||
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| /// Implementation defined context structure returned by rmw_init(). | ||
| /** | ||
| * This should be defined by the rmw implementation. | ||
| */ | ||
| typedef struct rmw_init_context_impl_t rmw_init_context_impl_t; | ||
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| /// Initialization context structure which is used to store init specific information. | ||
| typedef struct RMW_PUBLIC_TYPE rmw_init_context_t { | ||
| /// Locally (process local) unique ID that represents this init/shutdown cycle. | ||
| uint64_t instance_id; | ||
| /// Implementation defined init context information. | ||
| rmw_init_context_impl_t * impl; | ||
| } rmw_init_context_t; | ||
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| /// Return a zero initialized init context structure. | ||
| RMW_PUBLIC | ||
| RMW_WARN_UNUSED | ||
| rmw_init_context_t | ||
| rmw_get_zero_initialized_init_context(void); | ||
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| /// Initialize the middleware with the given options, and yielding an init context. | ||
| /** | ||
| * The given init context must be zero initialized, and is filled with | ||
| * middleware specific data upon success of this function. | ||
| * The init context is used when initializing some entities like nodes and | ||
| * guard conditions, and is also required to properly call rmw_shutdown(). | ||
| * | ||
| * <hr> | ||
| * Attribute | Adherence | ||
| * ------------------ | ------------- | ||
| * Allocates Memory | Yes | ||
| * Thread-Safe | No | ||
| * Uses Atomics | No | ||
| * Lock-Free | Yes | ||
| * | ||
| * This should be defined by the rmw implementation. | ||
| * | ||
| * \param[in] options initialization options to be used during initialization | ||
| * \param[out] context resulting context struct | ||
| * \return `RMW_RET_OK` if successful, or | ||
| * \return `RMW_RET_INVALID_ARGUMENT` if any arguments are null or invalid, or | ||
| * \return `RMW_RET_ERROR` if an unexpected error occurs. | ||
| */ | ||
| RMW_PUBLIC | ||
| RMW_WARN_UNUSED | ||
| rmw_ret_t | ||
| rmw_init(const rmw_init_options_t * options, rmw_init_context_t * context); | ||
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| /// Shutdown the middleware for a given init context. | ||
| /** | ||
| * The given init context must be a valid context which has been initialized | ||
| * with rmw_init(). | ||
| * | ||
| * <hr> | ||
| * Attribute | Adherence | ||
| * ------------------ | ------------- | ||
| * Allocates Memory | Yes | ||
| * Thread-Safe | No | ||
| * Uses Atomics | No | ||
| * Lock-Free | Yes | ||
| * | ||
| * This should be defined by the rmw implementation. | ||
| * | ||
| * \param[in] context resulting context struct | ||
| * \return `RMW_RET_OK` if successful, or | ||
| * \return `RMW_RET_INVALID_ARGUMENT` if the argument is null or invalid, or | ||
| * \return `RMW_RET_ERROR` if an unexpected error occurs. | ||
| */ | ||
| RMW_PUBLIC | ||
| RMW_WARN_UNUSED | ||
| rmw_ret_t | ||
| rmw_shutdown(rmw_init_context_t * context); | ||
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| #ifdef __cplusplus | ||
| } | ||
| #endif | ||
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| #endif // RMW__RMW_H_ |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,33 @@ | ||
| // Copyright 2018 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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| #include "rmw/init.h" | ||
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| #ifdef __cplusplus | ||
| extern "C" | ||
| { | ||
| #endif | ||
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| rmw_init_context_t | ||
| rmw_get_zero_initialized_init_context(void) | ||
| { | ||
| return (const rmw_init_context_t) { | ||
| .instance_id = 0, | ||
| .impl = NULL | ||
| }; | ||
| } | ||
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| #ifdef __cplusplus | ||
| } | ||
| #endif |