From e46c252cb16f8d1297b0ea0c293b56b59bab98b2 Mon Sep 17 00:00:00 2001 From: Lucian Copeland Date: Sun, 5 Jan 2025 15:32:41 -0500 Subject: [PATCH 1/5] gitignore change --- .gitignore | 1 + 1 file changed, 1 insertion(+) diff --git a/.gitignore b/.gitignore index 9679ed5e0e2bc..87f312d848806 100644 --- a/.gitignore +++ b/.gitignore @@ -9,6 +9,7 @@ *.o *.a !atmel-samd/asf/**/*.a +!ports/espressif/microros-ext/**/*.a *.elf *.bin !*.toml.bin From 14a2e6dfdad997b7d3b042b710491d1d7e4e800c Mon Sep 17 00:00:00 2001 From: Lucian Copeland Date: Sun, 5 Jan 2025 15:36:22 -0500 Subject: [PATCH 2/5] add microros precompiled libs --- .../microros-ext/esp32/libmicroros.a | Bin 0 -> 1010708 bytes .../microros-ext/esp32s2/libmicroros.a | Bin 0 -> 1007622 bytes .../microros-ext/esp32s3/libmicroros.a | Bin 0 -> 1012668 bytes .../rcl_logging_interface.h | 123 ++ .../visibility_control.h | 57 + .../include/rcutils/rcutils/allocator.h | 166 ++ .../include/rcutils/rcutils/cmdline_parser.h | 57 + .../rcutils/rcutils/configuration_flags.h | 18 + .../rcutils/rcutils/configuration_flags.h.in | 18 + .../include/rcutils/rcutils/env.h | 122 ++ .../include/rcutils/rcutils/error_handling.h | 414 ++++ .../include/rcutils/rcutils/filesystem.h | 300 +++ .../include/rcutils/rcutils/find.h | 92 + .../include/rcutils/rcutils/format_string.h | 83 + .../rcutils/rcutils/isalnum_no_locale.h | 49 + .../include/rcutils/rcutils/logging.h | 587 ++++++ .../include/rcutils/rcutils/logging_macros.h | 1447 +++++++++++++ .../include/rcutils/rcutils/macros.h | 237 +++ .../include/rcutils/rcutils/process.h | 61 + .../include/rcutils/rcutils/qsort.h | 53 + .../include/rcutils/rcutils/repl_str.h | 142 ++ .../rcutils/rcutils/security_directory.h | 67 + .../include/rcutils/rcutils/sha256.h | 100 + .../include/rcutils/rcutils/shared_library.h | 166 ++ .../include/rcutils/rcutils/snprintf.h | 75 + .../include/rcutils/rcutils/split.h | 69 + .../rcutils/rcutils/stdatomic_helper.h | 180 ++ .../rcutils/stdatomic_helper/gcc/stdatomic.h | 400 ++++ .../stdatomic_helper/win32/stdatomic.h | 444 ++++ .../include/rcutils/rcutils/strcasecmp.h | 80 + .../include/rcutils/rcutils/strdup.h | 78 + .../include/rcutils/rcutils/strerror.h | 48 + .../rcutils/rcutils/testing/fault_injection.h | 219 ++ .../include/rcutils/rcutils/time.h | 189 ++ .../include/rcutils/rcutils/types.h | 35 + .../rcutils/rcutils/types/array_list.h | 288 +++ .../rcutils/rcutils/types/char_array.h | 246 +++ .../include/rcutils/rcutils/types/hash_map.h | 427 ++++ .../rcutils/rcutils/types/rcutils_ret.h | 66 + .../rcutils/rcutils/types/string_array.h | 221 ++ .../rcutils/rcutils/types/string_map.h | 443 ++++ .../rcutils/rcutils/types/uint8_array.h | 121 ++ .../rcutils/rcutils/visibility_control.h | 32 + .../rcutils/visibility_control_macros.h | 65 + .../action_type_support_struct.h | 73 + .../rosidl_runtime_c/message_initialization.h | 35 + .../message_type_support_struct.h | 106 + .../rosidl_runtime_c/primitives_sequence.h | 57 + .../primitives_sequence_functions.h | 216 ++ .../rosidl_runtime_c/sequence_bound.h | 82 + .../service_type_support_struct.h | 154 ++ .../rosidl_runtime_c/string.h | 35 + .../rosidl_runtime_c/string_bound.h | 27 + .../rosidl_runtime_c/string_functions.h | 210 ++ .../type_description/field__functions.h | 205 ++ .../type_description/field__struct.h | 56 + .../type_description/field_type__functions.h | 205 ++ .../type_description/field_type__struct.h | 660 ++++++ .../individual_type_description__functions.h | 205 ++ .../individual_type_description__struct.h | 64 + .../type_description/key_value__functions.h | 205 ++ .../type_description/key_value__struct.h | 49 + .../type_description__functions.h | 205 ++ .../type_description__struct.h | 51 + .../type_description/type_source__functions.h | 205 ++ .../type_description/type_source__struct.h | 60 + .../rosidl_runtime_c/type_description_utils.h | 656 ++++++ .../rosidl_runtime_c/type_hash.h | 86 + .../rosidl_runtime_c/u16string.h | 35 + .../rosidl_runtime_c/u16string_functions.h | 258 +++ .../rosidl_runtime_c/visibility_control.h | 58 + .../rosidl_typesupport_interface/macros.h | 62 + .../include/tracetools/tracetools/config.h | 21 + .../tracetools/tracetools/tracetools.h | 622 ++++++ .../include/tracetools/tracetools/utils.hpp | 87 + .../tracetools/visibility_control.hpp | 56 + .../microros-ext/include/ucdr/config.h | 27 + .../microros-ext/include/ucdr/microcdr.h | 219 ++ .../microros-ext/include/ucdr/visibility.h | 33 + .../microros-ext/include/uxr/client/client.h | 34 + .../microros-ext/include/uxr/client/config.h | 84 + .../client/core/communication/communication.h | 63 + .../core/session/common_create_entities.h | 55 + .../client/core/session/create_entities_bin.h | 279 +++ .../client/core/session/create_entities_ref.h | 186 ++ .../client/core/session/create_entities_xml.h | 234 +++ .../uxr/client/core/session/object_id.h | 70 + .../uxr/client/core/session/read_access.h | 111 + .../include/uxr/client/core/session/session.h | 573 +++++ .../uxr/client/core/session/session_info.h | 64 + .../session/stream/input_best_effort_stream.h | 47 + .../session/stream/input_reliable_stream.h | 67 + .../stream/output_best_effort_stream.h | 53 + .../session/stream/output_reliable_stream.h | 63 + .../core/session/stream/reliable_stream.h | 38 + .../uxr/client/core/session/stream/seq_num.h | 31 + .../client/core/session/stream/stream_id.h | 121 ++ .../core/session/stream/stream_storage.h | 47 + .../uxr/client/core/session/time_sync.h | 0 .../uxr/client/core/session/write_access.h | 145 ++ .../include/uxr/client/core/type/xrce_types.h | 1840 +++++++++++++++++ .../microros-ext/include/uxr/client/defines.h | 24 + .../uxr/client/profile/discovery/discovery.h | 87 + .../client/profile/multithread/multithread.h | 136 ++ .../profile/transport/can/can_transport.h | 74 + .../transport/can/can_transport_posix.h | 40 + .../transport/custom/custom_transport.h | 146 ++ .../uxr/client/profile/transport/ip/ip.h | 85 + .../profile/transport/ip/tcp/tcp_transport.h | 93 + .../ip/tcp/tcp_transport_freertos_plus_tcp.h | 40 + .../transport/ip/tcp/tcp_transport_posix.h | 37 + .../ip/tcp/tcp_transport_posix_nopoll.h | 32 + .../ip/tcp/tcp_transport_rtems_bsd_net.h | 40 + .../transport/ip/tcp/tcp_transport_windows.h | 35 + .../profile/transport/ip/udp/udp_transport.h | 74 + .../ip/udp/udp_transport_freertos_plus_tcp.h | 41 + .../transport/ip/udp/udp_transport_posix.h | 37 + .../ip/udp/udp_transport_posix_nopoll.h | 32 + .../ip/udp/udp_transport_rtems_bsd_net.h | 39 + .../transport/ip/udp/udp_transport_windows.h | 35 + .../transport/serial/serial_transport.h | 79 + .../serial/serial_transport_platform.h | 50 + .../transport/serial/serial_transport_posix.h | 35 + .../serial/serial_transport_rtems_bsd_net.h | 35 + .../stream_framing/stream_framing_protocol.h | 62 + .../include/uxr/client/transport.h | 68 + .../include/uxr/client/util/ping.h | 95 + .../include/uxr/client/util/time.h | 36 + .../include/uxr/client/visibility.h | 33 + 129 files changed, 19295 insertions(+) create mode 100644 ports/espressif/microros-ext/esp32/libmicroros.a create mode 100644 ports/espressif/microros-ext/esp32s2/libmicroros.a create mode 100644 ports/espressif/microros-ext/esp32s3/libmicroros.a create mode 100644 ports/espressif/microros-ext/include/rcl_logging_interface/rcl_logging_interface/rcl_logging_interface.h create mode 100644 ports/espressif/microros-ext/include/rcl_logging_interface/rcl_logging_interface/visibility_control.h create mode 100644 ports/espressif/microros-ext/include/rcutils/rcutils/allocator.h create mode 100644 ports/espressif/microros-ext/include/rcutils/rcutils/cmdline_parser.h create mode 100644 ports/espressif/microros-ext/include/rcutils/rcutils/configuration_flags.h create mode 100644 ports/espressif/microros-ext/include/rcutils/rcutils/configuration_flags.h.in create mode 100644 ports/espressif/microros-ext/include/rcutils/rcutils/env.h create mode 100644 ports/espressif/microros-ext/include/rcutils/rcutils/error_handling.h create mode 100644 ports/espressif/microros-ext/include/rcutils/rcutils/filesystem.h create mode 100644 ports/espressif/microros-ext/include/rcutils/rcutils/find.h create mode 100644 ports/espressif/microros-ext/include/rcutils/rcutils/format_string.h create mode 100644 ports/espressif/microros-ext/include/rcutils/rcutils/isalnum_no_locale.h create mode 100644 ports/espressif/microros-ext/include/rcutils/rcutils/logging.h create mode 100644 ports/espressif/microros-ext/include/rcutils/rcutils/logging_macros.h create mode 100644 ports/espressif/microros-ext/include/rcutils/rcutils/macros.h create mode 100644 ports/espressif/microros-ext/include/rcutils/rcutils/process.h create mode 100644 ports/espressif/microros-ext/include/rcutils/rcutils/qsort.h create mode 100644 ports/espressif/microros-ext/include/rcutils/rcutils/repl_str.h create mode 100644 ports/espressif/microros-ext/include/rcutils/rcutils/security_directory.h create mode 100644 ports/espressif/microros-ext/include/rcutils/rcutils/sha256.h create mode 100644 ports/espressif/microros-ext/include/rcutils/rcutils/shared_library.h create mode 100644 ports/espressif/microros-ext/include/rcutils/rcutils/snprintf.h create mode 100644 ports/espressif/microros-ext/include/rcutils/rcutils/split.h create mode 100644 ports/espressif/microros-ext/include/rcutils/rcutils/stdatomic_helper.h create mode 100644 ports/espressif/microros-ext/include/rcutils/rcutils/stdatomic_helper/gcc/stdatomic.h create mode 100644 ports/espressif/microros-ext/include/rcutils/rcutils/stdatomic_helper/win32/stdatomic.h create mode 100644 ports/espressif/microros-ext/include/rcutils/rcutils/strcasecmp.h create mode 100644 ports/espressif/microros-ext/include/rcutils/rcutils/strdup.h create mode 100644 ports/espressif/microros-ext/include/rcutils/rcutils/strerror.h create mode 100644 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ports/espressif/microros-ext/include/uxr/client/core/session/stream/seq_num.h create mode 100644 ports/espressif/microros-ext/include/uxr/client/core/session/stream/stream_id.h create mode 100644 ports/espressif/microros-ext/include/uxr/client/core/session/stream/stream_storage.h create mode 100644 ports/espressif/microros-ext/include/uxr/client/core/session/time_sync.h create mode 100644 ports/espressif/microros-ext/include/uxr/client/core/session/write_access.h create mode 100644 ports/espressif/microros-ext/include/uxr/client/core/type/xrce_types.h create mode 100644 ports/espressif/microros-ext/include/uxr/client/defines.h create mode 100644 ports/espressif/microros-ext/include/uxr/client/profile/discovery/discovery.h create mode 100644 ports/espressif/microros-ext/include/uxr/client/profile/multithread/multithread.h create mode 100644 ports/espressif/microros-ext/include/uxr/client/profile/transport/can/can_transport.h create mode 100644 ports/espressif/microros-ext/include/uxr/client/profile/transport/can/can_transport_posix.h create mode 100644 ports/espressif/microros-ext/include/uxr/client/profile/transport/custom/custom_transport.h create mode 100644 ports/espressif/microros-ext/include/uxr/client/profile/transport/ip/ip.h create mode 100644 ports/espressif/microros-ext/include/uxr/client/profile/transport/ip/tcp/tcp_transport.h create mode 100644 ports/espressif/microros-ext/include/uxr/client/profile/transport/ip/tcp/tcp_transport_freertos_plus_tcp.h create mode 100644 ports/espressif/microros-ext/include/uxr/client/profile/transport/ip/tcp/tcp_transport_posix.h create mode 100644 ports/espressif/microros-ext/include/uxr/client/profile/transport/ip/tcp/tcp_transport_posix_nopoll.h create mode 100644 ports/espressif/microros-ext/include/uxr/client/profile/transport/ip/tcp/tcp_transport_rtems_bsd_net.h create mode 100644 ports/espressif/microros-ext/include/uxr/client/profile/transport/ip/tcp/tcp_transport_windows.h create mode 100644 ports/espressif/microros-ext/include/uxr/client/profile/transport/ip/udp/udp_transport.h create mode 100644 ports/espressif/microros-ext/include/uxr/client/profile/transport/ip/udp/udp_transport_freertos_plus_tcp.h create mode 100644 ports/espressif/microros-ext/include/uxr/client/profile/transport/ip/udp/udp_transport_posix.h create mode 100644 ports/espressif/microros-ext/include/uxr/client/profile/transport/ip/udp/udp_transport_posix_nopoll.h create mode 100644 ports/espressif/microros-ext/include/uxr/client/profile/transport/ip/udp/udp_transport_rtems_bsd_net.h create mode 100644 ports/espressif/microros-ext/include/uxr/client/profile/transport/ip/udp/udp_transport_windows.h create mode 100644 ports/espressif/microros-ext/include/uxr/client/profile/transport/serial/serial_transport.h create mode 100644 ports/espressif/microros-ext/include/uxr/client/profile/transport/serial/serial_transport_platform.h create mode 100644 ports/espressif/microros-ext/include/uxr/client/profile/transport/serial/serial_transport_posix.h create mode 100644 ports/espressif/microros-ext/include/uxr/client/profile/transport/serial/serial_transport_rtems_bsd_net.h create mode 100644 ports/espressif/microros-ext/include/uxr/client/profile/transport/stream_framing/stream_framing_protocol.h create mode 100644 ports/espressif/microros-ext/include/uxr/client/transport.h create mode 100644 ports/espressif/microros-ext/include/uxr/client/util/ping.h create mode 100644 ports/espressif/microros-ext/include/uxr/client/util/time.h create mode 100644 ports/espressif/microros-ext/include/uxr/client/visibility.h diff --git a/ports/espressif/microros-ext/esp32/libmicroros.a b/ports/espressif/microros-ext/esp32/libmicroros.a new file mode 100644 index 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b/ports/espressif/microros-ext/include/rcl_logging_interface/rcl_logging_interface/rcl_logging_interface.h new file mode 100644 index 0000000000000..074f86affe5db --- /dev/null +++ b/ports/espressif/microros-ext/include/rcl_logging_interface/rcl_logging_interface/rcl_logging_interface.h @@ -0,0 +1,123 @@ +// Copyright 2020 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. + +#ifndef RCL_LOGGING_INTERFACE__RCL_LOGGING_INTERFACE_H_ +#define RCL_LOGGING_INTERFACE__RCL_LOGGING_INTERFACE_H_ + +#include "rcl_logging_interface/visibility_control.h" +#include "rcutils/allocator.h" + +#ifdef __cplusplus +extern "C" { +#endif + +typedef enum +{ + RCL_LOGGING_RET_OK = 0, + RCL_LOGGING_RET_ERROR = 2, + RCL_LOGGING_RET_INVALID_ARGUMENT = 11, + RCL_LOGGING_RET_CONFIG_FILE_DOESNT_EXIST = 21, + RCL_LOGGING_RET_CONFIG_FILE_INVALID = 22, +} rcl_logging_ret_t; + +/// Initialize the external logging library. +/** + * \param[in] config_file The location of a config file that the external + * logging library should use to configure itself. + * If provided, it must be a null terminated C string. + * If set to NULL or the empty string, the logging library will use defaults. + * \param[in] allocator The allocator to use for memory allocation. This is + * an rcutils_allocator_t rather than an rcl_allocator_t to ensure that the + * rcl_logging_* packages don't have a circular dependency back to rcl. + * \return RCL_LOGGING_RET_OK if initialized successfully. + * \return RCL_LOGGING_RET_ERROR if an unspecified error occurs. + * \return RCL_LOGGING_RET_CONFIG_FILE_DOESNT_EXIST if a config_file is provided + * but the file doesn't exist. + * \return RCL_LOGGING_RET_CONFIG_FILE_INVALID if a config_file is provided but + * the logging backend doesn't understand it. + */ +RCL_LOGGING_INTERFACE_PUBLIC +RCUTILS_WARN_UNUSED +rcl_logging_ret_t +rcl_logging_external_initialize(const char * config_file, rcutils_allocator_t allocator); + +/// Free the resources allocated for the external logging system. +/** + * This puts the system into a state equivalent to being uninitialized. + * + * \return RCL_LOGGING_RET_OK if successfully shutdown, or + * \return RCL_LOGGING_RET_ERROR if an unspecified error occurs. + */ +RCL_LOGGING_INTERFACE_PUBLIC +RCUTILS_WARN_UNUSED +rcl_logging_ret_t +rcl_logging_external_shutdown(); + +/// Log a message. +/** + * \param[in] severity The severity level of the message being logged. + * \param[in] name The name of the logger, must either be a null terminated + * C string or NULL. + * If NULL or empty the root logger will be used. + * \param[in] msg The message to be logged. Must be a null terminated C string. + */ +RCL_LOGGING_INTERFACE_PUBLIC +void +rcl_logging_external_log(int severity, const char * name, const char * msg); + +/// Set the severity level for a logger. +/** + * This function sets the severity level for the specified logger. + * If the name provided is an empty string or NULL it will change the level of + * the root logger. + * + * \param[in] name The name of the logger. + * Must be a null terminated C string or NULL. + * \param[in] level The severity level to be used for the specified logger. + * \return RCL_LOGGING_RET_OK if set successfully, or + * \return RCL_LOGGING_RET_ERROR if an unspecified error occurs. + */ +RCL_LOGGING_INTERFACE_PUBLIC +RCUTILS_WARN_UNUSED +rcl_logging_ret_t rcl_logging_external_set_logger_level(const char * name, int level); + +/// Get the logging directory. +/** + * Uses various environment variables to construct a logging directory path. + * + * Use $ROS_LOG_DIR if ROS_LOG_DIR is set and not empty. + * Otherwise, use $ROS_HOME/log, using ~/.ros for ROS_HOME if not set or if empty. + * + * It also expands an initial '~' to the current user's home directory, + * and converts the path separator if necessary. + * + * If successful, the directory C string should be deallocated using the given allocator when it is + * no longer needed. + * + * \param[in] allocator The allocator to use for memory allocation. + * \param[out] directory The C string pointer at which to write the directory path. + * Only meaningful if the call is successful. Must not be nullptr and must point to nullptr. + * \return RCL_LOGGING_RET_OK if successful, or + * \return RCL_LOGGING_RET_INVALID_ARGUMENT if any arguments are invalid, or + * \return RCL_LOGGING_RET_ERROR if an unspecified error occurs. + */ +RCL_LOGGING_INTERFACE_PUBLIC +rcl_logging_ret_t +rcl_logging_get_logging_directory(rcutils_allocator_t allocator, char ** directory); + +#ifdef __cplusplus +} +#endif + +#endif // RCL_LOGGING_INTERFACE__RCL_LOGGING_INTERFACE_H_ diff --git a/ports/espressif/microros-ext/include/rcl_logging_interface/rcl_logging_interface/visibility_control.h b/ports/espressif/microros-ext/include/rcl_logging_interface/rcl_logging_interface/visibility_control.h new file mode 100644 index 0000000000000..ddb436c569c7c --- /dev/null +++ b/ports/espressif/microros-ext/include/rcl_logging_interface/rcl_logging_interface/visibility_control.h @@ -0,0 +1,57 @@ +// Copyright 2020 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. + +#ifndef RCL_LOGGING_INTERFACE__VISIBILITY_CONTROL_H_ +#define RCL_LOGGING_INTERFACE__VISIBILITY_CONTROL_H_ + +#ifdef __cplusplus +extern "C" { +#endif + +// This logic was borrowed (then namespaced) from the examples on the gcc wiki: +// https://gcc.gnu.org/wiki/Visibility + +#if defined _WIN32 || defined __CYGWIN__ + #ifdef __GNUC__ + #define RCL_LOGGING_INTERFACE_EXPORT __attribute__ ((dllexport)) + #define RCL_LOGGING_INTERFACE_IMPORT __attribute__ ((dllimport)) + #else + #define RCL_LOGGING_INTERFACE_EXPORT __declspec(dllexport) + #define RCL_LOGGING_INTERFACE_IMPORT __declspec(dllimport) + #endif + #ifdef RCL_LOGGING_INTERFACE_BUILDING_DLL + #define RCL_LOGGING_INTERFACE_PUBLIC RCL_LOGGING_INTERFACE_EXPORT + #else + #define RCL_LOGGING_INTERFACE_PUBLIC RCL_LOGGING_INTERFACE_IMPORT + #endif + #define RCL_LOGGING_INTERFACE_PUBLIC_TYPE RCL_LOGGING_INTERFACE_PUBLIC + #define RCL_LOGGING_INTERFACE_LOCAL +#else + #define RCL_LOGGING_INTERFACE_EXPORT __attribute__ ((visibility("default"))) + #define RCL_LOGGING_INTERFACE_IMPORT + #if __GNUC__ >= 4 + #define RCL_LOGGING_INTERFACE_PUBLIC __attribute__ ((visibility("default"))) + #define RCL_LOGGING_INTERFACE_LOCAL __attribute__ ((visibility("hidden"))) + #else + #define RCL_LOGGING_INTERFACE_PUBLIC + #define RCL_LOGGING_INTERFACE_LOCAL + #endif + #define RCL_LOGGING_INTERFACE_PUBLIC_TYPE +#endif + +#ifdef __cplusplus +} +#endif + +#endif // RCL_LOGGING_INTERFACE__VISIBILITY_CONTROL_H_ diff --git a/ports/espressif/microros-ext/include/rcutils/rcutils/allocator.h b/ports/espressif/microros-ext/include/rcutils/rcutils/allocator.h new file mode 100644 index 0000000000000..5547db2844ed7 --- /dev/null +++ b/ports/espressif/microros-ext/include/rcutils/rcutils/allocator.h @@ -0,0 +1,166 @@ +// Copyright 2015 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. + +/// \file + +#ifndef RCUTILS__ALLOCATOR_H_ +#define RCUTILS__ALLOCATOR_H_ + +#ifdef __cplusplus +extern "C" +{ +#endif + +#include +#include + +#include "rcutils/macros.h" +#include "rcutils/types/rcutils_ret.h" +#include "rcutils/visibility_control.h" + +/// Encapsulation of an allocator. +/** + * The default allocator uses malloc(), free(), calloc(), and realloc(). + * It can be obtained using rcutils_get_default_allocator(). + * + * The allocator should be trivially copyable. + * Meaning that the struct should continue to work after being assignment + * copied into a new struct. + * Specifically the object pointed to by the state pointer should remain valid + * until all uses of the allocator have been made. + * Particular care should be taken when giving an allocator to functions like + * rcutils_*_init() where it is stored within another object and used later. + * Developers should note that, while the fields of a const-qualified allocator + * struct cannot be modified, the state of the allocator can be modified. + */ +typedef struct rcutils_allocator_s +{ + /// Allocate memory, given a size and the `state` pointer. + /** An error should be indicated by returning `NULL`. */ + void * (*allocate)(size_t size, void * state); + /// Deallocate previously allocated memory, mimicking free(). + /** Also takes the `state` pointer. */ + void (* deallocate)(void * pointer, void * state); + /// Reallocate if possible, otherwise it deallocates and allocates. + /** + * Also takes the `state` pointer. + * + * If unsupported then do deallocate and then allocate. + * This should behave as realloc() does, as opposed to posix's + * [reallocf](https://linux.die.net/man/3/reallocf), i.e. the memory given + * by pointer will not be free'd automatically if realloc() fails. + * For reallocf-like behavior use rcutils_reallocf(). + * This function must be able to take an input pointer of `NULL` and succeed. + */ + void * (*reallocate)(void * pointer, size_t size, void * state); + /// Allocate memory with all elements set to zero, given a number of elements and their size. + /** An error should be indicated by returning `NULL`. */ + void * (*zero_allocate)(size_t number_of_elements, size_t size_of_element, void * state); + /// Implementation defined state storage. + /** + * This is passed as the final parameter to other allocator functions. + * Note that the contents of the state can be modified even in const-qualified + * allocator objects. + */ + void * state; +} rcutils_allocator_t; + +/// Return a zero initialized allocator. +/** + * Note that this is an invalid allocator and should only be used as a placeholder. + */ +RCUTILS_PUBLIC +RCUTILS_WARN_UNUSED +rcutils_allocator_t +rcutils_get_zero_initialized_allocator(void); + +/// Set rcutils default allocators. +/** + *

+ * Attribute | Adherence + * ------------------ | ------------- + * Allocates Memory | No + * Thread-Safe | Yes + * Uses Atomics | No + * Lock-Free | Yes + */ +RCUTILS_PUBLIC +RCUTILS_WARN_UNUSED +bool +rcutils_set_default_allocator(rcutils_allocator_t * allocator); + +/// Return a properly initialized rcutils_allocator_t with default values. +/** + * This defaults to: + * + * - allocate = wraps malloc() + * - deallocate = wraps free() + * - reallocate = wraps realloc() + * - zero_allocate = wraps calloc() + * - state = `NULL` + * + *
+ * Attribute | Adherence + * ------------------ | ------------- + * Allocates Memory | No + * Thread-Safe | Yes + * Uses Atomics | No + * Lock-Free | Yes + */ +RCUTILS_PUBLIC +RCUTILS_WARN_UNUSED +rcutils_allocator_t +rcutils_get_default_allocator(void); + +/// Return true if the given allocator has non-null function pointers. +/** + * \param[in] allocator to be checked by the function + * \return `true` if the allocator is valid, `false` otherwise. + */ +RCUTILS_PUBLIC +RCUTILS_WARN_UNUSED +bool +rcutils_allocator_is_valid(const rcutils_allocator_t * allocator); + +/// Check the given allocator and run fail_statement if it is not valid. +#define RCUTILS_CHECK_ALLOCATOR(allocator, fail_statement) \ + if (!rcutils_allocator_is_valid(allocator)) { \ + fail_statement; \ + } + +/// Check the given allocator, and set the message in msg and run fail_statement if it is not valid. +#define RCUTILS_CHECK_ALLOCATOR_WITH_MSG(allocator, msg, fail_statement) \ + if (!rcutils_allocator_is_valid(allocator)) { \ + RCUTILS_SET_ERROR_MSG(msg); \ + fail_statement; \ + } + +/// Emulate the behavior of [reallocf](https://linux.die.net/man/3/reallocf). +/** + * This function will return `NULL` if the allocator is `NULL` or has `NULL` for + * function pointer fields. + * \param[inout] pointer to the memory which will be reallocated + * \param[in] size in bytes + * \param[in] allocator to be used to allocate and deallocate memory + */ +RCUTILS_PUBLIC +RCUTILS_WARN_UNUSED +void * +rcutils_reallocf(void * pointer, size_t size, rcutils_allocator_t * allocator); + +#ifdef __cplusplus +} +#endif + +#endif // RCUTILS__ALLOCATOR_H_ diff --git a/ports/espressif/microros-ext/include/rcutils/rcutils/cmdline_parser.h b/ports/espressif/microros-ext/include/rcutils/rcutils/cmdline_parser.h new file mode 100644 index 0000000000000..1cf9a26244c09 --- /dev/null +++ b/ports/espressif/microros-ext/include/rcutils/rcutils/cmdline_parser.h @@ -0,0 +1,57 @@ +// Copyright 2017 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. + +/// \file + +#ifndef RCUTILS__CMDLINE_PARSER_H_ +#define RCUTILS__CMDLINE_PARSER_H_ + +#ifdef __cplusplus +extern "C" +{ +#endif + +#include + +#include "rcutils/visibility_control.h" + +/// Return `true` if the option is defined in the command line arguments or `false` otherwise. +/** + * \param[in] begin first element to check in the array + * \param[in] end last element to check in the array + * \param[in] option string to find in the array of arguments + * \return `true` if the option exists, or + * \return `false` otherwise. + */ +RCUTILS_PUBLIC +bool +rcutils_cli_option_exist(char ** begin, char ** end, const char * option); + +/// Return the value for a specific option of the command line arguments. +/** + * \param[in] begin first element to check in the array + * \param[in] end last element to check in the array + * \param[in] option string to find in the array of arguments + * \return the value for a specific option of the command line arguments, or + * \return `NULL` if the option doesn't exist. + */ +RCUTILS_PUBLIC +char * +rcutils_cli_get_option(char ** begin, char ** end, const char * option); + +#ifdef __cplusplus +} +#endif + +#endif // RCUTILS__CMDLINE_PARSER_H_ diff --git a/ports/espressif/microros-ext/include/rcutils/rcutils/configuration_flags.h b/ports/espressif/microros-ext/include/rcutils/rcutils/configuration_flags.h new file mode 100644 index 0000000000000..6f16b1dfd90eb --- /dev/null +++ b/ports/espressif/microros-ext/include/rcutils/rcutils/configuration_flags.h @@ -0,0 +1,18 @@ + +#ifndef RCUTILS__CONFIGURATION_FLAGS_H_ +#define RCUTILS__CONFIGURATION_FLAGS_H_ + +#ifdef __cplusplus +extern "C" +{ +#endif + +#define RCUTILS_NO_FILESYSTEM +#define RCUTILS_AVOID_DYNAMIC_ALLOCATION +#define RCUTILS_NO_THREAD_SUPPORT + +#ifdef __cplusplus +} +#endif + +#endif // RCUTILS__CONFIGURATION_FLAGS_H_ diff --git a/ports/espressif/microros-ext/include/rcutils/rcutils/configuration_flags.h.in b/ports/espressif/microros-ext/include/rcutils/rcutils/configuration_flags.h.in new file mode 100644 index 0000000000000..346c6a33e276f --- /dev/null +++ b/ports/espressif/microros-ext/include/rcutils/rcutils/configuration_flags.h.in @@ -0,0 +1,18 @@ + +#ifndef RCUTILS__CONFIGURATION_FLAGS_H_ +#define RCUTILS__CONFIGURATION_FLAGS_H_ + +#ifdef __cplusplus +extern "C" +{ +#endif + +#cmakedefine RCUTILS_NO_FILESYSTEM +#cmakedefine RCUTILS_AVOID_DYNAMIC_ALLOCATION +#cmakedefine RCUTILS_NO_THREAD_SUPPORT + +#ifdef __cplusplus +} +#endif + +#endif // RCUTILS__CONFIGURATION_FLAGS_H_ \ No newline at end of file diff --git a/ports/espressif/microros-ext/include/rcutils/rcutils/env.h b/ports/espressif/microros-ext/include/rcutils/rcutils/env.h new file mode 100644 index 0000000000000..b82b3e0c8bfb4 --- /dev/null +++ b/ports/espressif/microros-ext/include/rcutils/rcutils/env.h @@ -0,0 +1,122 @@ +// Copyright 2020 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. + +/// \file + +#ifndef RCUTILS__ENV_H_ +#define RCUTILS__ENV_H_ + +#ifdef __cplusplus +extern "C" +{ +#endif + +#include + +#include "rcutils/macros.h" +#include "rcutils/visibility_control.h" + +/// Set or un-set a process-scoped environment variable. +/** + * This function modifies the environment variables for the current process by + * copying given string values into the process' global environment variable + * store. + * + * \par Thread Safety: + * This function is not thread-safe. Take care not to modify the environment variables while + * another thread might be reading or writing environment variables. + * + * \par Platform Consistency: + * The behavior when setting a variable to an empty string (`""`) differs + * between platforms. On Windows, the variable is un-set (as if \p env_value was + * `NULL`), while on other platforms the variable is set to an empty string as + * expected. + * + * \param[in] env_name Name of the environment variable to modify. + * \param[in] env_value Value to set the environment variable to, or `NULL` to + * un-set. + * \return `true` if success, or + * \return `false` if env_name is invalid or NULL, or + * \return `false` on failure. + */ +RCUTILS_PUBLIC +RCUTILS_WARN_UNUSED +bool +rcutils_set_env(const char * env_name, const char * env_value); + +/// Retrieve the value of the given environment variable if it exists, or "". +/** The c-string which is returned in the env_value output parameter is only + * valid until the next time this function is called, because it is a direct + * pointer to the static storage. + * The variable env_value populated by this function should never have free() + * called on it. + * If the environment variable is not set, an empty string will be returned. + * + * In both cases, environment variable set or unset, NULL is returned unless + * an exception has occurred, in which case the error string is returned. + * For example: + * + * ```c + * #include + * #include + * const char * env_value; + * const char * error_str; + * error_str = rcutils_get_env("SOME_ENV_VAR", &env_value); + * if (error_str != NULL) { + * fprintf(stderr, "Error getting env var: %s\n", error_str); + * } + * printf("Valued of 'SOME_ENV_VAR': %s\n", env_value); + * ``` + * + * This function cannot be concurrently called together with rcutils_set_env (or any platform specific equivalent) + * on different threads, but multiple concurrent calls to this function are thread safe. + * + * \param[in] env_name the name of the environment variable + * \param[out] env_value pointer to the value cstring, or "" if unset + * \return NULL on success (success can be returning an empty string), or + * \return an error string on failure. + */ +RCUTILS_PUBLIC +RCUTILS_WARN_UNUSED +const char * +rcutils_get_env(const char * env_name, const char ** env_value); + +/// Retrieve the full path to the home directory. +/** + * The c-string which is returned is only valid until the next time this + * function is called, because it is a direct pointer to the static storage. + * Also note that the string returned here should *not* be freed. + * + * The function first tries to get the HOME environment variable. + * If that variable exists and is non-empty, that will be returned. + * Otherwise, on Windows, the function tries to get the USERPROFILE environment variable. + * If that variable exists and is non-empty, that will be returned. + * Otherwise, NULL will be returned. + * + * This function cannot be thread-safely called together with rcutils_set_env + * (or any platform specific equivalent), but multiple calls to this function are thread safe. + * + * \return The home directory on success, or + * \return `NULL` on failure. + */ +RCUTILS_PUBLIC +RCUTILS_WARN_UNUSED +const char * +rcutils_get_home_dir(void); + +#ifdef __cplusplus +} +#endif + +#endif // RCUTILS__ENV_H_ diff --git a/ports/espressif/microros-ext/include/rcutils/rcutils/error_handling.h b/ports/espressif/microros-ext/include/rcutils/rcutils/error_handling.h new file mode 100644 index 0000000000000..2c7075e38fbc4 --- /dev/null +++ b/ports/espressif/microros-ext/include/rcutils/rcutils/error_handling.h @@ -0,0 +1,414 @@ +// Copyright 2014 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. + +/// \file + +#ifndef RCUTILS__ERROR_HANDLING_H_ +#define RCUTILS__ERROR_HANDLING_H_ + +#ifdef __cplusplus +extern "C" +{ +#endif + +#ifndef __STDC_WANT_LIB_EXT1__ +#define __STDC_WANT_LIB_EXT1__ 1 // indicate we would like strnlen_s if available +#endif +#include +#include +#include +#include +#include +#include +#include + +#include "rcutils/allocator.h" +#include "rcutils/macros.h" +#include "rcutils/snprintf.h" +#include "rcutils/testing/fault_injection.h" +#include "rcutils/types/rcutils_ret.h" +#include "rcutils/visibility_control.h" +#include "rcutils/configuration_flags.h" + +#if defined(__STDC_LIB_EXT1__) && !defined(RCUTILS_NO_FILESYSTEM) +/// Write the given msg out to stderr, limiting the buffer size in the `fwrite`. +/** + * This ensures that there is an upper bound to a buffer overrun if `msg` is + * non-null terminated. + */ +#define RCUTILS_SAFE_FWRITE_TO_STDERR(msg) \ + do {fwrite(msg, sizeof(char), strnlen_s(msg, 4096), stderr);} while (0) +#elif !defined(RCUTILS_NO_FILESYSTEM) +#define RCUTILS_SAFE_FWRITE_TO_STDERR(msg) \ + do {fwrite(msg, sizeof(char), strlen(msg), stderr);} while (0) +#else + #define RCUTILS_SAFE_FWRITE_TO_STDERR(msg) +#endif + +/// Set the error message to stderr using a format string and format arguments. +/** + * This function sets the error message to stderr using the given format string. + * The resulting formatted string is silently truncated at + * RCUTILS_ERROR_MESSAGE_MAX_LENGTH. + * + * \param[in] format_string The string to be used as the format of the error message. + * \param[in] ... Arguments for the format string. + */ + +#if !defined(RCUTILS_AVOID_DYNAMIC_ALLOCATION) +#define RCUTILS_SAFE_FWRITE_TO_STDERR_WITH_FORMAT_STRING(format_string, ...) \ + do { \ + char output_msg[RCUTILS_ERROR_MESSAGE_MAX_LENGTH]; \ + int ret = rcutils_snprintf(output_msg, sizeof(output_msg), format_string, __VA_ARGS__); \ + if (ret < 0) { \ + RCUTILS_SAFE_FWRITE_TO_STDERR("Failed to call snprintf for error message formatting\n"); \ + } else { \ + RCUTILS_SAFE_FWRITE_TO_STDERR(output_msg); \ + } \ + } while (0) +#else +#define RCUTILS_SAFE_FWRITE_TO_STDERR_WITH_FORMAT_STRING(format_string, ...) +#endif + +#if !defined(RCUTILS_AVOID_DYNAMIC_ALLOCATION) +/// The maximum length a formatted number is allowed to have. +#define RCUTILS_ERROR_STATE_LINE_NUMBER_STR_MAX_LENGTH 20 // "18446744073709551615" + +/// The maximum number of formatting characters allowed. +#define RCUTILS_ERROR_FORMATTING_CHARACTERS 6 // ', at ' + ':' + +/// The maximum formatted string length. +#define RCUTILS_ERROR_MESSAGE_MAX_LENGTH 1024 + +/// The maximum length for user defined error message +/** + * Remember that "chained" errors will include previously specified file paths + * e.g. "some error, at /path/to/a.c:42, at /path/to/b.c:42" + */ +#define RCUTILS_ERROR_STATE_MESSAGE_MAX_LENGTH 768 + +/// The calculated maximum length for the filename. +/** + * With RCUTILS_ERROR_STATE_MESSAGE_MAX_LENGTH = 768, RCUTILS_ERROR_STATE_FILE_MAX_LENGTH == 229 + */ +#define RCUTILS_ERROR_STATE_FILE_MAX_LENGTH ( \ + RCUTILS_ERROR_MESSAGE_MAX_LENGTH - \ + RCUTILS_ERROR_STATE_MESSAGE_MAX_LENGTH - \ + RCUTILS_ERROR_STATE_LINE_NUMBER_STR_MAX_LENGTH - \ + RCUTILS_ERROR_FORMATTING_CHARACTERS - \ + 1) +#else +#define RCUTILS_ERROR_STATE_LINE_NUMBER_STR_MAX_LENGTH 1 +#define RCUTILS_ERROR_FORMATTING_CHARACTERS 1 +#define RCUTILS_ERROR_MESSAGE_MAX_LENGTH 1 +#define RCUTILS_ERROR_STATE_MESSAGE_MAX_LENGTH 1 +#define RCUTILS_ERROR_STATE_FILE_MAX_LENGTH 1 +#endif // RCUTILS_AVOID_DYNAMIC_ALLOCATION + +/// Struct wrapping a fixed-size c string used for returning the formatted error string. +typedef struct rcutils_error_string_s +{ + /// The fixed-size C string used for returning the formatted error string. + char str[RCUTILS_ERROR_MESSAGE_MAX_LENGTH]; +} rcutils_error_string_t; + +/// Struct which encapsulates the error state set by RCUTILS_SET_ERROR_MSG(). +typedef struct rcutils_error_state_s +{ + /// User message storage, limited to RCUTILS_ERROR_STATE_MESSAGE_MAX_LENGTH characters. + char message[RCUTILS_ERROR_STATE_MESSAGE_MAX_LENGTH]; + /// File name, limited to what's left from RCUTILS_ERROR_STATE_MAX_SIZE characters + /// after subtracting storage for others. + char file[RCUTILS_ERROR_STATE_FILE_MAX_LENGTH]; + /// Line number of error. + uint64_t line_number; +} rcutils_error_state_t; + +// make sure our math is right... +#if __STDC_VERSION__ >= 201112L && !defined(RCUTILS_AVOID_DYNAMIC_ALLOCATION) +static_assert( + sizeof(rcutils_error_string_t) == ( + RCUTILS_ERROR_STATE_MESSAGE_MAX_LENGTH + + RCUTILS_ERROR_STATE_FILE_MAX_LENGTH + + RCUTILS_ERROR_STATE_LINE_NUMBER_STR_MAX_LENGTH + + RCUTILS_ERROR_FORMATTING_CHARACTERS + + 1 /* null terminating character */), + "Maximum length calculations incorrect"); +#endif + +/// Forces initialization of thread-local storage if called in a newly created thread. +/** + * If this function is not called beforehand, then the first time the error + * state is set or the first time the error message is retrieved, the default + * allocator will be used to allocate thread-local storage. + * + * This function may or may not allocate memory. + * The system's thread-local storage implementation may need to allocate + * memory, since it usually has no way of knowing how much storage is needed + * without knowing how many threads will be created. + * Most implementations (e.g. C11, C++11, and pthread) do not have ways to + * specify how this memory is allocated, but if the implementation allows, the + * given allocator to this function will be used, but is otherwise unused. + * This only occurs when creating and destroying threads, which can be avoided + * in the "steady" state by reusing pools of threads. + * + * It is worth considering that repeated thread creation and destruction will + * result in repeated memory allocations and could result in memory + * fragmentation. + * This is typically avoided anyways by using pools of threads. + * + * In case an error is indicated by the return code, no error message will have + * been set. + * + * If called more than once in a thread, or after implicitly initialized by + * setting the error state, it will still return `RCUTILS_RET_OK`, even + * if the given allocator is invalid. + * Essentially this function does nothing if thread-local storage has already + * been called. + * If already initialized, the given allocator is ignored, even if it does not + * match the allocator used originally to initialize the thread-local storage. + * + * \param[in] allocator to be used to allocate and deallocate memory + * \return #RCUTILS_RET_OK if successful, or + * \return #RCUTILS_RET_INVALID_ARGUMENT if the allocator is invalid, or + * \return #RCUTILS_RET_BAD_ALLOC if allocating memory fails, or + * \return #RCUTILS_RET_ERROR if an unspecified error occurs. + */ +RCUTILS_PUBLIC +RCUTILS_WARN_UNUSED +rcutils_ret_t +rcutils_initialize_error_handling_thread_local_storage(rcutils_allocator_t allocator); + +/// Set the error message, as well as the file and line on which it occurred. +/** + * This is not meant to be used directly, but instead via the + * RCUTILS_SET_ERROR_MSG(msg) macro. + * + * The error_msg parameter is copied into the internal error storage and must + * be null terminated. + * The file parameter is copied into the internal error storage and must + * be null terminated. + * + * \param[in] error_string The error message to set. + * \param[in] file The path to the file in which the error occurred. + * \param[in] line_number The line number on which the error occurred. + */ +RCUTILS_PUBLIC +void +rcutils_set_error_state(const char * error_string, const char * file, size_t line_number); + +/// Check an argument for a null value. +/** + * If the argument's value is `NULL`, set the error message saying so and + * return the `error_return_type`. + * + * \param[in] argument The argument to test. + * \param[in] error_return_type The type to return if the argument is `NULL`. + */ +#define RCUTILS_CHECK_ARGUMENT_FOR_NULL(argument, error_return_type) \ + RCUTILS_CHECK_FOR_NULL_WITH_MSG( \ + argument, #argument " argument is null", \ + return error_return_type) + +/// Check a value for null, with an error message and error statement. +/** + * If `value` is `NULL`, the error statement will be evaluated after + * setting the error message. + * + * \param[in] value The value to test. + * \param[in] msg The error message if `value` is `NULL`. + * \param[in] error_statement The statement to evaluate if `value` is `NULL`. + */ +#define RCUTILS_CHECK_FOR_NULL_WITH_MSG(value, msg, error_statement) \ + do { \ + if (NULL == value) { \ + RCUTILS_SET_ERROR_MSG(msg); \ + error_statement; \ + } \ + } while (0) + +/// Set the error message, as well as append the current file and line number. +/** + * If an error message was previously set, and rcutils_reset_error() was not called + * afterwards, and this library was built with RCUTILS_REPORT_ERROR_HANDLING_ERRORS + * turned on, then the previously set error message will be printed to stderr. + * Error state storage is thread local and so all error related functions are + * also thread local. + * + * \param[in] msg The error message to be set. + */ +#ifdef RCUTILS_AVOID_DYNAMIC_ALLOCATION + #define RCUTILS_SET_ERROR_MSG(msg) +#else +#define RCUTILS_SET_ERROR_MSG(msg) \ + do {rcutils_set_error_state(msg, __FILE__, __LINE__);} while (0) +#endif // RCUTILS_AVOID_DYNAMIC_ALLOCATION + +/// Set the error message using a format string and format arguments. +/** + * This function sets the error message using the given format string. + * The resulting formatted string is silently truncated at + * RCUTILS_ERROR_MESSAGE_MAX_LENGTH. + * + * \param[in] format_string The string to be used as the format of the error message. + * \param[in] ... Arguments for the format string. + */ +#ifdef RCUTILS_AVOID_DYNAMIC_ALLOCATION + #define RCUTILS_SET_ERROR_MSG_WITH_FORMAT_STRING(format_string, ...) +#else +#define RCUTILS_SET_ERROR_MSG_WITH_FORMAT_STRING(format_string, ...) \ + do { \ + char output_msg[RCUTILS_ERROR_MESSAGE_MAX_LENGTH]; \ + int ret = rcutils_snprintf(output_msg, sizeof(output_msg), format_string, __VA_ARGS__); \ + if (ret < 0) { \ + RCUTILS_SAFE_FWRITE_TO_STDERR("Failed to call snprintf for error message formatting\n"); \ + } else { \ + RCUTILS_SET_ERROR_MSG(output_msg); \ + } \ + } while (0) +#endif // RCUTILS_AVOID_DYNAMIC_ALLOCATION + + +/// Indicate that the function intends to set an error message and return an error value. +/** + * \def RCUTILS_CAN_SET_MSG_AND_RETURN_WITH_ERROR_OF + * Indicating macro similar to RCUTILS_CAN_RETURN_WITH_ERROR_OF, that also sets an error + * message. + * + * For now, this macro simply relies on `RCUTILS_CAN_FAIL_WITH` to set a generic error + * message and return the given `error_return_value` if fault injection is enabled. + * + * \param error_return_value the value returned as a result of a given error. + */ +#define RCUTILS_CAN_SET_MSG_AND_RETURN_WITH_ERROR_OF(error_return_value) \ + RCUTILS_CAN_FAIL_WITH( \ + { \ + RCUTILS_SET_ERROR_MSG("Injecting " RCUTILS_STRINGIFY(error_return_value)); \ + return error_return_value; \ + }) + +/// Return `true` if the error is set, otherwise `false`. +RCUTILS_PUBLIC +RCUTILS_WARN_UNUSED +bool +rcutils_error_is_set(void); + +/// Return an rcutils_error_state_t which was set with rcutils_set_error_state(). +/** + * The returned pointer will be NULL if no error has been set in this thread. + * + * The returned pointer is valid until RCUTILS_SET_ERROR_MSG, rcutils_set_error_state, + * or rcutils_reset_error are called in the same thread. + * + * \return A pointer to the current error state struct. + */ +RCUTILS_PUBLIC +RCUTILS_WARN_UNUSED +const rcutils_error_state_t * +rcutils_get_error_state(void); + +/// Return the error message followed by `, at :` if set, else "error not set". +/** + * This function is "safe" because it returns a copy of the current error + * string or one containing the string "error not set" if no error was set. + * This ensures that the copy is owned by the calling thread and is therefore + * never invalidated by other error handling calls, and that the C string + * inside is always valid and null terminated. + * + * \return The current error string, with file and line number, or "error not set" if not set. + */ +RCUTILS_PUBLIC +RCUTILS_WARN_UNUSED +rcutils_error_string_t +rcutils_get_error_string(void); + +/// Reset the error state by clearing any previously set error state. +RCUTILS_PUBLIC +void +rcutils_reset_error(void); + +/// Set the error message using RCUTILS_SET_ERROR_MSG and append the previous error. +/** + * If there is no previous error, has same behavior as RCUTILS_SET_ERROR_MSG. + * \param[in] msg The error message to be set. + */ +#define RCUTILS_SET_ERROR_MSG_AND_APPEND_PREV_ERROR(msg) \ + do { \ + rcutils_error_string_t error_string = rcutils_get_error_string(); \ + rcutils_reset_error(); \ + RCUTILS_SET_ERROR_MSG_WITH_FORMAT_STRING( \ + RCUTILS_EXPAND(msg ": %s"), error_string.str); \ + } while (0) + +/// Set the error message with RCUTILS_SET_ERROR_MSG_WITH_FORMAT_STRING and append the previous +/// error. +/** + * This function sets the error message using the given format string, and appends and resets the + * latest error string. + * The resulting formatted string is silently truncated at RCUTILS_ERROR_MESSAGE_MAX_LENGTH. + * + * If there is no previous error, has same behavior as RCUTILS_SET_ERROR_MSG_WITH_FORMAT_STRING. + * + * \param[in] format_string The string to be used as the format of the error message. + * \param[in] ... Arguments for the format string. + */ +#define RCUTILS_SET_ERROR_MSG_WITH_FORMAT_STRING_AND_APPEND_PREV_ERROR(format_string, ...) \ + do { \ + rcutils_error_string_t error_string = rcutils_get_error_string(); \ + rcutils_reset_error(); \ + RCUTILS_SET_ERROR_MSG_WITH_FORMAT_STRING( \ + RCUTILS_EXPAND(format_string ": %s"), __VA_ARGS__, error_string.str); \ + } while (0) + +/// Write the given msg out to stderr, limiting the buffer size in the `fwrite`, appending the +/// previous error. +/** + * This will reset the previous error, if it exists. + * If there is no previous error, has same behavior as RCUTILS_SAFE_FWRITE_TO_STDERR. + */ +#define RCUTILS_SAFE_FWRITE_TO_STDERR_AND_APPEND_PREV_ERROR(msg) \ + do { \ + rcutils_error_string_t error_string = rcutils_get_error_string(); \ + rcutils_reset_error(); \ + RCUTILS_SAFE_FWRITE_TO_STDERR(msg); \ + RCUTILS_SAFE_FWRITE_TO_STDERR_WITH_FORMAT_STRING(": %s", error_string.str); \ + } while (0) + +/// Set the error message to stderr using a format string and format arguments, appending the +/// previous error. +/** + * This function sets the error message to stderr using the given format string, appending and + * resetting the previous error. + * The resulting formatted string is silently truncated at RCUTILS_ERROR_MESSAGE_MAX_LENGTH. + * + * This will reset the previous error, if it exists. + * If there is no previous error, has same behavior as + * RCUTILS_SAFE_FWRITE_TO_STDERR_WITH_FORMAT_STRING. + * + * \param[in] format_string The string to be used as the format of the error message. + * \param[in] ... Arguments for the format string. + */ +#define RCUTILS_SAFE_FWRITE_TO_STDERR_WITH_FORMAT_STRING_AND_APPEND_PREV_ERROR(format_string, ...) \ + do { \ + rcutils_error_string_t error_string = rcutils_get_error_string(); \ + rcutils_reset_error(); \ + RCUTILS_SAFE_FWRITE_TO_STDERR_WITH_FORMAT_STRING(format_string, __VA_ARGS__); \ + RCUTILS_SAFE_FWRITE_TO_STDERR_WITH_FORMAT_STRING(": %s", error_string.str); \ + } while (0) + +#ifdef __cplusplus +} +#endif + +#endif // RCUTILS__ERROR_HANDLING_H_ diff --git a/ports/espressif/microros-ext/include/rcutils/rcutils/filesystem.h b/ports/espressif/microros-ext/include/rcutils/rcutils/filesystem.h new file mode 100644 index 0000000000000..20dd2c7c72c9b --- /dev/null +++ b/ports/espressif/microros-ext/include/rcutils/rcutils/filesystem.h @@ -0,0 +1,300 @@ +// Copyright 2017 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. + +/// \file + +#ifndef RCUTILS__FILESYSTEM_H_ +#define RCUTILS__FILESYSTEM_H_ + +#ifdef __cplusplus +extern "C" +{ +#endif + +#include +#include +#include + +#include "rcutils/allocator.h" +#include "rcutils/macros.h" +#include "rcutils/visibility_control.h" + +/// Return current working directory. +/** + * \param[in] buffer Allocated string to store current directory path to + * \param[in] max_length maximum length to be stored in buffer + * \return `true` if success, or + * \return `false` if buffer is NULL, or + * \return `false` on failure. + */ +RCUTILS_PUBLIC +RCUTILS_WARN_UNUSED +bool +rcutils_get_cwd(char * buffer, size_t max_length); + +/// Check if the provided path points to a directory. +/** + * \param[in] abs_path Absolute path to check. + * \return `true` if provided path is a directory, or + * \return `false` if abs_path is NULL, or + * \return `false` on failure. + */ +RCUTILS_PUBLIC +bool +rcutils_is_directory(const char * abs_path); + +/// Check if the provided path points to a file. +/** + * \param[in] abs_path Absolute path to check. + * \return `true` if provided path is a file, or + * \return `false` if abs_path is NULL, or + * \return `false` on failure. + */ +RCUTILS_PUBLIC +bool +rcutils_is_file(const char * abs_path); + +/// Check if the provided path points to an existing file/folder. +/** + * \param[in] abs_path Absolute path to check. + * \return `true` if the path exists, or + * \return `false` if abs_path is NULL, or + * \return `false` on failure. + */ +RCUTILS_PUBLIC +bool +rcutils_exists(const char * abs_path); + +/// Check if the provided path points to a file/folder readable by current user. +/** + * \param[in] abs_path Absolute path to check. + * \return `true` if the file is readable, or + * \return `false` if abs_path is NULL, or + * \return `false` on failure. + */ +RCUTILS_PUBLIC +bool +rcutils_is_readable(const char * abs_path); + +/// Check if the provided path points to a file/folder writable by current user. +/** + * \param[in] abs_path Absolute path to check. + * \return `true` if the file is writable, or + * \return `false` if abs_path is NULL, or + * \return `false` on failure. + */ +RCUTILS_PUBLIC +bool +rcutils_is_writable(const char * abs_path); + +/// Check if the provided path points to a file/folder both readable and writable by current user. +/** + * \param[in] abs_path Absolute path to check. + * \return `true` if the file is readable and writable, or + * \return `false` if abs_path is NULL + * \return `false` on failure. + */ +RCUTILS_PUBLIC +bool +rcutils_is_readable_and_writable(const char * abs_path); + +/// Return newly allocated string with arguments separated by correct delimiter for the platform. +/** + * This function allocates memory and returns it to the caller. + * It is up to the caller to release the memory once it is done with it by + * calling `deallocate` on the same allocator passed here. + * + * \param[in] left_hand_path + * \param[in] right_hand_path + * \param[in] allocator + * \return concatenated path on success + * \return `NULL` on invalid arguments + * \return `NULL` on failure + */ +RCUTILS_PUBLIC +char * +rcutils_join_path( + const char * left_hand_path, + const char * right_hand_path, + rcutils_allocator_t allocator); + +/// Return newly allocated string with all argument's "/" replaced by platform specific separator. +/** + * This function allocates memory and returns it to the caller. + * It is up to the caller to release the memory once it is done with it by + * calling `deallocate` on the same allocator passed here. + * + * \param[in] path + * \param[in] allocator + * \return path using platform specific delimiters on success + * \return `NULL` on invalid arguments + * \return `NULL` on failure + */ +RCUTILS_PUBLIC +char * +rcutils_to_native_path( + const char * path, + rcutils_allocator_t allocator); + +/// Expand user directory in path. +/** + * This function expands an initial '~' to the current user's home directory. + * The home directory is fetched using `rcutils_get_home_dir()`. + * This function returns a newly allocated string on success. + * It is up to the caller to release the memory once it is done with it by + * calling `deallocate` on the same allocator passed here. + * + * \param[in] path A null-terminated C string representing a path. + * \param[in] allocator + * \return path with expanded home directory on success, or + * \return `NULL` on invalid arguments, or + * \return `NULL` on failure. + */ +RCUTILS_PUBLIC +char * +rcutils_expand_user(const char * path, rcutils_allocator_t allocator); + +/// Create the specified directory. +/** + * This function creates an absolutely-specified directory. + * If any of the intermediate directories do not exist, this function will + * return False. + * If the abs_path already exists, and is a directory, this function will + * return true. + * + * This function is not thread-safe due to mkdir races as described in the + * openat(2) documentation. + * + * \param[in] abs_path + * \return `true` if making the directory was successful, or + * \return `false` if path is NULL, or + * \return `false` if path is empty, or + * \return `false` if path is not absolute, or + * \return `false` if any intermediate directories don't exist. + */ +RCUTILS_PUBLIC +bool +rcutils_mkdir(const char * abs_path); + +/// Calculate the size of the specified directory. +/** + * Calculates the size of a directory by summarizing the file size of all files. + * \note This operation is not recursive. + * \param[in] directory_path The directory path to calculate the size of. + * \param[out] size The size of the directory in bytes on success. + * \param[in] allocator Allocator being used for internal file path composition. + * \return #RCUTILS_RET_OK if successful, or + * \return #RCUTILS_RET_INVALID_ARGUMENT for invalid arguments, or + * \return #RCUTILS_RET_BAD_ALLOC if memory allocation fails + * \return #RCUTILS_RET_ERROR if other error occurs + */ +RCUTILS_PUBLIC +rcutils_ret_t +rcutils_calculate_directory_size( + const char * directory_path, + uint64_t * size, + rcutils_allocator_t allocator); + +/// Calculate the size of the specified directory with recursion. +/** + * Calculates the size of a directory and subdirectory by summarizing the file size of all files. + * If necessary, you can specify the maximum directory depth to recurse into. + * Depth definition as below. + * \code + * directory_path <= depth 1 + * |- subdirectory <= depth 2 + * |- subdirectory <= depth 3 + * ... + * \endcode + * + * \note This API does not follow symlinks to files or directories. + * \param[in] directory_path The directory path to calculate the size of. + * \param[in] max_depth The maximum depth of subdirectory. 0 means no limitation. + * \param[out] size The size of the directory in bytes on success. + * \param[in] allocator Allocator being used for internal file path composition. + * \return #RCUTILS_RET_OK if successful, or + * \return #RCUTILS_RET_INVALID_ARGUMENT for invalid arguments, or + * \return #RCUTILS_RET_BAD_ALLOC if memory allocation fails + * \return #RCUTILS_RET_ERROR if other error occurs + */ +RCUTILS_PUBLIC +rcutils_ret_t +rcutils_calculate_directory_size_with_recursion( + const char * directory_path, + const size_t max_depth, + uint64_t * size, + rcutils_allocator_t allocator); + +/// Calculate the size of the specifed file. +/** + * \param[in] file_path The path of the file to obtain its size of. + * \return The size of the file in bytes. + */ +RCUTILS_PUBLIC +size_t +rcutils_get_file_size(const char * file_path); + +/// An iterator used for enumerating directory contents +typedef struct rcutils_dir_iter_s +{ + /// The name of the enumerated file or directory + const char * entry_name; + /// The allocator used internally by iteration functions + rcutils_allocator_t allocator; + /// The platform-specific iteration state + void * state; +} rcutils_dir_iter_t; + +/// Begin iterating over the contents of the specified directory. +/** + * This function is used to list the files and directories that are contained in + * a specified directory. The structure returned by it must be deallocated using + * ::rcutils_dir_iter_end when the iteration is completed. The name of the + * enumerated entry is stored in the `entry_name` member of the returned object, + * and the first entry is already populated upon completion of this function. To + * populate the entry with the name of the next entry, use the + * ::rcutils_dir_iter_next function. Note that the "." and ".." entries are + * typically among the entries enumerated. + * \param[in] directory_path The directory path to iterate over the contents of. + * \param[in] allocator Allocator used to create the returned structure. + * \return An iterator object used to continue iterating directory contents + * \return NULL if an error occurred + */ +RCUTILS_PUBLIC +rcutils_dir_iter_t * +rcutils_dir_iter_start(const char * directory_path, const rcutils_allocator_t allocator); + +/// Continue iterating over the contents of a directory. +/** + * \param[in] iter An iterator created by ::rcutils_dir_iter_start. + * \return `true` if another entry was found, or + * \return `false` if there are no more entries in the directory. + */ +RCUTILS_PUBLIC +bool +rcutils_dir_iter_next(rcutils_dir_iter_t * iter); + +/// Finish iterating over the contents of a directory. +/** + * \param[in] iter An iterator created by ::rcutils_dir_iter_start. + */ +RCUTILS_PUBLIC +void +rcutils_dir_iter_end(rcutils_dir_iter_t * iter); + +#ifdef __cplusplus +} +#endif + +#endif // RCUTILS__FILESYSTEM_H_ diff --git a/ports/espressif/microros-ext/include/rcutils/rcutils/find.h b/ports/espressif/microros-ext/include/rcutils/rcutils/find.h new file mode 100644 index 0000000000000..4569a935ac8a2 --- /dev/null +++ b/ports/espressif/microros-ext/include/rcutils/rcutils/find.h @@ -0,0 +1,92 @@ +// Copyright 2017 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. + +/// \file + +#ifndef RCUTILS__FIND_H_ +#define RCUTILS__FIND_H_ + +#ifdef __cplusplus +extern "C" +{ +#endif + +#include "rcutils/types.h" +#include "rcutils/visibility_control.h" + +/// Return the first index of a character in a string. +/** + * Search in a string for the first occurence of a delimiter. + * + * \param[in] str null terminated c string to search + * \param[in] delimiter the character to search for + * \return the index of the first occurence of the delimiter if found, or + * \return `SIZE_MAX` for invalid arguments, or + * \return `SIZE_MAX` if the delimiter is not found. + */ +RCUTILS_PUBLIC +size_t +rcutils_find(const char * str, char delimiter); + +/// Return the first index of a character in a string of specified length. +/** + * Identical to rcutils_find_first() but without relying on the string to be a + * null terminated c string. + * + * \param[in] str string to search + * \param[in] delimiter the character to search for + * \param[in] string_length length of the string to search + * \return the index of the first occurence of the delimiter if found, or + * \return `SIZE_MAX` for invalid arguments, or + * \return `SIZE_MAX` if the delimiter is not found. + */ +RCUTILS_PUBLIC +size_t +rcutils_findn(const char * str, char delimiter, size_t string_length); + +/// Return the last index of a character in a string. +/** + * Search in a string for the last occurence of a delimiter. + * + * \param[in] str null terminated c string to search + * \param[in] delimiter the character to search for + * \return the index of the last occurence of the delimiter if found, or + * \return `SIZE_MAX` for invalid arguments, or + * \return `SIZE_MAX` if the delimiter is not found. + */ +RCUTILS_PUBLIC +size_t +rcutils_find_last(const char * str, char delimiter); + +/// Return the last index of a character in a string of specifed length. +/** + * Identical to rcutils_find_last() but without relying on the string to be a + * null terminated c string. + * + * \param[in] str string to search + * \param[in] delimiter the character to search for + * \param[in] string_length length of the string to search + * \return the index of the last occurence of the delimiter if found, or + * \return `SIZE_MAX` for invalid arguments, or + * \return `SIZE_MAX` if the delimiter is not found. + */ +RCUTILS_PUBLIC +size_t +rcutils_find_lastn(const char * str, char delimiter, size_t string_length); + +#ifdef __cplusplus +} +#endif + +#endif // RCUTILS__FIND_H_ diff --git a/ports/espressif/microros-ext/include/rcutils/rcutils/format_string.h b/ports/espressif/microros-ext/include/rcutils/rcutils/format_string.h new file mode 100644 index 0000000000000..37e5262dc638b --- /dev/null +++ b/ports/espressif/microros-ext/include/rcutils/rcutils/format_string.h @@ -0,0 +1,83 @@ +// Copyright 2017 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. + +#ifndef RCUTILS__FORMAT_STRING_H_ +#define RCUTILS__FORMAT_STRING_H_ + +#ifdef __cplusplus +extern "C" +{ +#endif + +#include + +#include "rcutils/allocator.h" +#include "rcutils/macros.h" +#include "rcutils/visibility_control.h" + +/// Return a newly allocated string, created with a format string. +/** + * This function is identical to rcutils_format_string_limit() except it has an + * implicit limit of 2048. + * For longer format strings, see rcutils_format_string_limit(). + */ +#define rcutils_format_string(allocator, format_string, ...) \ + rcutils_format_string_limit(allocator, 2048, format_string, __VA_ARGS__) + +/// Return a newly allocated string, created with a format string up to a limit. +/** + * This function uses snprintf_s to determine the length of the resulting + * string and allocates storage for the resulting string, formats it, and + * then returns the result. + * + * This function can fail and therefore return null if the format_string is + * null or if memory allocation fails or if snprintf_s fails. + * An error message is not set in any case. + * + * Output strings that would be longer than the given limit are truncated. + * + * All returned strings are null terminated. + * + * The format string is passed to snprintf_s(), see its documentation for + * how to use the format string. + * + * The returned string must be deallocated using the same allocator given once + * it is no longer needed. + * + * \see rcutils_snprintf() + * + * \param[in] allocator the allocator to use for allocation + * \param[in] limit maximum length of the output string + * \param[in] format_string format of the output, must be null terminated + * \return The newly allocated and format output string, or + * \return `NULL` if there was an error. + */ +RCUTILS_PUBLIC +RCUTILS_WARN_UNUSED +char * +rcutils_format_string_limit( + rcutils_allocator_t allocator, + size_t limit, + const char * format_string, + ...) +/// @cond Doxygen_Suppress +RCUTILS_ATTRIBUTE_PRINTF_FORMAT(3, 4) +/// @endcond +; + +#ifdef __cplusplus +} +#endif + +#endif // RCUTILS__FORMAT_STRING_H_ diff --git a/ports/espressif/microros-ext/include/rcutils/rcutils/isalnum_no_locale.h b/ports/espressif/microros-ext/include/rcutils/rcutils/isalnum_no_locale.h new file mode 100644 index 0000000000000..052ad53e33054 --- /dev/null +++ b/ports/espressif/microros-ext/include/rcutils/rcutils/isalnum_no_locale.h @@ -0,0 +1,49 @@ +// Copyright 2017 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. + +/// \file + +#ifndef RCUTILS__ISALNUM_NO_LOCALE_H_ +#define RCUTILS__ISALNUM_NO_LOCALE_H_ + +#ifdef __cplusplus +extern "C" +{ +#endif + +/// Custom isalnum() which is not affected by locale. +static inline +bool +rcutils_isalnum_no_locale(char c) +{ + // if in '0', ..., '9', then ok + if (c >= 0x30 /*0*/ && c <= 0x39 /*9*/) { + return true; + } + // if in 'A', ..., 'Z', then ok + if (c >= 0x41 /*A*/ && c <= 0x5a /*Z*/) { + return true; + } + // if in 'a', ..., 'z', then ok + if (c >= 0x61 /*a*/ && c <= 0x7a /*z*/) { + return true; + } + return false; +} + +#ifdef __cplusplus +} +#endif + +#endif // RCUTILS__ISALNUM_NO_LOCALE_H_ diff --git a/ports/espressif/microros-ext/include/rcutils/rcutils/logging.h b/ports/espressif/microros-ext/include/rcutils/rcutils/logging.h new file mode 100644 index 0000000000000..646d79bc08e43 --- /dev/null +++ b/ports/espressif/microros-ext/include/rcutils/rcutils/logging.h @@ -0,0 +1,587 @@ +// Copyright 2017 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. + +/// \file + +#ifndef RCUTILS__LOGGING_H_ +#define RCUTILS__LOGGING_H_ + +#include +#include +#include + +#include "rcutils/allocator.h" +#include "rcutils/error_handling.h" +#include "rcutils/macros.h" +#include "rcutils/time.h" +#include "rcutils/types/rcutils_ret.h" +#include "rcutils/visibility_control.h" + +#ifdef __cplusplus +extern "C" +{ +#endif + +/// The separator used when logging node names. +#define RCUTILS_LOGGING_SEPARATOR_STRING "." + +/** + * \def RCUTILS_DEFAULT_LOGGER_DEFAULT_LEVEL + * \brief The default severity level of the default logger. + */ +#define RCUTILS_DEFAULT_LOGGER_DEFAULT_LEVEL RCUTILS_LOG_SEVERITY_UNSET + +/// The flag if the logging system has been initialized. +RCUTILS_PUBLIC +extern bool g_rcutils_logging_initialized; + +/// Initialize the logging system using the specified allocator. +/** + * Initialize the logging system only if it was not in an initialized state. + * + * If an invalid allocator is passed, the initialization will fail. + * Otherwise, this function will still set the internal state to initialized + * even if an error occurs, to avoid repeated failing initialization attempts + * since this function is called automatically from logging macros. + * To re-attempt initialization, call rcutils_logging_shutdown() before + * re-calling this function. + * + * If multiple errors occur, the error code of the last error will be returned. + * + * The `RCUTILS_CONSOLE_OUTPUT_FORMAT` environment variable can be used to set + * the output format of messages logged to the console. + * Available tokens are: + * - `file_name`, the full file name of the caller including the path + * - `function_name`, the function name of the caller + * - `line_number`, the line number of the caller + * - `message`, the message string after it has been formatted + * - `name`, the full logger name + * - `severity`, the name of the severity level, e.g. `INFO` + * - `time`, the timestamp of log message in floating point seconds + * - `time_as_nanoseconds`, the timestamp of log message in integer nanoseconds + * + * The `RCUTILS_COLORIZED_OUTPUT` environment variable allows configuring if colours + * are used or not. Available values are: + * - `1`: Force using colours. + * - `0`: Don't use colours. + * If it is unset, colours are used depending if the target stream is a terminal or not. + * See `isatty` documentation. + * + * The format string can use these tokens by referencing them in curly brackets, + * e.g. `"[{severity}] [{name}]: {message} ({function_name}() at {file_name}:{line_number})"`. + * Any number of tokens can be used. + * The limit of the format string is 2048 characters. + * + *
+ * Attribute | Adherence + * ------------------ | ------------- + * Allocates Memory | Yes + * Thread-Safe | No + * Uses Atomics | No + * Lock-Free | Yes + * + * \param[in] allocator rcutils_allocator_t to be used. + * \return #RCUTILS_RET_OK if successful, or + * \return #RCUTILS_RET_INVALID_ARGUMENT if the allocator is invalid, in which + * case initialization will fail, or + * \return #RCUTILS_RET_INVALID_ARGUMENT if an error occurs reading the output + * format from the `RCUTILS_CONSOLE_OUTPUT_FORMAT` environment variable, in + * which case the default format will be used, or + * \return #RCUTILS_RET_LOGGING_SEVERITY_MAP_INVALID if the internal logger + * severity level map cannot be initialized, in which case logger severity + * levels will not be configurable. + */ +RCUTILS_PUBLIC +RCUTILS_WARN_UNUSED +rcutils_ret_t rcutils_logging_initialize_with_allocator(rcutils_allocator_t allocator); + +/// Initialize the logging system. +/** + * Call rcutils_logging_initialize_with_allocator() using the default allocator. + * This function is called automatically when using the logging macros. + * + *
+ * Attribute | Adherence + * ------------------ | ------------- + * Allocates Memory | Yes + * Thread-Safe | No + * Uses Atomics | No + * Lock-Free | Yes + * + * \return #RCUTILS_RET_OK if successful, or + * \return #RCUTILS_RET_INVALID_ARGUMENT if an error occurs reading the output + * format from the `RCUTILS_CONSOLE_OUTPUT_FORMAT` environment variable, in + * which case the default format will be used, or + * \return #RCUTILS_RET_LOGGING_SEVERITY_MAP_INVALID if the internal logger + * severity level map cannot be initialized, in which case logger levels + * will not be configurable. + */ +RCUTILS_PUBLIC +RCUTILS_WARN_UNUSED +rcutils_ret_t rcutils_logging_initialize(void); + +/// Shutdown the logging system. +/** + * Free the resources allocated for the logging system. + * This puts the system into a state equivalent to being uninitialized. + * + *
+ * Attribute | Adherence + * ------------------ | ------------- + * Allocates Memory | No + * Thread-Safe | No + * Uses Atomics | No + * Lock-Free | Yes + * + * \return #RCUTILS_RET_OK if successful, or + * \return #RCUTILS_RET_LOGGING_SEVERITY_MAP_INVALID if the internal logger + * severity level map cannot be finalized. + */ +RCUTILS_PUBLIC +RCUTILS_WARN_UNUSED +rcutils_ret_t rcutils_logging_shutdown(void); + +/// The structure identifying the caller location in the source code. +typedef struct rcutils_log_location_s +{ + /// The name of the function containing the log call. + const char * function_name; + /// The name of the source file containing the log call. + const char * file_name; + /// The line number containing the log call. + size_t line_number; +} rcutils_log_location_t; + +/// The severity levels of log messages / loggers. +/** + * Note: all logging levels have their Least Significant Bit as 0, which is used as an + * optimization. If adding new logging levels, ensure that the new levels keep this property. + */ +enum RCUTILS_LOG_SEVERITY +{ + RCUTILS_LOG_SEVERITY_UNSET = 0, ///< The unset log level + RCUTILS_LOG_SEVERITY_DEBUG = 10, ///< The debug log level + RCUTILS_LOG_SEVERITY_INFO = 20, ///< The info log level + RCUTILS_LOG_SEVERITY_WARN = 30, ///< The warn log level + RCUTILS_LOG_SEVERITY_ERROR = 40, ///< The error log level + RCUTILS_LOG_SEVERITY_FATAL = 50, ///< The fatal log level +}; + +/// The names of severity levels. +RCUTILS_PUBLIC +extern const char * const g_rcutils_log_severity_names[RCUTILS_LOG_SEVERITY_FATAL + 1]; + +/// Get a severity value from its string representation (e.g. DEBUG). +/** + * String representation must match one of the values in + * `g_rcutils_log_severity_names`, but is not case-sensitive. + * Examples: UNSET, DEBUG, INFO, WARN, Error, fatal. + * + * \param[in] severity_string String representation of the severity, must be a + * null terminated c string + * \param[in] allocator rcutils_allocator_t to be used + * \param[in,out] severity The severity level as a represented by the + * `RCUTILS_LOG_SEVERITY` enum + * \return #RCUTILS_RET_OK if successful, or + * \return #RCUTILS_RET_INVALID_ARGUMENT on invalid arguments, or + * \return #RCUTILS_RET_LOGGING_SEVERITY_STRING_INVALID if unable to match + * string, or + * \return #RCUTILS_RET_ERROR if an unspecified error occured. + */ +RCUTILS_PUBLIC +RCUTILS_WARN_UNUSED +rcutils_ret_t +rcutils_logging_severity_level_from_string( + const char * severity_string, rcutils_allocator_t allocator, int * severity); + +/// The function signature to log messages. +/** + * \param[in] location The location information about where the log came from + * \param[in] severity The severity of the log message expressed as an integer + * \param[in] name The name of the logger that this message came from + * \param[in] timestamp The time at which the log message was generated + * \param[in] format The list of arguments to insert into the formatted log message + * \param[in] args The variable argument list + */ +typedef void (* rcutils_logging_output_handler_t)( + const rcutils_log_location_t * location, + int severity, + const char * name, + rcutils_time_point_value_t timestamp, + const char * format, + va_list * args +); + +/// Get the current output handler. +/** + *
+ * Attribute | Adherence + * ------------------ | ------------- + * Allocates Memory | No, provided logging system is already initialized + * Thread-Safe | No + * Uses Atomics | No + * Lock-Free | Yes + * + * \return The function pointer of the current output handler. + */ +RCUTILS_PUBLIC +RCUTILS_WARN_UNUSED +rcutils_logging_output_handler_t rcutils_logging_get_output_handler(); + +/// Set the current output handler. +/** + *
+ * Attribute | Adherence + * ------------------ | ------------- + * Allocates Memory | No, provided logging system is already initialized + * Thread-Safe | No + * Uses Atomics | No + * Lock-Free | Yes + * + * \param[in] function The function pointer of the output handler to be used. + */ +RCUTILS_PUBLIC +void rcutils_logging_set_output_handler(rcutils_logging_output_handler_t function); + +/// Formats a log message according to RCUTILS_CONSOLE_OUTPUT_FORMAT +/** + * A formatter that is meant to be used by an output handler to format a log message to the match + * the format specified in RCUTILS_CONSOLE_OUTPUT_FORMAT by performing token replacement. + * + *
+ * Attribute | Adherence + * ------------------ | ------------- + * Allocates Memory | Yes + * Thread-Safe | No + * Uses Atomics | No + * Lock-Free | Yes + * + * \param[in] location The location information about where the log came from + * \param[in] severity The severity of the log message expressed as an integer + * \param[in] name The name of the logger that this message came from + * \param[in] timestamp The time at which the log message was generated + * \param[in] msg The message being logged + * \param[out] logging_output An output buffer for the formatted message + * \return #RCUTILS_RET_OK if successful. + * \return #RCUTILS_RET_BAD_ALLOC if memory allocation error occured + */ +RCUTILS_PUBLIC +RCUTILS_WARN_UNUSED +rcutils_ret_t rcutils_logging_format_message( + const rcutils_log_location_t * location, + int severity, const char * name, rcutils_time_point_value_t timestamp, + const char * msg, rcutils_char_array_t * logging_output); + +/// Get the default level for loggers. +/** + *
+ * Attribute | Adherence + * ------------------ | ------------- + * Allocates Memory | No, provided logging system is already initialized + * Thread-Safe | No + * Uses Atomics | No + * Lock-Free | Yes + * + * \return The level. + */ +RCUTILS_PUBLIC +RCUTILS_WARN_UNUSED +int rcutils_logging_get_default_logger_level(); + +/// Set the default severity level for loggers. +/** + * If the severity level requested is `RCUTILS_LOG_SEVERITY_UNSET`, the default + * value for the default logger (`RCUTILS_DEFAULT_LOGGER_DEFAULT_LEVEL`) + * will be restored instead. + * + *
+ * Attribute | Adherence + * ------------------ | ------------- + * Allocates Memory | No, provided logging system is already initialized + * Thread-Safe | No + * Uses Atomics | No + * Lock-Free | Yes + * + * \param[in] level The level to be used. + */ +RCUTILS_PUBLIC +void rcutils_logging_set_default_logger_level(int level); + +/// Get the severity level for a logger. +/** + * This considers the severity level of the specifed logger only. + * To get the effective level of a logger given the severity level of its + * ancestors, see rcutils_logging_get_logger_effective_level(). + * + *
+ * Attribute | Adherence + * ------------------ | ------------- + * Allocates Memory | No, provided logging system is already initialized + * Thread-Safe | No + * Uses Atomics | No + * Lock-Free | Yes + * + * \param[in] name The name of the logger, must be null terminated c string + * \return The level of the logger if it has been set, or + * \return `RCUTILS_LOG_SEVERITY_UNSET` if unset, or + * \return the default logger level for an empty name, or + * \return -1 on invalid arguments, or + * \return -1 if an error occurred + */ +RCUTILS_PUBLIC +RCUTILS_WARN_UNUSED +int rcutils_logging_get_logger_level(const char * name); + +/// Get the level for a logger and its name length. +/** + * Identical to rcutils_logging_get_logger_level() but without + * relying on the logger name to be a null terminated c string. + * + *
+ * Attribute | Adherence + * ------------------ | ------------- + * Allocates Memory | No, provided logging system is already initialized + * Thread-Safe | No + * Uses Atomics | No + * Lock-Free | Yes + * + * \param[in] name The name of the logger + * \param[in] name_length Logger name length + * \return The level of the logger if it has been set, or + * \return `RCUTILS_LOG_SEVERITY_UNSET` if unset, or + * \return the default logger level for an empty name, or + * \return -1 on invalid arguments, or + * \return -1 if an error occurred + */ +RCUTILS_PUBLIC +RCUTILS_WARN_UNUSED +int rcutils_logging_get_logger_leveln(const char * name, size_t name_length); + +/// Set the severity level for a logger. +/** + * If an empty string is specified as the name, the default logger level will be set. + * + *
+ * Attribute | Adherence + * ------------------ | ------------- + * Allocates Memory | Yes + * Thread-Safe | No + * Uses Atomics | No + * Lock-Free | Yes + * + * \param[in] name The name of the logger, must be null terminated c string. + * \param[in] level The level to be used. + * \return `RCUTILS_RET_OK` if successful, or + * \return `RCUTILS_RET_INVALID_ARGUMENT` on invalid arguments, or + * \return `RCUTILS_RET_LOGGING_SEVERITY_MAP_INVALID` if severity map invalid, or + * \return `RCUTILS_RET_ERROR` if an unspecified error occured + */ +RCUTILS_PUBLIC +RCUTILS_WARN_UNUSED +rcutils_ret_t rcutils_logging_set_logger_level(const char * name, int level); + +/// Determine if a logger is enabled for a severity level. +/** + *
+ * Attribute | Adherence + * ------------------ | ------------- + * Allocates Memory | No, provided logging system is already initialized + * Thread-Safe | No + * Uses Atomics | No + * Lock-Free | Yes + * + * \param[in] name The name of the logger, must be null terminated c string or NULL. + * \param[in] severity The severity level. + * + * \return `true` if the logger is enabled for the level, or + * \return `false` otherwise. + */ +RCUTILS_PUBLIC +RCUTILS_WARN_UNUSED +bool rcutils_logging_logger_is_enabled_for(const char * name, int severity); + +/// Determine the effective level for a logger. +/** + * The effective level is determined as the severity level of + * the logger if it is set, otherwise it is the first specified severity + * level of the logger's ancestors, starting with its closest ancestor. + * The ancestor hierarchy is signified by logger names being separated by dots: + * a logger named `x` is an ancestor of `x.y`, and both `x` and `x.y` are + * ancestors of `x.y.z`, etc. + * If the level has not been set for the logger nor any of its + * ancestors, the default level is used. + * + *
+ * Attribute | Adherence + * ------------------ | ------------- + * Allocates Memory | No, provided logging system is already initialized + * Thread-Safe | No + * Uses Atomics | No + * Lock-Free | Yes + * + * \param[in] name The name of the logger, must be null terminated c string. + * + * \return The level, or + * \return -1 on invalid arguments, or + * \return -1 if an error occurred. + */ +RCUTILS_PUBLIC +RCUTILS_WARN_UNUSED +int rcutils_logging_get_logger_effective_level(const char * name); + +/// Internal call to log a message. +/** + * Unconditionally log a message. + * This is an internal function, and assumes that the caller has already called + * rcutils_logging_logger_is_enabled_for(). + * End-user software should never call this, and instead should call rcutils_log() + * or one of the RCUTILS_LOG_ macros. + * + * The attributes of this function are influenced by the currently set output handler. + * + *
+ * Attribute | Adherence + * ------------------ | ------------- + * Allocates Memory | No, for formatted outputs <= 1023 characters + * | Yes, for formatted outputs >= 1024 characters + * Thread-Safe | No + * Uses Atomics | No + * Lock-Free | Yes + * + * \param[in] location The pointer to the location struct or NULL + * \param[in] severity The severity level + * \param[in] name The name of the logger, must be null terminated c string or NULL + * \param[in] format The format string + * \param[in] ... The variable arguments + */ +RCUTILS_PUBLIC +void rcutils_log_internal( + const rcutils_log_location_t * location, + int severity, + const char * name, + const char * format, + ...) +/// @cond Doxygen_Suppress +RCUTILS_ATTRIBUTE_PRINTF_FORMAT(4, 5) +/// @endcond +; + +/// Log a message. +/** + * The attributes of this function are influenced by the currently set output handler. + * + *
+ * Attribute | Adherence + * ------------------ | ------------- + * Allocates Memory | No, for formatted outputs <= 1023 characters + * | Yes, for formatted outputs >= 1024 characters + * Thread-Safe | Yes, with itself [1] + * Uses Atomics | No + * Lock-Free | Yes + * [1] should be thread-safe with itself but not with other logging functions + * + * This should be thread-safe with itself, but is not thread-safe with other + * logging functions that do things like set logger levels. + * + * \todo There are no thread-safety gurantees between this function and other + * logging functions in rcutils, even though it is likely users are calling + * them concurrently today. + * We need to revisit these functions with respect to this issue and make + * guarantees where we can, and change functions higher in the stack to + * provide the thread-safety where we cannot. + * + * \param[in] location The pointer to the location struct or NULL + * \param[in] severity The severity level + * \param[in] name The name of the logger, must be null terminated c string or NULL + * \param[in] format The format string + * \param[in] ... The variable arguments + */ +RCUTILS_PUBLIC +void rcutils_log( + const rcutils_log_location_t * location, + int severity, + const char * name, + const char * format, + ...) +/// @cond Doxygen_Suppress +RCUTILS_ATTRIBUTE_PRINTF_FORMAT(4, 5) +/// @endcond +; + +/// The default output handler outputs log messages to the standard streams. +/** + * The messages with a severity level `DEBUG` and `INFO` are written to `stdout`. + * The messages with a severity level `WARN`, `ERROR`, and `FATAL` are written + * to `stderr`. + * The console output format of the logged message can be configured through + * the `RCUTILS_CONSOLE_OUTPUT_FORMAT` environment variable: see + * rcutils_logging_initialize_with_allocator() for details. + * For configuring if using colours or not, `RCUTILS_COLORIZED_OUTPUT` can be used: + * see rcutils_logging_initialize_with_allocator() for details. + * + *
+ * Attribute | Adherence + * ------------------ | ------------- + * Allocates Memory | No + * Thread-Safe | Yes, if the underlying *printf functions are + * Uses Atomics | No + * Lock-Free | Yes + * + * \param[in] location The pointer to the location struct or NULL + * \param[in] severity The severity level + * \param[in] name The name of the logger, must be null terminated c string + * \param[in] timestamp The timestamp for when the log message was made + * \param[in] format The format string + * \param[in] args The `va_list` used by the logger + */ +RCUTILS_PUBLIC +void rcutils_logging_console_output_handler( + const rcutils_log_location_t * location, + int severity, const char * name, rcutils_time_point_value_t timestamp, + const char * format, va_list * args); + +/** + * \def RCUTILS_LOGGING_AUTOINIT + * \brief Initialize the rcl logging library. + * Usually it is unnecessary to call the macro directly. + * All logging macros ensure that this has been called once. + */ +#define RCUTILS_LOGGING_AUTOINIT \ + RCUTILS_LOGGING_AUTOINIT_WITH_ALLOCATOR(rcutils_get_default_allocator()) + +/** + * \def RCUTILS_LOGGING_AUTOINIT_WITH_ALLOCATOR + * \brief Initialize the rcl logging library with allocator. + * Usually it is unnecessary to call the macro directly. + * All logging macros ensure that this has been called once. + */ +#define RCUTILS_LOGGING_AUTOINIT_WITH_ALLOCATOR(alloc) \ + do { \ + if (RCUTILS_UNLIKELY(!g_rcutils_logging_initialized)) { \ + if (rcutils_logging_initialize_with_allocator(alloc) != RCUTILS_RET_OK) { \ + RCUTILS_SAFE_FWRITE_TO_STDERR( \ + "[rcutils|" __FILE__ ":" RCUTILS_STRINGIFY(__LINE__) \ + "] error initializing logging: "); \ + RCUTILS_SAFE_FWRITE_TO_STDERR(rcutils_get_error_string().str); \ + RCUTILS_SAFE_FWRITE_TO_STDERR("\n"); \ + rcutils_reset_error(); \ + } \ + } \ + } while (0) + +#ifdef __cplusplus +} +#endif + +#endif // RCUTILS__LOGGING_H_ diff --git a/ports/espressif/microros-ext/include/rcutils/rcutils/logging_macros.h b/ports/espressif/microros-ext/include/rcutils/rcutils/logging_macros.h new file mode 100644 index 0000000000000..1b18fe663a848 --- /dev/null +++ b/ports/espressif/microros-ext/include/rcutils/rcutils/logging_macros.h @@ -0,0 +1,1447 @@ +// generated from rcutils/resource/logging_macros.h.em + +// Copyright 2017 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. + +/*! \file */ + +#ifndef RCUTILS__LOGGING_MACROS_H_ +#define RCUTILS__LOGGING_MACROS_H_ + +#include "rcutils/logging.h" + +#include +#include + +// This is to avoid compilation warnings in C++ with '-Wold-style-cast'. +#ifdef __cplusplus + #define RCUTILS_CAST_DURATION(x) (static_cast < rcutils_duration_value_t > (x)) +#else + #define RCUTILS_CAST_DURATION(x) ((rcutils_duration_value_t)x) +#endif + +#ifdef __cplusplus +extern "C" +{ +#endif + +// These are used for compiling out logging macros lower than a minimum severity. +#define RCUTILS_LOG_MIN_SEVERITY_DEBUG 0 +#define RCUTILS_LOG_MIN_SEVERITY_INFO 1 +#define RCUTILS_LOG_MIN_SEVERITY_WARN 2 +#define RCUTILS_LOG_MIN_SEVERITY_ERROR 3 +#define RCUTILS_LOG_MIN_SEVERITY_FATAL 4 +#define RCUTILS_LOG_MIN_SEVERITY_NONE 5 + +/** + * \def RCUTILS_LOG_MIN_SEVERITY + * Define RCUTILS_LOG_MIN_SEVERITY=RCUTILS_LOG_MIN_SEVERITY_[DEBUG|INFO|WARN|ERROR|FATAL] + * in your build options to compile out anything below that severity. + * Use RCUTILS_LOG_MIN_SEVERITY_NONE to compile out all macros. + */ +#ifndef RCUTILS_LOG_MIN_SEVERITY +#define RCUTILS_LOG_MIN_SEVERITY RCUTILS_LOG_MIN_SEVERITY_NONE +#endif + +// TODO(dhood): optimise severity check via notifyLoggerLevelsChanged concept or similar. +// The RCUTILS_LOG_COND_NAMED macro is surrounded by do { .. } while (0) to implement +// the standard C macro idiom to make the macro safe in all contexts; see +// http://c-faq.com/cpp/multistmt.html for more information. +/** + * \def RCUTILS_LOG_COND_NAMED + * The logging macro all other logging macros call directly or indirectly. + * + * \note The condition will only be evaluated if this logging statement is enabled. + * + * \param[in] severity The severity level + * \param[in] condition_before The condition macro(s) inserted before the log call + * \param[in] condition_after The condition macro(s) inserted after the log call + * \param[in] name The name of the logger + * \param[in] ... The format string, followed by the variable arguments for the format string + */ +#define RCUTILS_LOG_COND_NAMED(severity, condition_before, condition_after, name, ...) \ + do { \ + RCUTILS_LOGGING_AUTOINIT; \ + static rcutils_log_location_t __rcutils_logging_location = {__func__, __FILE__, __LINE__}; \ + if (rcutils_logging_logger_is_enabled_for(name, severity)) { \ + condition_before \ + rcutils_log_internal(&__rcutils_logging_location, severity, name, __VA_ARGS__); \ + condition_after \ + } \ + } while (0) + +///@{ +/** + * \def RCUTILS_LOG_CONDITION_EMPTY + * An empty macro which can be used as a placeholder for `condition_before` + * and `condition_after` which doesn't affect the logging call. + */ +#define RCUTILS_LOG_CONDITION_EMPTY +///@} + +/** @name Macros for the `once` condition which ignores all subsequent log + * calls except the first one. + */ +///@{ +/** + * \def RCUTILS_LOG_CONDITION_ONCE_BEFORE + * A macro initializing and checking the `once` condition. + */ +#define RCUTILS_LOG_CONDITION_ONCE_BEFORE \ + { \ + static int __rcutils_logging_once = 0; \ + if (RCUTILS_UNLIKELY(0 == __rcutils_logging_once)) { \ + __rcutils_logging_once = 1; +/** + * \def RCUTILS_LOG_CONDITION_ONCE_AFTER + * A macro finalizing the `once` condition. + */ +#define RCUTILS_LOG_CONDITION_ONCE_AFTER } \ +} +///@} + +/** @name Macros for the `expression` condition which ignores the log calls + * when the expression evaluates to false. + */ +///@{ +/** + * \def RCUTILS_LOG_CONDITION_EXPRESSION_BEFORE + * A macro checking the `expression` condition. + */ +#define RCUTILS_LOG_CONDITION_EXPRESSION_BEFORE(expression) \ + if (expression) { +/** + * \def RCUTILS_LOG_CONDITION_EXPRESSION_AFTER + * A macro finalizing the `expression` condition. + */ +#define RCUTILS_LOG_CONDITION_EXPRESSION_AFTER } +///@} + +/** @name Macros for the `function` condition which ignores the log calls + * when the function returns false. + */ +///@{ +/// The filter function signature. +/** + * \return true to log the message, false to ignore the message + */ +typedef bool (* RclLogFilter)(); +/** + * \def RCUTILS_LOG_CONDITION_FUNCTION_BEFORE + * A macro checking the `function` condition. + */ +#define RCUTILS_LOG_CONDITION_FUNCTION_BEFORE(function) \ + if ((*function)()) { +/** + * \def RCUTILS_LOG_CONDITION_FUNCTION_AFTER + * A macro finalizing the `function` condition. + */ +#define RCUTILS_LOG_CONDITION_FUNCTION_AFTER } +///@} + +/** @name Macros for the `skipfirst` condition which ignores the first log + * call but processes all subsequent calls. + */ +///@{ +/** + * \def RCUTILS_LOG_CONDITION_SKIPFIRST_BEFORE + * A macro initializing and checking the `skipfirst` condition. + */ +#define RCUTILS_LOG_CONDITION_SKIPFIRST_BEFORE \ + { \ + static bool __rcutils_logging_first = true; \ + if (RCUTILS_UNLIKELY(true == __rcutils_logging_first)) { \ + __rcutils_logging_first = false; \ + } else { +/** + * \def RCUTILS_LOG_CONDITION_SKIPFIRST_AFTER + * A macro finalizing the `skipfirst` condition. + */ +#define RCUTILS_LOG_CONDITION_SKIPFIRST_AFTER } \ +} +///@} + +/** @name Macros for the `throttle` condition which ignores log calls if the + * last logged message is not longer ago than the specified duration. + */ +///@{ +/** + * \def RCUTILS_LOG_CONDITION_THROTTLE_BEFORE + * A macro initializing and checking the `throttle` condition. + */ +#define RCUTILS_LOG_CONDITION_THROTTLE_BEFORE(get_time_point_value, duration) { \ + static rcutils_duration_value_t __rcutils_logging_duration = RCUTILS_MS_TO_NS(RCUTILS_CAST_DURATION(duration)); \ + static rcutils_time_point_value_t __rcutils_logging_last_logged = 0; \ + rcutils_time_point_value_t __rcutils_logging_now = 0; \ + bool __rcutils_logging_condition = true; \ + if (get_time_point_value(&__rcutils_logging_now) != RCUTILS_RET_OK) { \ + rcutils_log( \ + &__rcutils_logging_location, RCUTILS_LOG_SEVERITY_ERROR, "", \ + "%s() at %s:%d getting current steady time failed\n", \ + __func__, __FILE__, __LINE__); \ + } else { \ + __rcutils_logging_condition = __rcutils_logging_now >= __rcutils_logging_last_logged + __rcutils_logging_duration; \ + } \ + \ + if (RCUTILS_LIKELY(__rcutils_logging_condition)) { \ + __rcutils_logging_last_logged = __rcutils_logging_now; + +/** + * \def RCUTILS_LOG_CONDITION_THROTTLE_AFTER + * A macro finalizing the `throttle` condition. + */ +#define RCUTILS_LOG_CONDITION_THROTTLE_AFTER } \ +} +///@} + +/** @name Logging macros for severity DEBUG. + */ +///@{ +#if (RCUTILS_LOG_MIN_SEVERITY > RCUTILS_LOG_MIN_SEVERITY_DEBUG) +// empty logging macros for severity DEBUG when being disabled at compile time +/// Empty logging macro due to the preprocessor definition of RCUTILS_LOG_MIN_SEVERITY. +# define RCUTILS_LOG_DEBUG(format, ...) +/// Empty logging macro due to the preprocessor definition of RCUTILS_LOG_MIN_SEVERITY. +# define RCUTILS_LOG_DEBUG_NAMED(name, format, ...) +/// Empty logging macro due to the preprocessor definition of RCUTILS_LOG_MIN_SEVERITY. +# define RCUTILS_LOG_DEBUG_ONCE(format, ...) +/// Empty logging macro due to the preprocessor definition of RCUTILS_LOG_MIN_SEVERITY. +# define RCUTILS_LOG_DEBUG_ONCE_NAMED(name, format, ...) +/// Empty logging macro due to the preprocessor definition of RCUTILS_LOG_MIN_SEVERITY. +# define RCUTILS_LOG_DEBUG_EXPRESSION(expression, format, ...) +/// Empty logging macro due to the preprocessor definition of RCUTILS_LOG_MIN_SEVERITY. +# define RCUTILS_LOG_DEBUG_EXPRESSION_NAMED(expression, name, format, ...) +/// Empty logging macro due to the preprocessor definition of RCUTILS_LOG_MIN_SEVERITY. +# define RCUTILS_LOG_DEBUG_FUNCTION(function, format, ...) +/// Empty logging macro due to the preprocessor definition of RCUTILS_LOG_MIN_SEVERITY. +# define RCUTILS_LOG_DEBUG_FUNCTION_NAMED(function, name, format, ...) +/// Empty logging macro due to the preprocessor definition of RCUTILS_LOG_MIN_SEVERITY. +# define RCUTILS_LOG_DEBUG_SKIPFIRST(format, ...) +/// Empty logging macro due to the preprocessor definition of RCUTILS_LOG_MIN_SEVERITY. +# define RCUTILS_LOG_DEBUG_SKIPFIRST_NAMED(name, format, ...) +/// Empty logging macro due to the preprocessor definition of RCUTILS_LOG_MIN_SEVERITY. +# define RCUTILS_LOG_DEBUG_THROTTLE(get_time_point_value, duration, format, ...) +/// Empty logging macro due to the preprocessor definition of RCUTILS_LOG_MIN_SEVERITY. +# define RCUTILS_LOG_DEBUG_SKIPFIRST_THROTTLE(get_time_point_value, duration, format, ...) +/// Empty logging macro due to the preprocessor definition of RCUTILS_LOG_MIN_SEVERITY. +# define RCUTILS_LOG_DEBUG_THROTTLE_NAMED(get_time_point_value, duration, name, format, ...) +/// Empty logging macro due to the preprocessor definition of RCUTILS_LOG_MIN_SEVERITY. +# define RCUTILS_LOG_DEBUG_SKIPFIRST_THROTTLE_NAMED(get_time_point_value, duration, name, format, ...) + +#else +/** + * \def RCUTILS_LOG_DEBUG + * Log a message with severity DEBUG. + * \param[in] ... The format string, followed by the variable arguments for the format string + */ +# define RCUTILS_LOG_DEBUG(...) \ + RCUTILS_LOG_COND_NAMED( \ + RCUTILS_LOG_SEVERITY_DEBUG, \ + RCUTILS_LOG_CONDITION_EMPTY, RCUTILS_LOG_CONDITION_EMPTY, NULL, \ + __VA_ARGS__) +/** + * \def RCUTILS_LOG_DEBUG_NAMED + * Log a message with severity DEBUG. + * \param[in] name The name of the logger + * \param[in] ... The format string, followed by the variable arguments for the format string + */ +# define RCUTILS_LOG_DEBUG_NAMED(name, ...) \ + RCUTILS_LOG_COND_NAMED( \ + RCUTILS_LOG_SEVERITY_DEBUG, \ + RCUTILS_LOG_CONDITION_EMPTY, RCUTILS_LOG_CONDITION_EMPTY, name, \ + __VA_ARGS__) +/** + * \def RCUTILS_LOG_DEBUG_ONCE + * Log a message with severity DEBUG with the following conditions: + * - All subsequent log calls except the first one are being ignored. + * + * \note The conditions will only be evaluated if this logging statement is enabled. + * + * \param[in] ... The format string, followed by the variable arguments for the format string + */ +# define RCUTILS_LOG_DEBUG_ONCE(...) \ + RCUTILS_LOG_COND_NAMED( \ + RCUTILS_LOG_SEVERITY_DEBUG, \ + RCUTILS_LOG_CONDITION_ONCE_BEFORE, RCUTILS_LOG_CONDITION_ONCE_AFTER, NULL, \ + __VA_ARGS__) +/** + * \def RCUTILS_LOG_DEBUG_ONCE_NAMED + * Log a message with severity DEBUG with the following conditions: + * - All subsequent log calls except the first one are being ignored. + * + * \note The conditions will only be evaluated if this logging statement is enabled. + * + * \param[in] name The name of the logger + * \param[in] ... The format string, followed by the variable arguments for the format string + */ +# define RCUTILS_LOG_DEBUG_ONCE_NAMED(name, ...) \ + RCUTILS_LOG_COND_NAMED( \ + RCUTILS_LOG_SEVERITY_DEBUG, \ + RCUTILS_LOG_CONDITION_ONCE_BEFORE, RCUTILS_LOG_CONDITION_ONCE_AFTER, name, \ + __VA_ARGS__) +/** + * \def RCUTILS_LOG_DEBUG_EXPRESSION + * Log a message with severity DEBUG with the following conditions: + * - Log calls are being ignored when the expression evaluates to false. + * + * \note The conditions will only be evaluated if this logging statement is enabled. + * + * \param[in] expression The expression determining if the message should be logged + * \param[in] ... The format string, followed by the variable arguments for the format string + */ +# define RCUTILS_LOG_DEBUG_EXPRESSION(expression, ...) \ + RCUTILS_LOG_COND_NAMED( \ + RCUTILS_LOG_SEVERITY_DEBUG, \ + RCUTILS_LOG_CONDITION_EXPRESSION_BEFORE(expression), RCUTILS_LOG_CONDITION_EXPRESSION_AFTER, NULL, \ + __VA_ARGS__) +/** + * \def RCUTILS_LOG_DEBUG_EXPRESSION_NAMED + * Log a message with severity DEBUG with the following conditions: + * - Log calls are being ignored when the expression evaluates to false. + * + * \note The conditions will only be evaluated if this logging statement is enabled. + * + * \param[in] expression The expression determining if the message should be logged + * \param[in] name The name of the logger + * \param[in] ... The format string, followed by the variable arguments for the format string + */ +# define RCUTILS_LOG_DEBUG_EXPRESSION_NAMED(expression, name, ...) \ + RCUTILS_LOG_COND_NAMED( \ + RCUTILS_LOG_SEVERITY_DEBUG, \ + RCUTILS_LOG_CONDITION_EXPRESSION_BEFORE(expression), RCUTILS_LOG_CONDITION_EXPRESSION_AFTER, name, \ + __VA_ARGS__) +/** + * \def RCUTILS_LOG_DEBUG_FUNCTION + * Log a message with severity DEBUG with the following conditions: + * - Log calls are being ignored when the function returns false. + * + * \note The conditions will only be evaluated if this logging statement is enabled. + * + * \param[in] function The functions return value determines if the message should be logged + * \param[in] ... The format string, followed by the variable arguments for the format string + */ +# define RCUTILS_LOG_DEBUG_FUNCTION(function, ...) \ + RCUTILS_LOG_COND_NAMED( \ + RCUTILS_LOG_SEVERITY_DEBUG, \ + RCUTILS_LOG_CONDITION_FUNCTION_BEFORE(function), RCUTILS_LOG_CONDITION_FUNCTION_AFTER, NULL, \ + __VA_ARGS__) +/** + * \def RCUTILS_LOG_DEBUG_FUNCTION_NAMED + * Log a message with severity DEBUG with the following conditions: + * - Log calls are being ignored when the function returns false. + * + * \note The conditions will only be evaluated if this logging statement is enabled. + * + * \param[in] function The functions return value determines if the message should be logged + * \param[in] name The name of the logger + * \param[in] ... The format string, followed by the variable arguments for the format string + */ +# define RCUTILS_LOG_DEBUG_FUNCTION_NAMED(function, name, ...) \ + RCUTILS_LOG_COND_NAMED( \ + RCUTILS_LOG_SEVERITY_DEBUG, \ + RCUTILS_LOG_CONDITION_FUNCTION_BEFORE(function), RCUTILS_LOG_CONDITION_FUNCTION_AFTER, name, \ + __VA_ARGS__) +/** + * \def RCUTILS_LOG_DEBUG_SKIPFIRST + * Log a message with severity DEBUG with the following conditions: + * - The first log call is being ignored but all subsequent calls are being processed. + * + * \note The conditions will only be evaluated if this logging statement is enabled. + * + * \param[in] ... The format string, followed by the variable arguments for the format string + */ +# define RCUTILS_LOG_DEBUG_SKIPFIRST(...) \ + RCUTILS_LOG_COND_NAMED( \ + RCUTILS_LOG_SEVERITY_DEBUG, \ + RCUTILS_LOG_CONDITION_SKIPFIRST_BEFORE, RCUTILS_LOG_CONDITION_SKIPFIRST_AFTER, NULL, \ + __VA_ARGS__) +/** + * \def RCUTILS_LOG_DEBUG_SKIPFIRST_NAMED + * Log a message with severity DEBUG with the following conditions: + * - The first log call is being ignored but all subsequent calls are being processed. + * + * \note The conditions will only be evaluated if this logging statement is enabled. + * + * \param[in] name The name of the logger + * \param[in] ... The format string, followed by the variable arguments for the format string + */ +# define RCUTILS_LOG_DEBUG_SKIPFIRST_NAMED(name, ...) \ + RCUTILS_LOG_COND_NAMED( \ + RCUTILS_LOG_SEVERITY_DEBUG, \ + RCUTILS_LOG_CONDITION_SKIPFIRST_BEFORE, RCUTILS_LOG_CONDITION_SKIPFIRST_AFTER, name, \ + __VA_ARGS__) +/** + * \def RCUTILS_LOG_DEBUG_THROTTLE + * Log a message with severity DEBUG with the following conditions: + * - Log calls are being ignored if the last logged message is not longer ago than the specified duration. + * + * \note The conditions will only be evaluated if this logging statement is enabled. + * + * \param[in] get_time_point_value Function that returns rcutils_ret_t and expects a rcutils_time_point_value_t pointer. + * \param[in] duration The duration of the throttle interval as an integral value in milliseconds. + * \param[in] ... The format string, followed by the variable arguments for the format string + */ +# define RCUTILS_LOG_DEBUG_THROTTLE(get_time_point_value, duration, ...) \ + RCUTILS_LOG_COND_NAMED( \ + RCUTILS_LOG_SEVERITY_DEBUG, \ + RCUTILS_LOG_CONDITION_THROTTLE_BEFORE(get_time_point_value, duration), RCUTILS_LOG_CONDITION_THROTTLE_AFTER, NULL, \ + __VA_ARGS__) +/** + * \def RCUTILS_LOG_DEBUG_SKIPFIRST_THROTTLE + * Log a message with severity DEBUG with the following conditions: + * - The first log call is being ignored but all subsequent calls are being processed. + * - Log calls are being ignored if the last logged message is not longer ago than the specified duration. + * + * \note The conditions will only be evaluated if this logging statement is enabled. + * + * \param[in] get_time_point_value Function that returns rcutils_ret_t and expects a rcutils_time_point_value_t pointer. + * \param[in] duration The duration of the throttle interval as an integral value in milliseconds. + * \param[in] ... The format string, followed by the variable arguments for the format string + */ +# define RCUTILS_LOG_DEBUG_SKIPFIRST_THROTTLE(get_time_point_value, duration, ...) \ + RCUTILS_LOG_COND_NAMED( \ + RCUTILS_LOG_SEVERITY_DEBUG, \ + RCUTILS_LOG_CONDITION_THROTTLE_BEFORE(get_time_point_value, duration) RCUTILS_LOG_CONDITION_SKIPFIRST_BEFORE, RCUTILS_LOG_CONDITION_THROTTLE_AFTER RCUTILS_LOG_CONDITION_SKIPFIRST_AFTER, NULL, \ + __VA_ARGS__) +/** + * \def RCUTILS_LOG_DEBUG_THROTTLE_NAMED + * Log a message with severity DEBUG with the following conditions: + * - Log calls are being ignored if the last logged message is not longer ago than the specified duration. + * + * \note The conditions will only be evaluated if this logging statement is enabled. + * + * \param[in] get_time_point_value Function that returns rcutils_ret_t and expects a rcutils_time_point_value_t pointer. + * \param[in] duration The duration of the throttle interval as an integral value in milliseconds. + * \param[in] name The name of the logger + * \param[in] ... The format string, followed by the variable arguments for the format string + */ +# define RCUTILS_LOG_DEBUG_THROTTLE_NAMED(get_time_point_value, duration, name, ...) \ + RCUTILS_LOG_COND_NAMED( \ + RCUTILS_LOG_SEVERITY_DEBUG, \ + RCUTILS_LOG_CONDITION_THROTTLE_BEFORE(get_time_point_value, duration), RCUTILS_LOG_CONDITION_THROTTLE_AFTER, name, \ + __VA_ARGS__) +/** + * \def RCUTILS_LOG_DEBUG_SKIPFIRST_THROTTLE_NAMED + * Log a message with severity DEBUG with the following conditions: + * - The first log call is being ignored but all subsequent calls are being processed. + * - Log calls are being ignored if the last logged message is not longer ago than the specified duration. + * + * \note The conditions will only be evaluated if this logging statement is enabled. + * + * \param[in] get_time_point_value Function that returns rcutils_ret_t and expects a rcutils_time_point_value_t pointer. + * \param[in] duration The duration of the throttle interval as an integral value in milliseconds. + * \param[in] name The name of the logger + * \param[in] ... The format string, followed by the variable arguments for the format string + */ +# define RCUTILS_LOG_DEBUG_SKIPFIRST_THROTTLE_NAMED(get_time_point_value, duration, name, ...) \ + RCUTILS_LOG_COND_NAMED( \ + RCUTILS_LOG_SEVERITY_DEBUG, \ + RCUTILS_LOG_CONDITION_THROTTLE_BEFORE(get_time_point_value, duration) RCUTILS_LOG_CONDITION_SKIPFIRST_BEFORE, RCUTILS_LOG_CONDITION_THROTTLE_AFTER RCUTILS_LOG_CONDITION_SKIPFIRST_AFTER, name, \ + __VA_ARGS__) +#endif +///@} + +/** @name Logging macros for severity INFO. + */ +///@{ +#if (RCUTILS_LOG_MIN_SEVERITY > RCUTILS_LOG_MIN_SEVERITY_INFO) +// empty logging macros for severity INFO when being disabled at compile time +/// Empty logging macro due to the preprocessor definition of RCUTILS_LOG_MIN_SEVERITY. +# define RCUTILS_LOG_INFO(format, ...) +/// Empty logging macro due to the preprocessor definition of RCUTILS_LOG_MIN_SEVERITY. +# define RCUTILS_LOG_INFO_NAMED(name, format, ...) +/// Empty logging macro due to the preprocessor definition of RCUTILS_LOG_MIN_SEVERITY. +# define RCUTILS_LOG_INFO_ONCE(format, ...) +/// Empty logging macro due to the preprocessor definition of RCUTILS_LOG_MIN_SEVERITY. +# define RCUTILS_LOG_INFO_ONCE_NAMED(name, format, ...) +/// Empty logging macro due to the preprocessor definition of RCUTILS_LOG_MIN_SEVERITY. +# define RCUTILS_LOG_INFO_EXPRESSION(expression, format, ...) +/// Empty logging macro due to the preprocessor definition of RCUTILS_LOG_MIN_SEVERITY. +# define RCUTILS_LOG_INFO_EXPRESSION_NAMED(expression, name, format, ...) +/// Empty logging macro due to the preprocessor definition of RCUTILS_LOG_MIN_SEVERITY. +# define RCUTILS_LOG_INFO_FUNCTION(function, format, ...) +/// Empty logging macro due to the preprocessor definition of RCUTILS_LOG_MIN_SEVERITY. +# define RCUTILS_LOG_INFO_FUNCTION_NAMED(function, name, format, ...) +/// Empty logging macro due to the preprocessor definition of RCUTILS_LOG_MIN_SEVERITY. +# define RCUTILS_LOG_INFO_SKIPFIRST(format, ...) +/// Empty logging macro due to the preprocessor definition of RCUTILS_LOG_MIN_SEVERITY. +# define RCUTILS_LOG_INFO_SKIPFIRST_NAMED(name, format, ...) +/// Empty logging macro due to the preprocessor definition of RCUTILS_LOG_MIN_SEVERITY. +# define RCUTILS_LOG_INFO_THROTTLE(get_time_point_value, duration, format, ...) +/// Empty logging macro due to the preprocessor definition of RCUTILS_LOG_MIN_SEVERITY. +# define RCUTILS_LOG_INFO_SKIPFIRST_THROTTLE(get_time_point_value, duration, format, ...) +/// Empty logging macro due to the preprocessor definition of RCUTILS_LOG_MIN_SEVERITY. +# define RCUTILS_LOG_INFO_THROTTLE_NAMED(get_time_point_value, duration, name, format, ...) +/// Empty logging macro due to the preprocessor definition of RCUTILS_LOG_MIN_SEVERITY. +# define RCUTILS_LOG_INFO_SKIPFIRST_THROTTLE_NAMED(get_time_point_value, duration, name, format, ...) + +#else +/** + * \def RCUTILS_LOG_INFO + * Log a message with severity INFO. + * \param[in] ... The format string, followed by the variable arguments for the format string + */ +# define RCUTILS_LOG_INFO(...) \ + RCUTILS_LOG_COND_NAMED( \ + RCUTILS_LOG_SEVERITY_INFO, \ + RCUTILS_LOG_CONDITION_EMPTY, RCUTILS_LOG_CONDITION_EMPTY, NULL, \ + __VA_ARGS__) +/** + * \def RCUTILS_LOG_INFO_NAMED + * Log a message with severity INFO. + * \param[in] name The name of the logger + * \param[in] ... The format string, followed by the variable arguments for the format string + */ +# define RCUTILS_LOG_INFO_NAMED(name, ...) \ + RCUTILS_LOG_COND_NAMED( \ + RCUTILS_LOG_SEVERITY_INFO, \ + RCUTILS_LOG_CONDITION_EMPTY, RCUTILS_LOG_CONDITION_EMPTY, name, \ + __VA_ARGS__) +/** + * \def RCUTILS_LOG_INFO_ONCE + * Log a message with severity INFO with the following conditions: + * - All subsequent log calls except the first one are being ignored. + * + * \note The conditions will only be evaluated if this logging statement is enabled. + * + * \param[in] ... The format string, followed by the variable arguments for the format string + */ +# define RCUTILS_LOG_INFO_ONCE(...) \ + RCUTILS_LOG_COND_NAMED( \ + RCUTILS_LOG_SEVERITY_INFO, \ + RCUTILS_LOG_CONDITION_ONCE_BEFORE, RCUTILS_LOG_CONDITION_ONCE_AFTER, NULL, \ + __VA_ARGS__) +/** + * \def RCUTILS_LOG_INFO_ONCE_NAMED + * Log a message with severity INFO with the following conditions: + * - All subsequent log calls except the first one are being ignored. + * + * \note The conditions will only be evaluated if this logging statement is enabled. + * + * \param[in] name The name of the logger + * \param[in] ... The format string, followed by the variable arguments for the format string + */ +# define RCUTILS_LOG_INFO_ONCE_NAMED(name, ...) \ + RCUTILS_LOG_COND_NAMED( \ + RCUTILS_LOG_SEVERITY_INFO, \ + RCUTILS_LOG_CONDITION_ONCE_BEFORE, RCUTILS_LOG_CONDITION_ONCE_AFTER, name, \ + __VA_ARGS__) +/** + * \def RCUTILS_LOG_INFO_EXPRESSION + * Log a message with severity INFO with the following conditions: + * - Log calls are being ignored when the expression evaluates to false. + * + * \note The conditions will only be evaluated if this logging statement is enabled. + * + * \param[in] expression The expression determining if the message should be logged + * \param[in] ... The format string, followed by the variable arguments for the format string + */ +# define RCUTILS_LOG_INFO_EXPRESSION(expression, ...) \ + RCUTILS_LOG_COND_NAMED( \ + RCUTILS_LOG_SEVERITY_INFO, \ + RCUTILS_LOG_CONDITION_EXPRESSION_BEFORE(expression), RCUTILS_LOG_CONDITION_EXPRESSION_AFTER, NULL, \ + __VA_ARGS__) +/** + * \def RCUTILS_LOG_INFO_EXPRESSION_NAMED + * Log a message with severity INFO with the following conditions: + * - Log calls are being ignored when the expression evaluates to false. + * + * \note The conditions will only be evaluated if this logging statement is enabled. + * + * \param[in] expression The expression determining if the message should be logged + * \param[in] name The name of the logger + * \param[in] ... The format string, followed by the variable arguments for the format string + */ +# define RCUTILS_LOG_INFO_EXPRESSION_NAMED(expression, name, ...) \ + RCUTILS_LOG_COND_NAMED( \ + RCUTILS_LOG_SEVERITY_INFO, \ + RCUTILS_LOG_CONDITION_EXPRESSION_BEFORE(expression), RCUTILS_LOG_CONDITION_EXPRESSION_AFTER, name, \ + __VA_ARGS__) +/** + * \def RCUTILS_LOG_INFO_FUNCTION + * Log a message with severity INFO with the following conditions: + * - Log calls are being ignored when the function returns false. + * + * \note The conditions will only be evaluated if this logging statement is enabled. + * + * \param[in] function The functions return value determines if the message should be logged + * \param[in] ... The format string, followed by the variable arguments for the format string + */ +# define RCUTILS_LOG_INFO_FUNCTION(function, ...) \ + RCUTILS_LOG_COND_NAMED( \ + RCUTILS_LOG_SEVERITY_INFO, \ + RCUTILS_LOG_CONDITION_FUNCTION_BEFORE(function), RCUTILS_LOG_CONDITION_FUNCTION_AFTER, NULL, \ + __VA_ARGS__) +/** + * \def RCUTILS_LOG_INFO_FUNCTION_NAMED + * Log a message with severity INFO with the following conditions: + * - Log calls are being ignored when the function returns false. + * + * \note The conditions will only be evaluated if this logging statement is enabled. + * + * \param[in] function The functions return value determines if the message should be logged + * \param[in] name The name of the logger + * \param[in] ... The format string, followed by the variable arguments for the format string + */ +# define RCUTILS_LOG_INFO_FUNCTION_NAMED(function, name, ...) \ + RCUTILS_LOG_COND_NAMED( \ + RCUTILS_LOG_SEVERITY_INFO, \ + RCUTILS_LOG_CONDITION_FUNCTION_BEFORE(function), RCUTILS_LOG_CONDITION_FUNCTION_AFTER, name, \ + __VA_ARGS__) +/** + * \def RCUTILS_LOG_INFO_SKIPFIRST + * Log a message with severity INFO with the following conditions: + * - The first log call is being ignored but all subsequent calls are being processed. + * + * \note The conditions will only be evaluated if this logging statement is enabled. + * + * \param[in] ... The format string, followed by the variable arguments for the format string + */ +# define RCUTILS_LOG_INFO_SKIPFIRST(...) \ + RCUTILS_LOG_COND_NAMED( \ + RCUTILS_LOG_SEVERITY_INFO, \ + RCUTILS_LOG_CONDITION_SKIPFIRST_BEFORE, RCUTILS_LOG_CONDITION_SKIPFIRST_AFTER, NULL, \ + __VA_ARGS__) +/** + * \def RCUTILS_LOG_INFO_SKIPFIRST_NAMED + * Log a message with severity INFO with the following conditions: + * - The first log call is being ignored but all subsequent calls are being processed. + * + * \note The conditions will only be evaluated if this logging statement is enabled. + * + * \param[in] name The name of the logger + * \param[in] ... The format string, followed by the variable arguments for the format string + */ +# define RCUTILS_LOG_INFO_SKIPFIRST_NAMED(name, ...) \ + RCUTILS_LOG_COND_NAMED( \ + RCUTILS_LOG_SEVERITY_INFO, \ + RCUTILS_LOG_CONDITION_SKIPFIRST_BEFORE, RCUTILS_LOG_CONDITION_SKIPFIRST_AFTER, name, \ + __VA_ARGS__) +/** + * \def RCUTILS_LOG_INFO_THROTTLE + * Log a message with severity INFO with the following conditions: + * - Log calls are being ignored if the last logged message is not longer ago than the specified duration. + * + * \note The conditions will only be evaluated if this logging statement is enabled. + * + * \param[in] get_time_point_value Function that returns rcutils_ret_t and expects a rcutils_time_point_value_t pointer. + * \param[in] duration The duration of the throttle interval as an integral value in milliseconds. + * \param[in] ... The format string, followed by the variable arguments for the format string + */ +# define RCUTILS_LOG_INFO_THROTTLE(get_time_point_value, duration, ...) \ + RCUTILS_LOG_COND_NAMED( \ + RCUTILS_LOG_SEVERITY_INFO, \ + RCUTILS_LOG_CONDITION_THROTTLE_BEFORE(get_time_point_value, duration), RCUTILS_LOG_CONDITION_THROTTLE_AFTER, NULL, \ + __VA_ARGS__) +/** + * \def RCUTILS_LOG_INFO_SKIPFIRST_THROTTLE + * Log a message with severity INFO with the following conditions: + * - The first log call is being ignored but all subsequent calls are being processed. + * - Log calls are being ignored if the last logged message is not longer ago than the specified duration. + * + * \note The conditions will only be evaluated if this logging statement is enabled. + * + * \param[in] get_time_point_value Function that returns rcutils_ret_t and expects a rcutils_time_point_value_t pointer. + * \param[in] duration The duration of the throttle interval as an integral value in milliseconds. + * \param[in] ... The format string, followed by the variable arguments for the format string + */ +# define RCUTILS_LOG_INFO_SKIPFIRST_THROTTLE(get_time_point_value, duration, ...) \ + RCUTILS_LOG_COND_NAMED( \ + RCUTILS_LOG_SEVERITY_INFO, \ + RCUTILS_LOG_CONDITION_THROTTLE_BEFORE(get_time_point_value, duration) RCUTILS_LOG_CONDITION_SKIPFIRST_BEFORE, RCUTILS_LOG_CONDITION_THROTTLE_AFTER RCUTILS_LOG_CONDITION_SKIPFIRST_AFTER, NULL, \ + __VA_ARGS__) +/** + * \def RCUTILS_LOG_INFO_THROTTLE_NAMED + * Log a message with severity INFO with the following conditions: + * - Log calls are being ignored if the last logged message is not longer ago than the specified duration. + * + * \note The conditions will only be evaluated if this logging statement is enabled. + * + * \param[in] get_time_point_value Function that returns rcutils_ret_t and expects a rcutils_time_point_value_t pointer. + * \param[in] duration The duration of the throttle interval as an integral value in milliseconds. + * \param[in] name The name of the logger + * \param[in] ... The format string, followed by the variable arguments for the format string + */ +# define RCUTILS_LOG_INFO_THROTTLE_NAMED(get_time_point_value, duration, name, ...) \ + RCUTILS_LOG_COND_NAMED( \ + RCUTILS_LOG_SEVERITY_INFO, \ + RCUTILS_LOG_CONDITION_THROTTLE_BEFORE(get_time_point_value, duration), RCUTILS_LOG_CONDITION_THROTTLE_AFTER, name, \ + __VA_ARGS__) +/** + * \def RCUTILS_LOG_INFO_SKIPFIRST_THROTTLE_NAMED + * Log a message with severity INFO with the following conditions: + * - The first log call is being ignored but all subsequent calls are being processed. + * - Log calls are being ignored if the last logged message is not longer ago than the specified duration. + * + * \note The conditions will only be evaluated if this logging statement is enabled. + * + * \param[in] get_time_point_value Function that returns rcutils_ret_t and expects a rcutils_time_point_value_t pointer. + * \param[in] duration The duration of the throttle interval as an integral value in milliseconds. + * \param[in] name The name of the logger + * \param[in] ... The format string, followed by the variable arguments for the format string + */ +# define RCUTILS_LOG_INFO_SKIPFIRST_THROTTLE_NAMED(get_time_point_value, duration, name, ...) \ + RCUTILS_LOG_COND_NAMED( \ + RCUTILS_LOG_SEVERITY_INFO, \ + RCUTILS_LOG_CONDITION_THROTTLE_BEFORE(get_time_point_value, duration) RCUTILS_LOG_CONDITION_SKIPFIRST_BEFORE, RCUTILS_LOG_CONDITION_THROTTLE_AFTER RCUTILS_LOG_CONDITION_SKIPFIRST_AFTER, name, \ + __VA_ARGS__) +#endif +///@} + +/** @name Logging macros for severity WARN. + */ +///@{ +#if (RCUTILS_LOG_MIN_SEVERITY > RCUTILS_LOG_MIN_SEVERITY_WARN) +// empty logging macros for severity WARN when being disabled at compile time +/// Empty logging macro due to the preprocessor definition of RCUTILS_LOG_MIN_SEVERITY. +# define RCUTILS_LOG_WARN(format, ...) +/// Empty logging macro due to the preprocessor definition of RCUTILS_LOG_MIN_SEVERITY. +# define RCUTILS_LOG_WARN_NAMED(name, format, ...) +/// Empty logging macro due to the preprocessor definition of RCUTILS_LOG_MIN_SEVERITY. +# define RCUTILS_LOG_WARN_ONCE(format, ...) +/// Empty logging macro due to the preprocessor definition of RCUTILS_LOG_MIN_SEVERITY. +# define RCUTILS_LOG_WARN_ONCE_NAMED(name, format, ...) +/// Empty logging macro due to the preprocessor definition of RCUTILS_LOG_MIN_SEVERITY. +# define RCUTILS_LOG_WARN_EXPRESSION(expression, format, ...) +/// Empty logging macro due to the preprocessor definition of RCUTILS_LOG_MIN_SEVERITY. +# define RCUTILS_LOG_WARN_EXPRESSION_NAMED(expression, name, format, ...) +/// Empty logging macro due to the preprocessor definition of RCUTILS_LOG_MIN_SEVERITY. +# define RCUTILS_LOG_WARN_FUNCTION(function, format, ...) +/// Empty logging macro due to the preprocessor definition of RCUTILS_LOG_MIN_SEVERITY. +# define RCUTILS_LOG_WARN_FUNCTION_NAMED(function, name, format, ...) +/// Empty logging macro due to the preprocessor definition of RCUTILS_LOG_MIN_SEVERITY. +# define RCUTILS_LOG_WARN_SKIPFIRST(format, ...) +/// Empty logging macro due to the preprocessor definition of RCUTILS_LOG_MIN_SEVERITY. +# define RCUTILS_LOG_WARN_SKIPFIRST_NAMED(name, format, ...) +/// Empty logging macro due to the preprocessor definition of RCUTILS_LOG_MIN_SEVERITY. +# define RCUTILS_LOG_WARN_THROTTLE(get_time_point_value, duration, format, ...) +/// Empty logging macro due to the preprocessor definition of RCUTILS_LOG_MIN_SEVERITY. +# define RCUTILS_LOG_WARN_SKIPFIRST_THROTTLE(get_time_point_value, duration, format, ...) +/// Empty logging macro due to the preprocessor definition of RCUTILS_LOG_MIN_SEVERITY. +# define RCUTILS_LOG_WARN_THROTTLE_NAMED(get_time_point_value, duration, name, format, ...) +/// Empty logging macro due to the preprocessor definition of RCUTILS_LOG_MIN_SEVERITY. +# define RCUTILS_LOG_WARN_SKIPFIRST_THROTTLE_NAMED(get_time_point_value, duration, name, format, ...) + +#else +/** + * \def RCUTILS_LOG_WARN + * Log a message with severity WARN. + * \param[in] ... The format string, followed by the variable arguments for the format string + */ +# define RCUTILS_LOG_WARN(...) \ + RCUTILS_LOG_COND_NAMED( \ + RCUTILS_LOG_SEVERITY_WARN, \ + RCUTILS_LOG_CONDITION_EMPTY, RCUTILS_LOG_CONDITION_EMPTY, NULL, \ + __VA_ARGS__) +/** + * \def RCUTILS_LOG_WARN_NAMED + * Log a message with severity WARN. + * \param[in] name The name of the logger + * \param[in] ... The format string, followed by the variable arguments for the format string + */ +# define RCUTILS_LOG_WARN_NAMED(name, ...) \ + RCUTILS_LOG_COND_NAMED( \ + RCUTILS_LOG_SEVERITY_WARN, \ + RCUTILS_LOG_CONDITION_EMPTY, RCUTILS_LOG_CONDITION_EMPTY, name, \ + __VA_ARGS__) +/** + * \def RCUTILS_LOG_WARN_ONCE + * Log a message with severity WARN with the following conditions: + * - All subsequent log calls except the first one are being ignored. + * + * \note The conditions will only be evaluated if this logging statement is enabled. + * + * \param[in] ... The format string, followed by the variable arguments for the format string + */ +# define RCUTILS_LOG_WARN_ONCE(...) \ + RCUTILS_LOG_COND_NAMED( \ + RCUTILS_LOG_SEVERITY_WARN, \ + RCUTILS_LOG_CONDITION_ONCE_BEFORE, RCUTILS_LOG_CONDITION_ONCE_AFTER, NULL, \ + __VA_ARGS__) +/** + * \def RCUTILS_LOG_WARN_ONCE_NAMED + * Log a message with severity WARN with the following conditions: + * - All subsequent log calls except the first one are being ignored. + * + * \note The conditions will only be evaluated if this logging statement is enabled. + * + * \param[in] name The name of the logger + * \param[in] ... The format string, followed by the variable arguments for the format string + */ +# define RCUTILS_LOG_WARN_ONCE_NAMED(name, ...) \ + RCUTILS_LOG_COND_NAMED( \ + RCUTILS_LOG_SEVERITY_WARN, \ + RCUTILS_LOG_CONDITION_ONCE_BEFORE, RCUTILS_LOG_CONDITION_ONCE_AFTER, name, \ + __VA_ARGS__) +/** + * \def RCUTILS_LOG_WARN_EXPRESSION + * Log a message with severity WARN with the following conditions: + * - Log calls are being ignored when the expression evaluates to false. + * + * \note The conditions will only be evaluated if this logging statement is enabled. + * + * \param[in] expression The expression determining if the message should be logged + * \param[in] ... The format string, followed by the variable arguments for the format string + */ +# define RCUTILS_LOG_WARN_EXPRESSION(expression, ...) \ + RCUTILS_LOG_COND_NAMED( \ + RCUTILS_LOG_SEVERITY_WARN, \ + RCUTILS_LOG_CONDITION_EXPRESSION_BEFORE(expression), RCUTILS_LOG_CONDITION_EXPRESSION_AFTER, NULL, \ + __VA_ARGS__) +/** + * \def RCUTILS_LOG_WARN_EXPRESSION_NAMED + * Log a message with severity WARN with the following conditions: + * - Log calls are being ignored when the expression evaluates to false. + * + * \note The conditions will only be evaluated if this logging statement is enabled. + * + * \param[in] expression The expression determining if the message should be logged + * \param[in] name The name of the logger + * \param[in] ... The format string, followed by the variable arguments for the format string + */ +# define RCUTILS_LOG_WARN_EXPRESSION_NAMED(expression, name, ...) \ + RCUTILS_LOG_COND_NAMED( \ + RCUTILS_LOG_SEVERITY_WARN, \ + RCUTILS_LOG_CONDITION_EXPRESSION_BEFORE(expression), RCUTILS_LOG_CONDITION_EXPRESSION_AFTER, name, \ + __VA_ARGS__) +/** + * \def RCUTILS_LOG_WARN_FUNCTION + * Log a message with severity WARN with the following conditions: + * - Log calls are being ignored when the function returns false. + * + * \note The conditions will only be evaluated if this logging statement is enabled. + * + * \param[in] function The functions return value determines if the message should be logged + * \param[in] ... The format string, followed by the variable arguments for the format string + */ +# define RCUTILS_LOG_WARN_FUNCTION(function, ...) \ + RCUTILS_LOG_COND_NAMED( \ + RCUTILS_LOG_SEVERITY_WARN, \ + RCUTILS_LOG_CONDITION_FUNCTION_BEFORE(function), RCUTILS_LOG_CONDITION_FUNCTION_AFTER, NULL, \ + __VA_ARGS__) +/** + * \def RCUTILS_LOG_WARN_FUNCTION_NAMED + * Log a message with severity WARN with the following conditions: + * - Log calls are being ignored when the function returns false. + * + * \note The conditions will only be evaluated if this logging statement is enabled. + * + * \param[in] function The functions return value determines if the message should be logged + * \param[in] name The name of the logger + * \param[in] ... The format string, followed by the variable arguments for the format string + */ +# define RCUTILS_LOG_WARN_FUNCTION_NAMED(function, name, ...) \ + RCUTILS_LOG_COND_NAMED( \ + RCUTILS_LOG_SEVERITY_WARN, \ + RCUTILS_LOG_CONDITION_FUNCTION_BEFORE(function), RCUTILS_LOG_CONDITION_FUNCTION_AFTER, name, \ + __VA_ARGS__) +/** + * \def RCUTILS_LOG_WARN_SKIPFIRST + * Log a message with severity WARN with the following conditions: + * - The first log call is being ignored but all subsequent calls are being processed. + * + * \note The conditions will only be evaluated if this logging statement is enabled. + * + * \param[in] ... The format string, followed by the variable arguments for the format string + */ +# define RCUTILS_LOG_WARN_SKIPFIRST(...) \ + RCUTILS_LOG_COND_NAMED( \ + RCUTILS_LOG_SEVERITY_WARN, \ + RCUTILS_LOG_CONDITION_SKIPFIRST_BEFORE, RCUTILS_LOG_CONDITION_SKIPFIRST_AFTER, NULL, \ + __VA_ARGS__) +/** + * \def RCUTILS_LOG_WARN_SKIPFIRST_NAMED + * Log a message with severity WARN with the following conditions: + * - The first log call is being ignored but all subsequent calls are being processed. + * + * \note The conditions will only be evaluated if this logging statement is enabled. + * + * \param[in] name The name of the logger + * \param[in] ... The format string, followed by the variable arguments for the format string + */ +# define RCUTILS_LOG_WARN_SKIPFIRST_NAMED(name, ...) \ + RCUTILS_LOG_COND_NAMED( \ + RCUTILS_LOG_SEVERITY_WARN, \ + RCUTILS_LOG_CONDITION_SKIPFIRST_BEFORE, RCUTILS_LOG_CONDITION_SKIPFIRST_AFTER, name, \ + __VA_ARGS__) +/** + * \def RCUTILS_LOG_WARN_THROTTLE + * Log a message with severity WARN with the following conditions: + * - Log calls are being ignored if the last logged message is not longer ago than the specified duration. + * + * \note The conditions will only be evaluated if this logging statement is enabled. + * + * \param[in] get_time_point_value Function that returns rcutils_ret_t and expects a rcutils_time_point_value_t pointer. + * \param[in] duration The duration of the throttle interval as an integral value in milliseconds. + * \param[in] ... The format string, followed by the variable arguments for the format string + */ +# define RCUTILS_LOG_WARN_THROTTLE(get_time_point_value, duration, ...) \ + RCUTILS_LOG_COND_NAMED( \ + RCUTILS_LOG_SEVERITY_WARN, \ + RCUTILS_LOG_CONDITION_THROTTLE_BEFORE(get_time_point_value, duration), RCUTILS_LOG_CONDITION_THROTTLE_AFTER, NULL, \ + __VA_ARGS__) +/** + * \def RCUTILS_LOG_WARN_SKIPFIRST_THROTTLE + * Log a message with severity WARN with the following conditions: + * - The first log call is being ignored but all subsequent calls are being processed. + * - Log calls are being ignored if the last logged message is not longer ago than the specified duration. + * + * \note The conditions will only be evaluated if this logging statement is enabled. + * + * \param[in] get_time_point_value Function that returns rcutils_ret_t and expects a rcutils_time_point_value_t pointer. + * \param[in] duration The duration of the throttle interval as an integral value in milliseconds. + * \param[in] ... The format string, followed by the variable arguments for the format string + */ +# define RCUTILS_LOG_WARN_SKIPFIRST_THROTTLE(get_time_point_value, duration, ...) \ + RCUTILS_LOG_COND_NAMED( \ + RCUTILS_LOG_SEVERITY_WARN, \ + RCUTILS_LOG_CONDITION_THROTTLE_BEFORE(get_time_point_value, duration) RCUTILS_LOG_CONDITION_SKIPFIRST_BEFORE, RCUTILS_LOG_CONDITION_THROTTLE_AFTER RCUTILS_LOG_CONDITION_SKIPFIRST_AFTER, NULL, \ + __VA_ARGS__) +/** + * \def RCUTILS_LOG_WARN_THROTTLE_NAMED + * Log a message with severity WARN with the following conditions: + * - Log calls are being ignored if the last logged message is not longer ago than the specified duration. + * + * \note The conditions will only be evaluated if this logging statement is enabled. + * + * \param[in] get_time_point_value Function that returns rcutils_ret_t and expects a rcutils_time_point_value_t pointer. + * \param[in] duration The duration of the throttle interval as an integral value in milliseconds. + * \param[in] name The name of the logger + * \param[in] ... The format string, followed by the variable arguments for the format string + */ +# define RCUTILS_LOG_WARN_THROTTLE_NAMED(get_time_point_value, duration, name, ...) \ + RCUTILS_LOG_COND_NAMED( \ + RCUTILS_LOG_SEVERITY_WARN, \ + RCUTILS_LOG_CONDITION_THROTTLE_BEFORE(get_time_point_value, duration), RCUTILS_LOG_CONDITION_THROTTLE_AFTER, name, \ + __VA_ARGS__) +/** + * \def RCUTILS_LOG_WARN_SKIPFIRST_THROTTLE_NAMED + * Log a message with severity WARN with the following conditions: + * - The first log call is being ignored but all subsequent calls are being processed. + * - Log calls are being ignored if the last logged message is not longer ago than the specified duration. + * + * \note The conditions will only be evaluated if this logging statement is enabled. + * + * \param[in] get_time_point_value Function that returns rcutils_ret_t and expects a rcutils_time_point_value_t pointer. + * \param[in] duration The duration of the throttle interval as an integral value in milliseconds. + * \param[in] name The name of the logger + * \param[in] ... The format string, followed by the variable arguments for the format string + */ +# define RCUTILS_LOG_WARN_SKIPFIRST_THROTTLE_NAMED(get_time_point_value, duration, name, ...) \ + RCUTILS_LOG_COND_NAMED( \ + RCUTILS_LOG_SEVERITY_WARN, \ + RCUTILS_LOG_CONDITION_THROTTLE_BEFORE(get_time_point_value, duration) RCUTILS_LOG_CONDITION_SKIPFIRST_BEFORE, RCUTILS_LOG_CONDITION_THROTTLE_AFTER RCUTILS_LOG_CONDITION_SKIPFIRST_AFTER, name, \ + __VA_ARGS__) +#endif +///@} + +/** @name Logging macros for severity ERROR. + */ +///@{ +#if (RCUTILS_LOG_MIN_SEVERITY > RCUTILS_LOG_MIN_SEVERITY_ERROR) +// empty logging macros for severity ERROR when being disabled at compile time +/// Empty logging macro due to the preprocessor definition of RCUTILS_LOG_MIN_SEVERITY. +# define RCUTILS_LOG_ERROR(format, ...) +/// Empty logging macro due to the preprocessor definition of RCUTILS_LOG_MIN_SEVERITY. +# define RCUTILS_LOG_ERROR_NAMED(name, format, ...) +/// Empty logging macro due to the preprocessor definition of RCUTILS_LOG_MIN_SEVERITY. +# define RCUTILS_LOG_ERROR_ONCE(format, ...) +/// Empty logging macro due to the preprocessor definition of RCUTILS_LOG_MIN_SEVERITY. +# define RCUTILS_LOG_ERROR_ONCE_NAMED(name, format, ...) +/// Empty logging macro due to the preprocessor definition of RCUTILS_LOG_MIN_SEVERITY. +# define RCUTILS_LOG_ERROR_EXPRESSION(expression, format, ...) +/// Empty logging macro due to the preprocessor definition of RCUTILS_LOG_MIN_SEVERITY. +# define RCUTILS_LOG_ERROR_EXPRESSION_NAMED(expression, name, format, ...) +/// Empty logging macro due to the preprocessor definition of RCUTILS_LOG_MIN_SEVERITY. +# define RCUTILS_LOG_ERROR_FUNCTION(function, format, ...) +/// Empty logging macro due to the preprocessor definition of RCUTILS_LOG_MIN_SEVERITY. +# define RCUTILS_LOG_ERROR_FUNCTION_NAMED(function, name, format, ...) +/// Empty logging macro due to the preprocessor definition of RCUTILS_LOG_MIN_SEVERITY. +# define RCUTILS_LOG_ERROR_SKIPFIRST(format, ...) +/// Empty logging macro due to the preprocessor definition of RCUTILS_LOG_MIN_SEVERITY. +# define RCUTILS_LOG_ERROR_SKIPFIRST_NAMED(name, format, ...) +/// Empty logging macro due to the preprocessor definition of RCUTILS_LOG_MIN_SEVERITY. +# define RCUTILS_LOG_ERROR_THROTTLE(get_time_point_value, duration, format, ...) +/// Empty logging macro due to the preprocessor definition of RCUTILS_LOG_MIN_SEVERITY. +# define RCUTILS_LOG_ERROR_SKIPFIRST_THROTTLE(get_time_point_value, duration, format, ...) +/// Empty logging macro due to the preprocessor definition of RCUTILS_LOG_MIN_SEVERITY. +# define RCUTILS_LOG_ERROR_THROTTLE_NAMED(get_time_point_value, duration, name, format, ...) +/// Empty logging macro due to the preprocessor definition of RCUTILS_LOG_MIN_SEVERITY. +# define RCUTILS_LOG_ERROR_SKIPFIRST_THROTTLE_NAMED(get_time_point_value, duration, name, format, ...) + +#else +/** + * \def RCUTILS_LOG_ERROR + * Log a message with severity ERROR. + * \param[in] ... The format string, followed by the variable arguments for the format string + */ +# define RCUTILS_LOG_ERROR(...) \ + RCUTILS_LOG_COND_NAMED( \ + RCUTILS_LOG_SEVERITY_ERROR, \ + RCUTILS_LOG_CONDITION_EMPTY, RCUTILS_LOG_CONDITION_EMPTY, NULL, \ + __VA_ARGS__) +/** + * \def RCUTILS_LOG_ERROR_NAMED + * Log a message with severity ERROR. + * \param[in] name The name of the logger + * \param[in] ... The format string, followed by the variable arguments for the format string + */ +# define RCUTILS_LOG_ERROR_NAMED(name, ...) \ + RCUTILS_LOG_COND_NAMED( \ + RCUTILS_LOG_SEVERITY_ERROR, \ + RCUTILS_LOG_CONDITION_EMPTY, RCUTILS_LOG_CONDITION_EMPTY, name, \ + __VA_ARGS__) +/** + * \def RCUTILS_LOG_ERROR_ONCE + * Log a message with severity ERROR with the following conditions: + * - All subsequent log calls except the first one are being ignored. + * + * \note The conditions will only be evaluated if this logging statement is enabled. + * + * \param[in] ... The format string, followed by the variable arguments for the format string + */ +# define RCUTILS_LOG_ERROR_ONCE(...) \ + RCUTILS_LOG_COND_NAMED( \ + RCUTILS_LOG_SEVERITY_ERROR, \ + RCUTILS_LOG_CONDITION_ONCE_BEFORE, RCUTILS_LOG_CONDITION_ONCE_AFTER, NULL, \ + __VA_ARGS__) +/** + * \def RCUTILS_LOG_ERROR_ONCE_NAMED + * Log a message with severity ERROR with the following conditions: + * - All subsequent log calls except the first one are being ignored. + * + * \note The conditions will only be evaluated if this logging statement is enabled. + * + * \param[in] name The name of the logger + * \param[in] ... The format string, followed by the variable arguments for the format string + */ +# define RCUTILS_LOG_ERROR_ONCE_NAMED(name, ...) \ + RCUTILS_LOG_COND_NAMED( \ + RCUTILS_LOG_SEVERITY_ERROR, \ + RCUTILS_LOG_CONDITION_ONCE_BEFORE, RCUTILS_LOG_CONDITION_ONCE_AFTER, name, \ + __VA_ARGS__) +/** + * \def RCUTILS_LOG_ERROR_EXPRESSION + * Log a message with severity ERROR with the following conditions: + * - Log calls are being ignored when the expression evaluates to false. + * + * \note The conditions will only be evaluated if this logging statement is enabled. + * + * \param[in] expression The expression determining if the message should be logged + * \param[in] ... The format string, followed by the variable arguments for the format string + */ +# define RCUTILS_LOG_ERROR_EXPRESSION(expression, ...) \ + RCUTILS_LOG_COND_NAMED( \ + RCUTILS_LOG_SEVERITY_ERROR, \ + RCUTILS_LOG_CONDITION_EXPRESSION_BEFORE(expression), RCUTILS_LOG_CONDITION_EXPRESSION_AFTER, NULL, \ + __VA_ARGS__) +/** + * \def RCUTILS_LOG_ERROR_EXPRESSION_NAMED + * Log a message with severity ERROR with the following conditions: + * - Log calls are being ignored when the expression evaluates to false. + * + * \note The conditions will only be evaluated if this logging statement is enabled. + * + * \param[in] expression The expression determining if the message should be logged + * \param[in] name The name of the logger + * \param[in] ... The format string, followed by the variable arguments for the format string + */ +# define RCUTILS_LOG_ERROR_EXPRESSION_NAMED(expression, name, ...) \ + RCUTILS_LOG_COND_NAMED( \ + RCUTILS_LOG_SEVERITY_ERROR, \ + RCUTILS_LOG_CONDITION_EXPRESSION_BEFORE(expression), RCUTILS_LOG_CONDITION_EXPRESSION_AFTER, name, \ + __VA_ARGS__) +/** + * \def RCUTILS_LOG_ERROR_FUNCTION + * Log a message with severity ERROR with the following conditions: + * - Log calls are being ignored when the function returns false. + * + * \note The conditions will only be evaluated if this logging statement is enabled. + * + * \param[in] function The functions return value determines if the message should be logged + * \param[in] ... The format string, followed by the variable arguments for the format string + */ +# define RCUTILS_LOG_ERROR_FUNCTION(function, ...) \ + RCUTILS_LOG_COND_NAMED( \ + RCUTILS_LOG_SEVERITY_ERROR, \ + RCUTILS_LOG_CONDITION_FUNCTION_BEFORE(function), RCUTILS_LOG_CONDITION_FUNCTION_AFTER, NULL, \ + __VA_ARGS__) +/** + * \def RCUTILS_LOG_ERROR_FUNCTION_NAMED + * Log a message with severity ERROR with the following conditions: + * - Log calls are being ignored when the function returns false. + * + * \note The conditions will only be evaluated if this logging statement is enabled. + * + * \param[in] function The functions return value determines if the message should be logged + * \param[in] name The name of the logger + * \param[in] ... The format string, followed by the variable arguments for the format string + */ +# define RCUTILS_LOG_ERROR_FUNCTION_NAMED(function, name, ...) \ + RCUTILS_LOG_COND_NAMED( \ + RCUTILS_LOG_SEVERITY_ERROR, \ + RCUTILS_LOG_CONDITION_FUNCTION_BEFORE(function), RCUTILS_LOG_CONDITION_FUNCTION_AFTER, name, \ + __VA_ARGS__) +/** + * \def RCUTILS_LOG_ERROR_SKIPFIRST + * Log a message with severity ERROR with the following conditions: + * - The first log call is being ignored but all subsequent calls are being processed. + * + * \note The conditions will only be evaluated if this logging statement is enabled. + * + * \param[in] ... The format string, followed by the variable arguments for the format string + */ +# define RCUTILS_LOG_ERROR_SKIPFIRST(...) \ + RCUTILS_LOG_COND_NAMED( \ + RCUTILS_LOG_SEVERITY_ERROR, \ + RCUTILS_LOG_CONDITION_SKIPFIRST_BEFORE, RCUTILS_LOG_CONDITION_SKIPFIRST_AFTER, NULL, \ + __VA_ARGS__) +/** + * \def RCUTILS_LOG_ERROR_SKIPFIRST_NAMED + * Log a message with severity ERROR with the following conditions: + * - The first log call is being ignored but all subsequent calls are being processed. + * + * \note The conditions will only be evaluated if this logging statement is enabled. + * + * \param[in] name The name of the logger + * \param[in] ... The format string, followed by the variable arguments for the format string + */ +# define RCUTILS_LOG_ERROR_SKIPFIRST_NAMED(name, ...) \ + RCUTILS_LOG_COND_NAMED( \ + RCUTILS_LOG_SEVERITY_ERROR, \ + RCUTILS_LOG_CONDITION_SKIPFIRST_BEFORE, RCUTILS_LOG_CONDITION_SKIPFIRST_AFTER, name, \ + __VA_ARGS__) +/** + * \def RCUTILS_LOG_ERROR_THROTTLE + * Log a message with severity ERROR with the following conditions: + * - Log calls are being ignored if the last logged message is not longer ago than the specified duration. + * + * \note The conditions will only be evaluated if this logging statement is enabled. + * + * \param[in] get_time_point_value Function that returns rcutils_ret_t and expects a rcutils_time_point_value_t pointer. + * \param[in] duration The duration of the throttle interval as an integral value in milliseconds. + * \param[in] ... The format string, followed by the variable arguments for the format string + */ +# define RCUTILS_LOG_ERROR_THROTTLE(get_time_point_value, duration, ...) \ + RCUTILS_LOG_COND_NAMED( \ + RCUTILS_LOG_SEVERITY_ERROR, \ + RCUTILS_LOG_CONDITION_THROTTLE_BEFORE(get_time_point_value, duration), RCUTILS_LOG_CONDITION_THROTTLE_AFTER, NULL, \ + __VA_ARGS__) +/** + * \def RCUTILS_LOG_ERROR_SKIPFIRST_THROTTLE + * Log a message with severity ERROR with the following conditions: + * - The first log call is being ignored but all subsequent calls are being processed. + * - Log calls are being ignored if the last logged message is not longer ago than the specified duration. + * + * \note The conditions will only be evaluated if this logging statement is enabled. + * + * \param[in] get_time_point_value Function that returns rcutils_ret_t and expects a rcutils_time_point_value_t pointer. + * \param[in] duration The duration of the throttle interval as an integral value in milliseconds. + * \param[in] ... The format string, followed by the variable arguments for the format string + */ +# define RCUTILS_LOG_ERROR_SKIPFIRST_THROTTLE(get_time_point_value, duration, ...) \ + RCUTILS_LOG_COND_NAMED( \ + RCUTILS_LOG_SEVERITY_ERROR, \ + RCUTILS_LOG_CONDITION_THROTTLE_BEFORE(get_time_point_value, duration) RCUTILS_LOG_CONDITION_SKIPFIRST_BEFORE, RCUTILS_LOG_CONDITION_THROTTLE_AFTER RCUTILS_LOG_CONDITION_SKIPFIRST_AFTER, NULL, \ + __VA_ARGS__) +/** + * \def RCUTILS_LOG_ERROR_THROTTLE_NAMED + * Log a message with severity ERROR with the following conditions: + * - Log calls are being ignored if the last logged message is not longer ago than the specified duration. + * + * \note The conditions will only be evaluated if this logging statement is enabled. + * + * \param[in] get_time_point_value Function that returns rcutils_ret_t and expects a rcutils_time_point_value_t pointer. + * \param[in] duration The duration of the throttle interval as an integral value in milliseconds. + * \param[in] name The name of the logger + * \param[in] ... The format string, followed by the variable arguments for the format string + */ +# define RCUTILS_LOG_ERROR_THROTTLE_NAMED(get_time_point_value, duration, name, ...) \ + RCUTILS_LOG_COND_NAMED( \ + RCUTILS_LOG_SEVERITY_ERROR, \ + RCUTILS_LOG_CONDITION_THROTTLE_BEFORE(get_time_point_value, duration), RCUTILS_LOG_CONDITION_THROTTLE_AFTER, name, \ + __VA_ARGS__) +/** + * \def RCUTILS_LOG_ERROR_SKIPFIRST_THROTTLE_NAMED + * Log a message with severity ERROR with the following conditions: + * - The first log call is being ignored but all subsequent calls are being processed. + * - Log calls are being ignored if the last logged message is not longer ago than the specified duration. + * + * \note The conditions will only be evaluated if this logging statement is enabled. + * + * \param[in] get_time_point_value Function that returns rcutils_ret_t and expects a rcutils_time_point_value_t pointer. + * \param[in] duration The duration of the throttle interval as an integral value in milliseconds. + * \param[in] name The name of the logger + * \param[in] ... The format string, followed by the variable arguments for the format string + */ +# define RCUTILS_LOG_ERROR_SKIPFIRST_THROTTLE_NAMED(get_time_point_value, duration, name, ...) \ + RCUTILS_LOG_COND_NAMED( \ + RCUTILS_LOG_SEVERITY_ERROR, \ + RCUTILS_LOG_CONDITION_THROTTLE_BEFORE(get_time_point_value, duration) RCUTILS_LOG_CONDITION_SKIPFIRST_BEFORE, RCUTILS_LOG_CONDITION_THROTTLE_AFTER RCUTILS_LOG_CONDITION_SKIPFIRST_AFTER, name, \ + __VA_ARGS__) +#endif +///@} + +/** @name Logging macros for severity FATAL. + */ +///@{ +#if (RCUTILS_LOG_MIN_SEVERITY > RCUTILS_LOG_MIN_SEVERITY_FATAL) +// empty logging macros for severity FATAL when being disabled at compile time +/// Empty logging macro due to the preprocessor definition of RCUTILS_LOG_MIN_SEVERITY. +# define RCUTILS_LOG_FATAL(format, ...) +/// Empty logging macro due to the preprocessor definition of RCUTILS_LOG_MIN_SEVERITY. +# define RCUTILS_LOG_FATAL_NAMED(name, format, ...) +/// Empty logging macro due to the preprocessor definition of RCUTILS_LOG_MIN_SEVERITY. +# define RCUTILS_LOG_FATAL_ONCE(format, ...) +/// Empty logging macro due to the preprocessor definition of RCUTILS_LOG_MIN_SEVERITY. +# define RCUTILS_LOG_FATAL_ONCE_NAMED(name, format, ...) +/// Empty logging macro due to the preprocessor definition of RCUTILS_LOG_MIN_SEVERITY. +# define RCUTILS_LOG_FATAL_EXPRESSION(expression, format, ...) +/// Empty logging macro due to the preprocessor definition of RCUTILS_LOG_MIN_SEVERITY. +# define RCUTILS_LOG_FATAL_EXPRESSION_NAMED(expression, name, format, ...) +/// Empty logging macro due to the preprocessor definition of RCUTILS_LOG_MIN_SEVERITY. +# define RCUTILS_LOG_FATAL_FUNCTION(function, format, ...) +/// Empty logging macro due to the preprocessor definition of RCUTILS_LOG_MIN_SEVERITY. +# define RCUTILS_LOG_FATAL_FUNCTION_NAMED(function, name, format, ...) +/// Empty logging macro due to the preprocessor definition of RCUTILS_LOG_MIN_SEVERITY. +# define RCUTILS_LOG_FATAL_SKIPFIRST(format, ...) +/// Empty logging macro due to the preprocessor definition of RCUTILS_LOG_MIN_SEVERITY. +# define RCUTILS_LOG_FATAL_SKIPFIRST_NAMED(name, format, ...) +/// Empty logging macro due to the preprocessor definition of RCUTILS_LOG_MIN_SEVERITY. +# define RCUTILS_LOG_FATAL_THROTTLE(get_time_point_value, duration, format, ...) +/// Empty logging macro due to the preprocessor definition of RCUTILS_LOG_MIN_SEVERITY. +# define RCUTILS_LOG_FATAL_SKIPFIRST_THROTTLE(get_time_point_value, duration, format, ...) +/// Empty logging macro due to the preprocessor definition of RCUTILS_LOG_MIN_SEVERITY. +# define RCUTILS_LOG_FATAL_THROTTLE_NAMED(get_time_point_value, duration, name, format, ...) +/// Empty logging macro due to the preprocessor definition of RCUTILS_LOG_MIN_SEVERITY. +# define RCUTILS_LOG_FATAL_SKIPFIRST_THROTTLE_NAMED(get_time_point_value, duration, name, format, ...) + +#else +/** + * \def RCUTILS_LOG_FATAL + * Log a message with severity FATAL. + * \param[in] ... The format string, followed by the variable arguments for the format string + */ +# define RCUTILS_LOG_FATAL(...) \ + RCUTILS_LOG_COND_NAMED( \ + RCUTILS_LOG_SEVERITY_FATAL, \ + RCUTILS_LOG_CONDITION_EMPTY, RCUTILS_LOG_CONDITION_EMPTY, NULL, \ + __VA_ARGS__) +/** + * \def RCUTILS_LOG_FATAL_NAMED + * Log a message with severity FATAL. + * \param[in] name The name of the logger + * \param[in] ... The format string, followed by the variable arguments for the format string + */ +# define RCUTILS_LOG_FATAL_NAMED(name, ...) \ + RCUTILS_LOG_COND_NAMED( \ + RCUTILS_LOG_SEVERITY_FATAL, \ + RCUTILS_LOG_CONDITION_EMPTY, RCUTILS_LOG_CONDITION_EMPTY, name, \ + __VA_ARGS__) +/** + * \def RCUTILS_LOG_FATAL_ONCE + * Log a message with severity FATAL with the following conditions: + * - All subsequent log calls except the first one are being ignored. + * + * \note The conditions will only be evaluated if this logging statement is enabled. + * + * \param[in] ... The format string, followed by the variable arguments for the format string + */ +# define RCUTILS_LOG_FATAL_ONCE(...) \ + RCUTILS_LOG_COND_NAMED( \ + RCUTILS_LOG_SEVERITY_FATAL, \ + RCUTILS_LOG_CONDITION_ONCE_BEFORE, RCUTILS_LOG_CONDITION_ONCE_AFTER, NULL, \ + __VA_ARGS__) +/** + * \def RCUTILS_LOG_FATAL_ONCE_NAMED + * Log a message with severity FATAL with the following conditions: + * - All subsequent log calls except the first one are being ignored. + * + * \note The conditions will only be evaluated if this logging statement is enabled. + * + * \param[in] name The name of the logger + * \param[in] ... The format string, followed by the variable arguments for the format string + */ +# define RCUTILS_LOG_FATAL_ONCE_NAMED(name, ...) \ + RCUTILS_LOG_COND_NAMED( \ + RCUTILS_LOG_SEVERITY_FATAL, \ + RCUTILS_LOG_CONDITION_ONCE_BEFORE, RCUTILS_LOG_CONDITION_ONCE_AFTER, name, \ + __VA_ARGS__) +/** + * \def RCUTILS_LOG_FATAL_EXPRESSION + * Log a message with severity FATAL with the following conditions: + * - Log calls are being ignored when the expression evaluates to false. + * + * \note The conditions will only be evaluated if this logging statement is enabled. + * + * \param[in] expression The expression determining if the message should be logged + * \param[in] ... The format string, followed by the variable arguments for the format string + */ +# define RCUTILS_LOG_FATAL_EXPRESSION(expression, ...) \ + RCUTILS_LOG_COND_NAMED( \ + RCUTILS_LOG_SEVERITY_FATAL, \ + RCUTILS_LOG_CONDITION_EXPRESSION_BEFORE(expression), RCUTILS_LOG_CONDITION_EXPRESSION_AFTER, NULL, \ + __VA_ARGS__) +/** + * \def RCUTILS_LOG_FATAL_EXPRESSION_NAMED + * Log a message with severity FATAL with the following conditions: + * - Log calls are being ignored when the expression evaluates to false. + * + * \note The conditions will only be evaluated if this logging statement is enabled. + * + * \param[in] expression The expression determining if the message should be logged + * \param[in] name The name of the logger + * \param[in] ... The format string, followed by the variable arguments for the format string + */ +# define RCUTILS_LOG_FATAL_EXPRESSION_NAMED(expression, name, ...) \ + RCUTILS_LOG_COND_NAMED( \ + RCUTILS_LOG_SEVERITY_FATAL, \ + RCUTILS_LOG_CONDITION_EXPRESSION_BEFORE(expression), RCUTILS_LOG_CONDITION_EXPRESSION_AFTER, name, \ + __VA_ARGS__) +/** + * \def RCUTILS_LOG_FATAL_FUNCTION + * Log a message with severity FATAL with the following conditions: + * - Log calls are being ignored when the function returns false. + * + * \note The conditions will only be evaluated if this logging statement is enabled. + * + * \param[in] function The functions return value determines if the message should be logged + * \param[in] ... The format string, followed by the variable arguments for the format string + */ +# define RCUTILS_LOG_FATAL_FUNCTION(function, ...) \ + RCUTILS_LOG_COND_NAMED( \ + RCUTILS_LOG_SEVERITY_FATAL, \ + RCUTILS_LOG_CONDITION_FUNCTION_BEFORE(function), RCUTILS_LOG_CONDITION_FUNCTION_AFTER, NULL, \ + __VA_ARGS__) +/** + * \def RCUTILS_LOG_FATAL_FUNCTION_NAMED + * Log a message with severity FATAL with the following conditions: + * - Log calls are being ignored when the function returns false. + * + * \note The conditions will only be evaluated if this logging statement is enabled. + * + * \param[in] function The functions return value determines if the message should be logged + * \param[in] name The name of the logger + * \param[in] ... The format string, followed by the variable arguments for the format string + */ +# define RCUTILS_LOG_FATAL_FUNCTION_NAMED(function, name, ...) \ + RCUTILS_LOG_COND_NAMED( \ + RCUTILS_LOG_SEVERITY_FATAL, \ + RCUTILS_LOG_CONDITION_FUNCTION_BEFORE(function), RCUTILS_LOG_CONDITION_FUNCTION_AFTER, name, \ + __VA_ARGS__) +/** + * \def RCUTILS_LOG_FATAL_SKIPFIRST + * Log a message with severity FATAL with the following conditions: + * - The first log call is being ignored but all subsequent calls are being processed. + * + * \note The conditions will only be evaluated if this logging statement is enabled. + * + * \param[in] ... The format string, followed by the variable arguments for the format string + */ +# define RCUTILS_LOG_FATAL_SKIPFIRST(...) \ + RCUTILS_LOG_COND_NAMED( \ + RCUTILS_LOG_SEVERITY_FATAL, \ + RCUTILS_LOG_CONDITION_SKIPFIRST_BEFORE, RCUTILS_LOG_CONDITION_SKIPFIRST_AFTER, NULL, \ + __VA_ARGS__) +/** + * \def RCUTILS_LOG_FATAL_SKIPFIRST_NAMED + * Log a message with severity FATAL with the following conditions: + * - The first log call is being ignored but all subsequent calls are being processed. + * + * \note The conditions will only be evaluated if this logging statement is enabled. + * + * \param[in] name The name of the logger + * \param[in] ... The format string, followed by the variable arguments for the format string + */ +# define RCUTILS_LOG_FATAL_SKIPFIRST_NAMED(name, ...) \ + RCUTILS_LOG_COND_NAMED( \ + RCUTILS_LOG_SEVERITY_FATAL, \ + RCUTILS_LOG_CONDITION_SKIPFIRST_BEFORE, RCUTILS_LOG_CONDITION_SKIPFIRST_AFTER, name, \ + __VA_ARGS__) +/** + * \def RCUTILS_LOG_FATAL_THROTTLE + * Log a message with severity FATAL with the following conditions: + * - Log calls are being ignored if the last logged message is not longer ago than the specified duration. + * + * \note The conditions will only be evaluated if this logging statement is enabled. + * + * \param[in] get_time_point_value Function that returns rcutils_ret_t and expects a rcutils_time_point_value_t pointer. + * \param[in] duration The duration of the throttle interval as an integral value in milliseconds. + * \param[in] ... The format string, followed by the variable arguments for the format string + */ +# define RCUTILS_LOG_FATAL_THROTTLE(get_time_point_value, duration, ...) \ + RCUTILS_LOG_COND_NAMED( \ + RCUTILS_LOG_SEVERITY_FATAL, \ + RCUTILS_LOG_CONDITION_THROTTLE_BEFORE(get_time_point_value, duration), RCUTILS_LOG_CONDITION_THROTTLE_AFTER, NULL, \ + __VA_ARGS__) +/** + * \def RCUTILS_LOG_FATAL_SKIPFIRST_THROTTLE + * Log a message with severity FATAL with the following conditions: + * - The first log call is being ignored but all subsequent calls are being processed. + * - Log calls are being ignored if the last logged message is not longer ago than the specified duration. + * + * \note The conditions will only be evaluated if this logging statement is enabled. + * + * \param[in] get_time_point_value Function that returns rcutils_ret_t and expects a rcutils_time_point_value_t pointer. + * \param[in] duration The duration of the throttle interval as an integral value in milliseconds. + * \param[in] ... The format string, followed by the variable arguments for the format string + */ +# define RCUTILS_LOG_FATAL_SKIPFIRST_THROTTLE(get_time_point_value, duration, ...) \ + RCUTILS_LOG_COND_NAMED( \ + RCUTILS_LOG_SEVERITY_FATAL, \ + RCUTILS_LOG_CONDITION_THROTTLE_BEFORE(get_time_point_value, duration) RCUTILS_LOG_CONDITION_SKIPFIRST_BEFORE, RCUTILS_LOG_CONDITION_THROTTLE_AFTER RCUTILS_LOG_CONDITION_SKIPFIRST_AFTER, NULL, \ + __VA_ARGS__) +/** + * \def RCUTILS_LOG_FATAL_THROTTLE_NAMED + * Log a message with severity FATAL with the following conditions: + * - Log calls are being ignored if the last logged message is not longer ago than the specified duration. + * + * \note The conditions will only be evaluated if this logging statement is enabled. + * + * \param[in] get_time_point_value Function that returns rcutils_ret_t and expects a rcutils_time_point_value_t pointer. + * \param[in] duration The duration of the throttle interval as an integral value in milliseconds. + * \param[in] name The name of the logger + * \param[in] ... The format string, followed by the variable arguments for the format string + */ +# define RCUTILS_LOG_FATAL_THROTTLE_NAMED(get_time_point_value, duration, name, ...) \ + RCUTILS_LOG_COND_NAMED( \ + RCUTILS_LOG_SEVERITY_FATAL, \ + RCUTILS_LOG_CONDITION_THROTTLE_BEFORE(get_time_point_value, duration), RCUTILS_LOG_CONDITION_THROTTLE_AFTER, name, \ + __VA_ARGS__) +/** + * \def RCUTILS_LOG_FATAL_SKIPFIRST_THROTTLE_NAMED + * Log a message with severity FATAL with the following conditions: + * - The first log call is being ignored but all subsequent calls are being processed. + * - Log calls are being ignored if the last logged message is not longer ago than the specified duration. + * + * \note The conditions will only be evaluated if this logging statement is enabled. + * + * \param[in] get_time_point_value Function that returns rcutils_ret_t and expects a rcutils_time_point_value_t pointer. + * \param[in] duration The duration of the throttle interval as an integral value in milliseconds. + * \param[in] name The name of the logger + * \param[in] ... The format string, followed by the variable arguments for the format string + */ +# define RCUTILS_LOG_FATAL_SKIPFIRST_THROTTLE_NAMED(get_time_point_value, duration, name, ...) \ + RCUTILS_LOG_COND_NAMED( \ + RCUTILS_LOG_SEVERITY_FATAL, \ + RCUTILS_LOG_CONDITION_THROTTLE_BEFORE(get_time_point_value, duration) RCUTILS_LOG_CONDITION_SKIPFIRST_BEFORE, RCUTILS_LOG_CONDITION_THROTTLE_AFTER RCUTILS_LOG_CONDITION_SKIPFIRST_AFTER, name, \ + __VA_ARGS__) +#endif +///@} + +#ifdef __cplusplus +} +#endif + +#endif // RCUTILS__LOGGING_MACROS_H_ diff --git a/ports/espressif/microros-ext/include/rcutils/rcutils/macros.h b/ports/espressif/microros-ext/include/rcutils/rcutils/macros.h new file mode 100644 index 0000000000000..b6d435f6ae00c --- /dev/null +++ b/ports/espressif/microros-ext/include/rcutils/rcutils/macros.h @@ -0,0 +1,237 @@ +// Copyright 2017 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. + +/// @file + +#ifndef RCUTILS__MACROS_H_ +#define RCUTILS__MACROS_H_ + +#ifdef __cplusplus +extern "C" +{ +#endif + +#include "rcutils/configuration_flags.h" + +#ifndef _WIN32 +/// A macro to make the compiler warn when the return value of a function is not used. +#define RCUTILS_WARN_UNUSED __attribute__((warn_unused_result)) +#else +/// A macro to make the compiler warn when the return value of a function is not used. +#define RCUTILS_WARN_UNUSED _Check_return_ +#endif + +/// \cond Doxygen_Suppress +// This block either sets RCUTILS_THREAD_LOCAL or RCUTILS_THREAD_LOCAL_PTHREAD. +#if defined(RCUTILS_NO_THREAD_SUPPORT) + #define RCUTILS_THREAD_LOCAL +#elif defined _WIN32 || defined __CYGWIN__ +// Windows or Cygwin + #define RCUTILS_THREAD_LOCAL __declspec(thread) +#elif defined __APPLE__ +// Apple OS's + #include + #if TARGET_IPHONE_SIMULATOR || TARGET_OS_IPHONE +// iOS Simulator or iOS device + #include + #if defined(__IPHONE_OS_VERSION_MIN_REQUIRED) + #if __IPHONE_OS_VERSION_MAX_ALLOWED >= 100000 +// iOS >= 10, thread local storage was added in iOS 10 + #define RCUTILS_THREAD_LOCAL _Thread_local + #else +// iOS < 10, no thread local storage, so use pthread instead + #define RCUTILS_THREAD_LOCAL_PTHREAD 1 + #undef RCUTILS_THREAD_LOCAL + #endif + #else + #error "Unknown iOS version" + #endif + #elif TARGET_OS_MAC +// macOS + #define RCUTILS_THREAD_LOCAL _Thread_local + #else + #error "Unknown Apple platform" + #endif +#else +// Some other non-Windows, non-cygwin, non-apple OS + #define RCUTILS_THREAD_LOCAL _Thread_local +#endif + +// Helper macros for nested macro expansion +#define RCUTILS_EXPAND(x) x +#define RCUTILS_STRINGIFY_IMPL(x) #x +#define RCUTILS_STRINGIFY(x) RCUTILS_STRINGIFY_IMPL(x) + +/// A macro to mark an argument or variable as unused. +#define RCUTILS_UNUSED(x) (void)(x) + +#define RCUTILS_JOIN_IMPL(arg1, arg2) arg1 ## arg2 +#define RCUTILS_JOIN(arg1, arg2) RCUTILS_JOIN_IMPL(arg1, arg2) +/// @endcond + +#if defined _WIN32 || defined __CYGWIN__ +/// Macro to annotate printf-like functions on Linux. Disabled on Windows. +#define RCUTILS_ATTRIBUTE_PRINTF_FORMAT(format_string_index, first_to_check_index) +#else +/// Macro to annotate printf-like functions which are relying on a format string and a variable +/// number of arguments. +/** + * This enables GCC to emit warnings if dangerous patterns are detected. + * See GCC documentation for details: + * https://gcc.gnu.org/onlinedocs/gcc/Common-Function-Attributes.html + * + * For the following function: + * ``` + * int snprintf(char *str, size_t size, const char *format, ...); + * ^^^^^^^^^ ^^^^^^^^^^^ ^^^^^^^^^^^^^^^^^^ ^^^ + * ARG 1 ARG 2 ARG 3 ARG 4 + * format string first optional argument + * ``` + * format_string_index value would be 3, first_to_check_index value would be 4. + * + * IMPORTANT: the first argument has an index of ONE (not zero!). + * + * \param[in] format_string_index index of the format string passed to the function + * \param[in] first_to_check_index index of the first "optional argument" + */ +#define RCUTILS_ATTRIBUTE_PRINTF_FORMAT(format_string_index, first_to_check_index) \ + __attribute__ ((format(printf, format_string_index, first_to_check_index))) +#endif // !defined _WIN32 || defined __CYGWIN__ + +/// Macro to declare deprecation in the platform appropriate manner. +#ifndef _WIN32 +# define RCUTILS_DEPRECATED __attribute__((deprecated)) +#else +# define RCUTILS_DEPRECATED __declspec(deprecated) +#endif + +/// Macro to declare deprecation in the platform appropriate manner with a message. +#ifndef _WIN32 +# define RCUTILS_DEPRECATED_WITH_MSG(msg) __attribute__((deprecated(msg))) +#else +# define RCUTILS_DEPRECATED_WITH_MSG(msg) __declspec(deprecated(msg)) +#endif + +// Provide the compiler with branch prediction information +#ifndef _WIN32 +/** + * \def RCUTILS_LIKELY + * Instruct the compiler to optimize for the case where the argument equals 1. + */ +# define RCUTILS_LIKELY(x) __builtin_expect((x), 1) +/** + * \def RCUTILS_UNLIKELY + * Instruct the compiler to optimize for the case where the argument equals 0. + */ +# define RCUTILS_UNLIKELY(x) __builtin_expect((x), 0) +#else +/** + * \def RCUTILS_LIKELY + * No op since Windows doesn't support providing branch prediction information. + */ +# define RCUTILS_LIKELY(x) (x) +/** + * \def RCUTILS_UNLIKELY + * No op since Windows doesn't support providing branch prediction information. + */ +# define RCUTILS_UNLIKELY(x) (x) +#endif // _WIN32 + +// Provide the compiler a hint about an argument being nonnull when possible. +#ifndef _WIN32 +# define RCUTILS_NONNULL __attribute__((__nonnull__)) +# define RCUTILS_NONNULL_ARGS(...) __attribute__((__nonnull__(__VA_ARGS__))) +# define RCUTILS_RETURNS_NONNULL __attribute__((__returns_nonnull__)) +# define RCUTILS_HAS_NONNULL 1 +#else +# define RCUTILS_NONNULL +# define RCUTILS_NONNULL_ARGS(...) +# define RCUTILS_RETURNS_NONNULL +# define RCUTILS_HAS_NONNULL 0 +#endif // _WIN32 + +#if defined RCUTILS_ENABLE_FAULT_INJECTION +#include "rcutils/testing/fault_injection.h" + +/** + * \def RCUTILS_CAN_RETURN_WITH_ERROR_OF + * Indicating macro that the function intends to return possible error value. + * + * Put this macro as the first line in the function. For example: + * + * int rcutils_function_that_can_fail() { + * RCUTILS_CAN_RETURN_WITH_ERROR_OF(RCUTILS_RET_INVALID_ARGUMENT); + * ... // rest of function + * } + * + * For now, this macro just simply calls `RCUTILS_FAULT_INJECTION_MAYBE_RETURN_ERROR` if fault + * injection is enabled. However, for source code, the macro annotation + * `RCUTILS_CAN_RETURN_WITH_ERROR_OF` helps clarify that a function may return a value signifying + * an error and what those are. + * + * In general, you should only include a return value that originates in the function you're + * annotating instead of one that is merely passed on from a called function already annotated with + *`RCUTILS_CAN_RETURN_WITH_ERROR_OF`. If you are passing on return values from a called function, + * but that function is not annotated with `RCUTILS_CAN_RETURN_WITH_ERROR_OF`, then you might + * consider annotating that function first. If for some reason that is not desired or possible, + * then annotate your function as if the return values you are passing on originated from your + * function. + * + * If the function can return multiple return values indicating separate failure types, each one + * should go on a separate line. + * + * If in your function, there are expected effects on output parameters that occur during + * the failure case, then it will introduce a discrepancy between fault injection testing and + * production operation. This is because the fault injection will cause the function to return + * where this macro is used, not at the location the error values are typically returned. To help + * protect against this scenario you may consider adding unit tests that check your function does + * not modify output parameters when it actually returns a failing error code if it's possible for + * your code. + * + * If your function is void, this macro can be used without parameters. However, for the above + * reasoning, there should be no side effects on output parameters for all possible early returns. + * + * \param error_return_value the value returned as a result of an error. It does not need to be + * a rcutils_ret_t type. It could also be NULL, -1, a string error message, etc + */ +# define RCUTILS_CAN_RETURN_WITH_ERROR_OF(error_return_value) \ + RCUTILS_FAULT_INJECTION_MAYBE_RETURN_ERROR(error_return_value); + +/** + * \def RCUTILS_CAN_FAIL_WITH + * Indicating macro similar to RCUTILS_CAN_RETURN_WITH_ERROR_OF but for use with more complicated + * statements. + * + * The `failure_code` will be executed inside a scoped if block, so any variables declared within + * will not be available outside of the macro. + * + * One example where you might need this version, is if a side-effect may occur within a function. + * For example, in snprintf, rcutils_snprintf needs to set both errno and return -1 on failure. + * This macro is used to capture both effects. + * + * \param failure_code Code that is representative of the failure case in this function. + */ +# define RCUTILS_CAN_FAIL_WITH(failure_code) \ + RCUTILS_FAULT_INJECTION_MAYBE_FAIL(failure_code); + +#else +# define RCUTILS_CAN_RETURN_WITH_ERROR_OF(error_return_value) +# define RCUTILS_CAN_FAIL_WITH(failure_code) +#endif // defined RCUTILS_ENABLE_FAULT_INJECTION + +#ifdef __cplusplus +} +#endif + +#endif // RCUTILS__MACROS_H_ diff --git a/ports/espressif/microros-ext/include/rcutils/rcutils/process.h b/ports/espressif/microros-ext/include/rcutils/rcutils/process.h new file mode 100644 index 0000000000000..e1bf6e07e3592 --- /dev/null +++ b/ports/espressif/microros-ext/include/rcutils/rcutils/process.h @@ -0,0 +1,61 @@ +// Copyright 2019 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. + +/// \file + +#ifndef RCUTILS__PROCESS_H_ +#define RCUTILS__PROCESS_H_ + +#ifdef __cplusplus +extern "C" +{ +#endif + +#include "rcutils/allocator.h" +#include "rcutils/macros.h" +#include "rcutils/visibility_control.h" + +/// Retrieve the current process ID. +/** + * This function returns the current process ID, and is always successful. + * + * This function is thread-safe. + * + * \return The current process ID. + */ +RCUTILS_PUBLIC +RCUTILS_WARN_UNUSED +int rcutils_get_pid(void); + +/// Retrieve the current executable name. +/** + * This function portably retrieves the current program name and returns + * a copy of it. + * It is up to the caller to free the memory. + * + * This function is thread-safe. + * + * \param[in] allocator the allocator to use + * \return The program name on success, or + * \return NULL on failure. + */ +RCUTILS_PUBLIC +RCUTILS_WARN_UNUSED +char * rcutils_get_executable_name(rcutils_allocator_t allocator); + +#ifdef __cplusplus +} +#endif + +#endif // RCUTILS__PROCESS_H_ diff --git a/ports/espressif/microros-ext/include/rcutils/rcutils/qsort.h b/ports/espressif/microros-ext/include/rcutils/rcutils/qsort.h new file mode 100644 index 0000000000000..9af8904a1df17 --- /dev/null +++ b/ports/espressif/microros-ext/include/rcutils/rcutils/qsort.h @@ -0,0 +1,53 @@ +// Copyright 2020 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. + +/// \file + +#ifndef RCUTILS__QSORT_H_ +#define RCUTILS__QSORT_H_ + +#ifdef __cplusplus +extern "C" +{ +#endif + +#include "rcutils/macros.h" +#include "rcutils/types/rcutils_ret.h" +#include "rcutils/visibility_control.h" + +/// Interface to qsort with rcutils-style argument validation. +/** + * This function changes the order of the elements in the array so that they + * are in ascending order according to the given comparison function. + * + * This function is thread-safe. + * + * \param[inout] ptr object whose elements should be sorted. + * \param[in] count number of elements present in the object. + * \param[in] size size of each element, in bytes. + * \param[in] comp function used to compare two elements. + * \return #RCUTILS_RET_OK if successful, or + * \return #RCUTILS_RET_INVALID_ARGUMENT for invalid arguments, or + * \return #RCUTILS_RET_ERROR if an unknown error occurs. + */ +RCUTILS_PUBLIC +RCUTILS_WARN_UNUSED +rcutils_ret_t +rcutils_qsort(void * ptr, size_t count, size_t size, int (* comp)(const void *, const void *)); + +#ifdef __cplusplus +} +#endif + +#endif // RCUTILS__QSORT_H_ diff --git a/ports/espressif/microros-ext/include/rcutils/rcutils/repl_str.h b/ports/espressif/microros-ext/include/rcutils/rcutils/repl_str.h new file mode 100644 index 0000000000000..a080b7d16eb42 --- /dev/null +++ b/ports/espressif/microros-ext/include/rcutils/rcutils/repl_str.h @@ -0,0 +1,142 @@ +// Copyright 2015-2016 Laird Shaw +// Copyright 2017 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. + +// This function is based on the repl_str() from (on 2017-04-25): +// +// http://creativeandcritical.net/str-replace-c +// +// It is released under the Public Domain, and has been placed additionally +// under the Apache 2.0 license by me (William Woodall). +// +// It has been modified to take a custom allocator and to fit some of our +// style standards. + +/// \file + +#ifndef RCUTILS__REPL_STR_H_ +#define RCUTILS__REPL_STR_H_ + +#ifdef __cplusplus +extern "C" +{ +#endif + +#include "rcutils/allocator.h" +#include "rcutils/macros.h" +#include "rcutils/visibility_control.h" + +/// Replace all the occurrences of one string for another in the given string. +/** + * Documentation copied from the source with minor tweaks: + * + * ---- + * + * **Description:** + * + * Replaces in the string `str` all the occurrences of the source string `from` + * with the destination string `to`. + * The lengths of the strings `from` and `to` may differ. + * The string `to` may be of any length, but the string `from` must be of + * non-zero length - the penalty for providing an empty string for the `from` + * parameter is an infinite loop. + * In addition, none of the three parameters may be NULL. + * + * **Returns:** + * + * The post-replacement string, or NULL if memory for the new string could not + * be allocated. + * Does not modify the original string. + * The memory for the returned post-replacement string may be deallocated with + * given allocator's deallocate function when it is no longer required. + * + * **Performance:** + * + * In case you are curious enough to want to compare this implementation with + * alternative implementations, you are welcome to compile and run the code in + * the benchmarking file, + * [replacebench.c](http://creativeandcritical.net/downloads/replacebench.c). + * In that file, the above function is included as `replace_cache`, and the + * functions originally published on this page as `replace_str2` and + * `replace_str` are included as `replace_opt2` and `replace_opt`. + * Code/functions are included from the comp.lang.c thread, + * [how to replace a substring in a string using C?] + * (https://groups.google.com/forum/#!msg/comp.lang.c/sgydS2lDgxc/v2MRxRrAQncJ), + * from answers to the stackoverflow question, + * [What is the function to replace string in C?] + * (http://stackoverflow.com/questions/779875/what-is-the-function-to-replace-string-in-c), + * and also from private correspondence. + * See the comments top of file for instructions on compiling and running it. + * + * In most scenarios, the fastest replacement function, by around 10-20%, + * is Albert Chan's `replace_smart`, followed by the above function: + * `repl_str` aka `replace_cache`. + * There are some scenarios, though, where `repl_str` is faster than + * `replace_smart`, sometimes by up to 200%. + * These scenarios involve long strings with few matches. + * Why, if Albert's function is generally slightly faster than the above + * `repl_str` function, is it not the focus of this page? + * Because it generally uses much more memory than `repl_str`. + * + * The third fastest implementation is typically `replace_str2` aka + * `replace_opt2`. + * For longer strings in the case in which the lengths of the "from" and "to" + * strings differ, `repl_str` aka `replace_cache` beats it by margins of up to + * about 80%. + * For smaller strings, and in the case where the lengths of the "from" and + * "to" strings are identical, `replace_str2` aka `replace_opt2` is faster, + * by a maximum margin of about 35%, sometimes in those scenarios beating + * `replace_smart` too. + * Some of the other functions are also faster for smaller strings. + * The even-match point between `replace_str2` and `repl_str` + * (assuming "from" and "to" string lengths differ) depends on how far into + * the string the final match occurs, how many matches there are, and the + * comparative lengths of the old and "to" strings, but roughly it occurs for + * strings of 700-800 bytes in length. + * + * This analysis is based on compiling with [GCC](https://gcc.gnu.org/) and + * testing on a 64-bit Intel platform running Linux, however brief testing with + * [Microsoft Visual C++ 2010 Express] + * (https://www.visualstudio.com/en-US/products/visual-studio-express-vs) + * (scroll down to "Additional information" at that link) on Windows 7 seemed + * to produce similar results. + * + * ---- + * + * Here continues additional documentation added by OSRF. + * + * The allocator must not be NULL. + * + * \param[in] str string to have substrings found and replaced within + * \param[in] from string to match for replacement + * \param[in] to string to replace matched strings with + * \param[in] allocator structure defining functions to be used for allocation + * \return duplicated `str` with all matches of `from` replaced with `to`. + */ +RCUTILS_PUBLIC +RCUTILS_WARN_UNUSED +char * +rcutils_repl_str( + const char * str, + const char * from, + const char * to, + const rcutils_allocator_t * allocator); + +// Implementation copied from above mentioned source continues in repl_str.c. + +#ifdef __cplusplus +} +#endif + +#endif // RCUTILS__REPL_STR_H_ diff --git a/ports/espressif/microros-ext/include/rcutils/rcutils/security_directory.h b/ports/espressif/microros-ext/include/rcutils/rcutils/security_directory.h new file mode 100644 index 0000000000000..9d2c68067f627 --- /dev/null +++ b/ports/espressif/microros-ext/include/rcutils/rcutils/security_directory.h @@ -0,0 +1,67 @@ +// 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. + +#ifndef RCUTILS__SECURITY_DIRECTORY_H_ +#define RCUTILS__SECURITY_DIRECTORY_H_ + +#ifdef __cplusplus +extern "C" +{ +#endif + +#include "rcutils/allocator.h" +#include "rcutils/visibility_control.h" + +#ifndef ROS_SECURITY_NODE_DIRECTORY_VAR_NAME + #define ROS_SECURITY_NODE_DIRECTORY_VAR_NAME "ROS_SECURITY_NODE_DIRECTORY" +#endif + +#ifndef ROS_SECURITY_ROOT_DIRECTORY_VAR_NAME + #define ROS_SECURITY_ROOT_DIRECTORY_VAR_NAME "ROS_SECURITY_ROOT_DIRECTORY" +#endif + +#ifndef ROS_SECURITY_LOOKUP_TYPE_VAR_NAME + #define ROS_SECURITY_LOOKUP_TYPE_VAR_NAME "ROS_SECURITY_LOOKUP_TYPE" +#endif + +/// Return the secure root directory associated with a node given its validated name and namespace. +/** + * E.g. for a node named "c" in namespace "/a/b", the secure root path will be + * "a/b/c", where the delimiter "/" is native for target file system (e.g. "\\" for _WIN32). + * If no exact match is found for the node name, a best match would be used instead + * (by performing longest-prefix matching). + * + * However, this expansion can be overridden by setting the secure node directory environment + * variable, allowing users to explicitly specify the exact secure root directory to be utilized. + * Such an override is useful for where the FQN of a node is non-deterministic before runtime, + * or when testing and using additional tools that may not otherwise be easily provisioned. + * + * \param[in] node_name validated node name (a single token) + * \param[in] node_namespace validated, absolute namespace (starting with "/") + * \param[in] allocator the allocator to use for allocation + * \returns machine specific (absolute) node secure root path or NULL on failure + * returned pointer must be deallocated by the caller of this function + */ +RCUTILS_PUBLIC +char * rcutils_get_secure_root( + const char * node_name, + const char * node_namespace, + const rcutils_allocator_t * allocator +); + +#ifdef __cplusplus +} +#endif + +#endif // RCUTILS__SECURITY_DIRECTORY_H_ diff --git a/ports/espressif/microros-ext/include/rcutils/rcutils/sha256.h b/ports/espressif/microros-ext/include/rcutils/rcutils/sha256.h new file mode 100644 index 0000000000000..546622a2d8141 --- /dev/null +++ b/ports/espressif/microros-ext/include/rcutils/rcutils/sha256.h @@ -0,0 +1,100 @@ +// 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. + +/** \file sha256.h + * \brief SHA256 implementation + * + * This contains an implementation of the SHA256 algorithm + * It was originally copied from Brad Conte + * https://github.com/B-Con/crypto-algorithms/blob/master/sha256.c + * and modified to meet ros2 code formatting and compiler warning requirements. + * Algorithm specification can be found here: + * http://csrc.nist.gov/publications/fips/fips180-2/fips180-2withchangenotice.pdf + * This implementation uses little endian byte order. + * This implementation makes no security guarantees, its use case if for + * non-sensitive comparison of message digests. + */ + +#ifndef RCUTILS__SHA256_H_ +#define RCUTILS__SHA256_H_ + +#ifdef __cplusplus +extern "C" +{ +#endif + +#include +#include + +#include "rcutils/visibility_control.h" + +#define RCUTILS_SHA256_BLOCK_SIZE 32 + +typedef struct RCUTILS_PUBLIC_TYPE rcutils_sha256_ctx_s +{ + uint8_t data[64]; + size_t datalen; + uint64_t bitlen; + uint32_t state[8]; +} rcutils_sha256_ctx_t; + +/// Initialize the sha256 algorithm context with starting state. +/** + * Call this on any new context before starting to input data. + * + * \param[inout] ctx + * \return void + */ +RCUTILS_PUBLIC +void rcutils_sha256_init(rcutils_sha256_ctx_t * ctx); + +/// Add data to the sha256 algorithm +/** + * This may be called repeatedly on an initialized context. + * + * \param[inout] ctx Initialized sha256 context struct + * \param[in] data Data to add to the total message being hashed + * \param[in] data_len Size of the input data. + * \return void + */ +RCUTILS_PUBLIC +void rcutils_sha256_update(rcutils_sha256_ctx_t * ctx, const uint8_t * data, size_t data_len); + +/// Finalize and output sha256 hash for all data added. +/** + * Call only once on a context that has been initialized, and optionally updated with data. + * + * \param[inout] ctx Initialized sha256 context struct + * \param[out] output_hash Calculated sha256 message digest to be filled + * \return void + */ +#ifdef DOXYGEN_ONLY +// One of the tools used by rosdoc2 misunderstands uint8_t[] as a uint8_t, +// so make it a pointer for documentation purposes. +RCUTILS_PUBLIC +void rcutils_sha256_final( + rcutils_sha256_ctx_t * ctx, + uint8_t * output_hash); +#else +RCUTILS_PUBLIC +void rcutils_sha256_final( + rcutils_sha256_ctx_t * ctx, + uint8_t output_hash[RCUTILS_SHA256_BLOCK_SIZE]); +#endif + +#ifdef __cplusplus +} +#endif + +#endif // RCUTILS__SHA256_H_ diff --git a/ports/espressif/microros-ext/include/rcutils/rcutils/shared_library.h b/ports/espressif/microros-ext/include/rcutils/rcutils/shared_library.h new file mode 100644 index 0000000000000..996e0855d0acd --- /dev/null +++ b/ports/espressif/microros-ext/include/rcutils/rcutils/shared_library.h @@ -0,0 +1,166 @@ +// Copyright 2020 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. + +/// \file + +#ifndef RCUTILS__SHARED_LIBRARY_H_ +#define RCUTILS__SHARED_LIBRARY_H_ + +#ifdef __cplusplus +extern "C" +{ +#endif + +#include + +#include "rcutils/allocator.h" +#include "rcutils/types/rcutils_ret.h" +#include "rcutils/macros.h" +#include "rcutils/visibility_control.h" + +/// Handle to a loaded shared library. +typedef struct RCUTILS_PUBLIC_TYPE rcutils_shared_library_s +{ + /// The platform-specific pointer to the shared library + void * lib_pointer; + /// The path of the shared_library + char * library_path; + /// allocator + rcutils_allocator_t allocator; +} rcutils_shared_library_t; + +/// Return an empty shared library struct. +/** + * This function returns an empty and zero initialized shared library struct. + * + * Example: + * + * ```c + * // Do not do this: + * // rcutils_shared_library_t foo; + * // rcutils_ret_t ret = rcutils_load_shared_library( + * // &foo, + * // "library_name", + * // rcutils_get_default_allocator()); // undefined behavior! + * // or + * // rcutils_ret_t ret = rcutils_unload_shared_library(&foo); // undefined behavior! + * + * // Do this instead: + * rcutils_shared_library_t bar = rcutils_get_zero_initialized_shared_library(); + * rcutils_load_shared_library(&bar, "library_name", rcutils_get_default_allocator()); // ok + * void * symbol = rcutils_get_symbol(&bar, "bazinga"); // ok + * bool is_bazinga_symbol = rcutils_has_symbol(&bar, "bazinga"); // ok + * rcutils_ret_t ret = rcutils_unload_shared_library(&bar); // ok + * if (ret != RCUTILS_RET_ERROR) { + * // error handling + * } + * ``` + * */ +RCUTILS_PUBLIC +RCUTILS_WARN_UNUSED +rcutils_shared_library_t +rcutils_get_zero_initialized_shared_library(void); + +/// Return shared library pointer. +/** + * \param[inout] lib struct with the shared library pointer and shared library path name + * \param[in] library_path string with the path of the library + * \param[in] allocator to be used to allocate and deallocate memory + * \return #RCUTILS_RET_OK if successful, or + * \return #RCUTILS_RET_BAD_ALLOC if memory allocation fails, or + * \return #RCUTILS_RET_ERROR if an unknown error occurs, or + * \return #RCUTILS_RET_INVALID_ARGUMENT for invalid arguments. + */ +RCUTILS_PUBLIC +RCUTILS_WARN_UNUSED +rcutils_ret_t +rcutils_load_shared_library( + rcutils_shared_library_t * lib, + const char * library_path, + rcutils_allocator_t allocator); + +/// Return shared library symbol pointer. +/** + * \param[in] lib struct with the shared library pointer and shared library path name + * \param[in] symbol_name name of the symbol inside the shared library + * \return shared library symbol pointer, or + * \return `NULL` if the symbol doesn't exist. + */ +RCUTILS_PUBLIC +RCUTILS_WARN_UNUSED +void * +rcutils_get_symbol(const rcutils_shared_library_t * lib, const char * symbol_name); + +/// Return true if the shared library contains a specific symbol name otherwise returns false. +/** + * \param[in] lib struct with the shared library pointer and shared library path name + * \param[in] symbol_name name of the symbol inside the shared library + * \return `true` if the symbol exists, or + * \return `false` otherwise. + */ +RCUTILS_PUBLIC +RCUTILS_WARN_UNUSED +bool +rcutils_has_symbol(const rcutils_shared_library_t * lib, const char * symbol_name); + +/// Unload the shared library. +/** + * \param[in] lib rcutils_shared_library_t to be finalized + * \return #RCUTILS_RET_OK if successful, or + * \return #RCUTILS_RET_INVALID_ARGUMENT for invalid arguments, or + * \return #RCUTILS_RET_ERROR if an unknown error occurs + */ +RCUTILS_PUBLIC +RCUTILS_WARN_UNUSED +rcutils_ret_t +rcutils_unload_shared_library(rcutils_shared_library_t * lib); + +/// Check if the library is loaded. +/** + * This function only determines if "unload" has been called on the current shared library handle. + * It could very well be that a second shared library handle is still open and therefore the library + * being loaded. + * \param[in] lib rcutils_shared_library_t to check + * \return `true` if library is loaded, or + * \return `false` otherwise. + */ +RCUTILS_PUBLIC +RCUTILS_WARN_UNUSED +bool +rcutils_is_shared_library_loaded(rcutils_shared_library_t * lib); + +/// Get the library name for the compiled platform +/** + * \param[in] library_name library base name (without prefix and extension) + * \param[out] library_name_platform library name for the compiled platform + * \param[in] buffer_size size of library_name_platform buffer + * \param[in] debug if true the library will return a debug library name, otherwise + * it returns a normal library path + * \return #RCUTILS_RET_OK if successful, or + * \return #RCUTILS_RET_ERROR if an unknown error occurs + */ +RCUTILS_PUBLIC +RCUTILS_WARN_UNUSED +rcutils_ret_t +rcutils_get_platform_library_name( + const char * library_name, + char * library_name_platform, + unsigned int buffer_size, + bool debug); + +#ifdef __cplusplus +} +#endif + +#endif // RCUTILS__SHARED_LIBRARY_H_ diff --git a/ports/espressif/microros-ext/include/rcutils/rcutils/snprintf.h b/ports/espressif/microros-ext/include/rcutils/rcutils/snprintf.h new file mode 100644 index 0000000000000..53a102017b1fc --- /dev/null +++ b/ports/espressif/microros-ext/include/rcutils/rcutils/snprintf.h @@ -0,0 +1,75 @@ +// Copyright 2017 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. + +/// \file + +#ifndef RCUTILS__SNPRINTF_H_ +#define RCUTILS__SNPRINTF_H_ + +#ifdef __cplusplus +extern "C" +{ +#endif + +#include +#include + +#include "rcutils/macros.h" +#include "rcutils/visibility_control.h" + +/// Format a string. +/** + * This function just wraps snprintf() as defined in C11 in a portable way. + * + * On Windows this defaults to the _TRUNCATE behavior of _snprintf_s(), but + * only returns -1 if errno is not 0. + * Unlike _snprintf_s() which returns -1 when truncation occurs, this function + * behaves like snprintf() (http://en.cppreference.com/w/cpp/io/c/fprintf): + * + * > Number of characters written if successful or negative value if an error + * > occurred. + * > If the resulting string gets truncated due to buf_size limit, function + * > returns the total number of characters (not including the terminating + * > null-byte) which would have been written, if the limit was not imposed. + * + * If `NULL` and `0` are given for buffer and buffer_size respectively, the + * size of the string that would be generated is returned. + * Either snprintf() or _vscprintf() is used to calculate this value. + * + * \see snprintf() + * \see _snprintf_s() + * \return the number of bytes that would have been written given enough space, or + * \return a negative number if there is an error, but unlike _snprintf_s(), + * -1 is not returned if there is truncation. + */ +RCUTILS_PUBLIC +RCUTILS_WARN_UNUSED +int +rcutils_snprintf(char * buffer, size_t buffer_size, const char * format, ...) +/// @cond Doxygen_Suppress +RCUTILS_ATTRIBUTE_PRINTF_FORMAT(3, 4) +/// @endcond +; + +/// Format a string with va_list for arguments, see rcutils_snprintf(). +RCUTILS_PUBLIC +RCUTILS_WARN_UNUSED +int +rcutils_vsnprintf(char * buffer, size_t buffer_size, const char * format, va_list args); + +#ifdef __cplusplus +} +#endif + +#endif // RCUTILS__SNPRINTF_H_ diff --git a/ports/espressif/microros-ext/include/rcutils/rcutils/split.h b/ports/espressif/microros-ext/include/rcutils/rcutils/split.h new file mode 100644 index 0000000000000..ec62f772c25d8 --- /dev/null +++ b/ports/espressif/microros-ext/include/rcutils/rcutils/split.h @@ -0,0 +1,69 @@ +// Copyright 2017 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. + +/// \file + +#ifndef RCUTILS__SPLIT_H_ +#define RCUTILS__SPLIT_H_ + +#ifdef __cplusplus +extern "C" +{ +#endif + +#include "rcutils/allocator.h" +#include "rcutils/types.h" +#include "rcutils/visibility_control.h" + +/// Split a given string with the specified delimiter +/** + * \param[in] str string to split + * \param[in] delimiter on where to split + * \param[in] allocator for allocating new memory for the output array + * \param[out] string_array with the split tokens + * \return #RCUTILS_RET_OK if successful, or + * \return #RCUTILS_RET_INVALID_ARGUMENT for invalid arguments, or + * \return #RCUTILS_RET_BAD_ALLOC if memory allocation fails, or + * \return #RCUTILS_RET_ERROR if an unknown error occurs + */ +RCUTILS_PUBLIC +rcutils_ret_t +rcutils_split( + const char * str, + char delimiter, + rcutils_allocator_t allocator, + rcutils_string_array_t * string_array); + +/// Split a given string on the last occurrence of the specified delimiter +/** + * \param[in] str string to split + * \param[in] delimiter on where to split + * \param[in] allocator for allocating new memory for the output array + * \param[out] string_array with the split tokens + * \return #RCUTILS_RET_OK if successful, or + * \return #RCUTILS_RET_ERROR if an unknown error occurs + */ +RCUTILS_PUBLIC +rcutils_ret_t +rcutils_split_last( + const char * str, + char delimiter, + rcutils_allocator_t allocator, + rcutils_string_array_t * string_array); + +#ifdef __cplusplus +} +#endif + +#endif // RCUTILS__SPLIT_H_ diff --git a/ports/espressif/microros-ext/include/rcutils/rcutils/stdatomic_helper.h b/ports/espressif/microros-ext/include/rcutils/rcutils/stdatomic_helper.h new file mode 100644 index 0000000000000..2c39e71da9273 --- /dev/null +++ b/ports/espressif/microros-ext/include/rcutils/rcutils/stdatomic_helper.h @@ -0,0 +1,180 @@ +// Copyright 2015 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. + +#ifndef RCUTILS__STDATOMIC_HELPER_H_ +#define RCUTILS__STDATOMIC_HELPER_H_ + +#include +#include +#include + +// disable unused function warnings within this file, due to inline in a header +#if !defined(_WIN32) +# pragma GCC diagnostic push +# if defined(__clang__) +# pragma clang diagnostic ignored "-Wunused-function" +# endif +#endif + +#if !defined(_WIN32) + +// The my__has_feature avoids a preprocessor error when you check for it and +// use it on the same line below. +#if defined(__has_feature) +#define my__has_feature __has_feature +#else +#define my__has_feature(x) 0 +#endif + +#if !defined(__clang__) && defined(__GNUC__) && __GNUC__ <= 4 && __GNUC_MINOR__ <= 9 +// If GCC and below GCC-4.9, use the compatability header. +# include "stdatomic_helper/gcc/stdatomic.h" +#else // !defined(__clang__) && defined(__GNUC__) && __GNUC__ <= 4 && __GNUC_MINOR__ <= 9 +# if __cplusplus +// NOLINTNEXTLINE +# error "cannot be used with C++ due to a conflict with the C++ header, see: p0943r1" +// See: http://www.open-std.org/jtc1/sc22/wg21/docs/papers/2018/p0943r1.html" +# else +# if defined(__has_feature) && !my__has_feature(c_atomic) +// If Clang and no c_atomics (true for some older versions), use the compatability header. +# include "stdatomic_helper/gcc/stdatomic.h" +# else +# include +# endif +# endif +#endif // !defined(__clang__) && defined(__GNUC__) && __GNUC__ <= 4 && __GNUC_MINOR__ <= 9 + +#define rcutils_atomic_load(object, out) (out) = atomic_load(object) + +#define rcutils_atomic_compare_exchange_strong(object, out, expected, desired) \ + (out) = atomic_compare_exchange_strong(object, expected, desired) + +#define rcutils_atomic_exchange(object, out, desired) (out) = atomic_exchange(object, desired) + +#define rcutils_atomic_store(object, desired) atomic_store(object, desired) + +#define rcutils_atomic_fetch_add(object, out, arg) (out) = atomic_fetch_add(object, arg) + +#else // !defined(_WIN32) + +#include "./stdatomic_helper/win32/stdatomic.h" + +#define rcutils_atomic_load(object, out) rcutils_win32_atomic_load(object, out) + +#define rcutils_atomic_compare_exchange_strong(object, out, expected, desired) \ + rcutils_win32_atomic_compare_exchange_strong(object, out, expected, desired) + +#define rcutils_atomic_exchange(object, out, desired) \ + rcutils_win32_atomic_exchange(object, out, desired) + +#define rcutils_atomic_store(object, desired) rcutils_win32_atomic_store(object, desired) + +#define rcutils_atomic_fetch_add(object, out, arg) rcutils_win32_atomic_fetch_add(object, out, arg) + +#endif // !defined(_WIN32) + +static inline bool +rcutils_atomic_load_bool(atomic_bool * a_bool) +{ + bool result = false; + rcutils_atomic_load(a_bool, result); + return result; +} + +static inline int64_t +rcutils_atomic_load_int64_t(atomic_int_least64_t * a_int64_t) +{ + int64_t result = 0; + rcutils_atomic_load(a_int64_t, result); + return result; +} + +static inline uint64_t +rcutils_atomic_load_uint64_t(atomic_uint_least64_t * a_uint64_t) +{ + uint64_t result = 0; + rcutils_atomic_load(a_uint64_t, result); + return result; +} + +static inline uintptr_t +rcutils_atomic_load_uintptr_t(atomic_uintptr_t * a_uintptr_t) +{ + uintptr_t result = 0; + rcutils_atomic_load(a_uintptr_t, result); + return result; +} + +static inline bool +rcutils_atomic_compare_exchange_strong_uint_least64_t( + atomic_uint_least64_t * a_uint_least64_t, uint64_t * expected, uint64_t desired) +{ + bool result; +#if defined(__clang__) +# pragma clang diagnostic push + // we know it's a gnu feature, but clang supports it, so suppress pedantic warning +# pragma clang diagnostic ignored "-Wgnu-statement-expression" +#endif + rcutils_atomic_compare_exchange_strong(a_uint_least64_t, result, expected, desired); +#if defined(__clang__) +# pragma clang diagnostic pop +#endif + return result; +} + +static inline bool +rcutils_atomic_exchange_bool(atomic_bool * a_bool, bool desired) +{ + bool result; + rcutils_atomic_exchange(a_bool, result, desired); + return result; +} + +static inline int64_t +rcutils_atomic_exchange_int64_t(atomic_int_least64_t * a_int64_t, int64_t desired) +{ + int64_t result; + rcutils_atomic_exchange(a_int64_t, result, desired); + return result; +} + +static inline uint64_t +rcutils_atomic_exchange_uint64_t(atomic_uint_least64_t * a_uint64_t, uint64_t desired) +{ + uint64_t result; + rcutils_atomic_exchange(a_uint64_t, result, desired); + return result; +} + +static inline uintptr_t +rcutils_atomic_exchange_uintptr_t(atomic_uintptr_t * a_uintptr_t, uintptr_t desired) +{ + uintptr_t result; + rcutils_atomic_exchange(a_uintptr_t, result, desired); + return result; +} + +static inline uint64_t +rcutils_atomic_fetch_add_uint64_t(atomic_uint_least64_t * a_uint64_t, uint64_t arg) +{ + uint64_t result; + rcutils_atomic_fetch_add(a_uint64_t, result, arg); + return result; +} + +#if !defined(_WIN32) +# pragma GCC diagnostic pop +#endif + +#endif // RCUTILS__STDATOMIC_HELPER_H_ diff --git a/ports/espressif/microros-ext/include/rcutils/rcutils/stdatomic_helper/gcc/stdatomic.h b/ports/espressif/microros-ext/include/rcutils/rcutils/stdatomic_helper/gcc/stdatomic.h new file mode 100644 index 0000000000000..e853dec493775 --- /dev/null +++ b/ports/espressif/microros-ext/include/rcutils/rcutils/stdatomic_helper/gcc/stdatomic.h @@ -0,0 +1,400 @@ +// Copyright 2015 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. + +/* This file was taken from: + * https://gist.github.com/nhatminhle/5181506 + * It is a modification of the FreeBSD stdatomic header with some modifications + * so that it will work with gcc 4.7+ and Clang 3.1+. + * The original FreeBSD header can be found here: + * https://github.com/freebsd/freebsd/blob/release/10.2.0/sys/sys/stdatomic.h + */ + +// *INDENT-OFF* (disable uncrustify) + +/**** Start included file. ****/ + +/* + * An implementation of C11 stdatomic.h directly borrowed from FreeBSD + * (original copyright follows), with minor modifications for + * portability to other systems. Works for recent Clang (that + * implement the feature c_atomic) and GCC 4.7+; includes + * compatibility for GCC below 4.7 but I wouldn't recommend it. + * + * Caveats and limitations: + * - Only the ``_Atomic parentheses'' notation is implemented, while + * the ``_Atomic space'' one is not. + * - _Atomic types must be typedef'ed, or programs using them will + * not type check correctly (incompatible anonymous structure + * types). + * - Non-scalar _Atomic types would require runtime support for + * runtime locking, which, as far as I know, is not currently + * available on any system. + */ + +/*- + * Copyright (c) 2011 Ed Schouten + * David Chisnall + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE AUTHOR AND CONTRIBUTORS ``AS IS'' AND + * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + * ARE DISCLAIMED. IN NO EVENT SHALL THE AUTHOR OR CONTRIBUTORS BE LIABLE + * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL + * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS + * OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) + * HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY + * OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF + * SUCH DAMAGE. + * + * $FreeBSD: src/include/stdatomic.h,v 1.10.2.2 2012/05/30 19:21:54 theraven Exp $ + */ + +#ifndef _STDATOMIC_H_ // NOLINT +#define _STDATOMIC_H_ + +#ifdef __cplusplus +// This will suppress warnings about _Bool not being defined. +typedef bool _Bool; +#endif + +#include +#include + +#if !defined(__has_feature) +#define __has_feature(x) 0 +#endif +#if !defined(__has_builtin) +#define __has_builtin(x) 0 +#endif +#if !defined(__GNUC_PREREQ__) +#if defined(__GNUC__) && defined(__GNUC_MINOR__) +#define __GNUC_PREREQ__(maj, min) \ + ((__GNUC__ << 16) + __GNUC_MINOR__ >= ((maj) << 16) + (min)) +#else +#define __GNUC_PREREQ__(maj, min) 0 +#endif +#endif + +#if !defined(__CLANG_ATOMICS) && !defined(__GNUC_ATOMICS) +#if __has_feature(c_atomic) +#define __CLANG_ATOMICS +#elif __GNUC_PREREQ__(4, 7) +#define __GNUC_ATOMICS +#elif !defined(__GNUC__) +#error "stdatomic.h does not support your compiler" +#endif +#endif + +#if !defined(__CLANG_ATOMICS) +#define _Atomic(T) struct { volatile __typeof__(T) __val; } +#endif + +/* + * 7.17.2 Initialization. + */ + +#if defined(__CLANG_ATOMICS) +#define ATOMIC_VAR_INIT(value) (value) +#define atomic_init(obj, value) __c11_atomic_init(obj, value) +#else +#define ATOMIC_VAR_INIT(value) { .__val = (value) } +#define atomic_init(obj, value) do { \ + (obj)->__val = (value); \ +} while (0) +#endif + +/* + * Clang and recent GCC both provide predefined macros for the memory + * orderings. If we are using a compiler that doesn't define them, use the + * clang values - these will be ignored in the fallback path. + */ + +#ifndef __ATOMIC_RELAXED +#define __ATOMIC_RELAXED 0 +#endif +#ifndef __ATOMIC_CONSUME +#define __ATOMIC_CONSUME 1 +#endif +#ifndef __ATOMIC_ACQUIRE +#define __ATOMIC_ACQUIRE 2 +#endif +#ifndef __ATOMIC_RELEASE +#define __ATOMIC_RELEASE 3 +#endif +#ifndef __ATOMIC_ACQ_REL +#define __ATOMIC_ACQ_REL 4 +#endif +#ifndef __ATOMIC_SEQ_CST +#define __ATOMIC_SEQ_CST 5 +#endif + +/* + * 7.17.3 Order and consistency. + * + * The memory_order_* constants that denote the barrier behaviour of the + * atomic operations. + */ + +enum memory_order { + memory_order_relaxed = __ATOMIC_RELAXED, + memory_order_consume = __ATOMIC_CONSUME, + memory_order_acquire = __ATOMIC_ACQUIRE, + memory_order_release = __ATOMIC_RELEASE, + memory_order_acq_rel = __ATOMIC_ACQ_REL, + memory_order_seq_cst = __ATOMIC_SEQ_CST +}; + +typedef enum memory_order memory_order; + +/* + * 7.17.4 Fences. + */ + +#ifdef __CLANG_ATOMICS +#define atomic_thread_fence(order) __c11_atomic_thread_fence(order) +#define atomic_signal_fence(order) __c11_atomic_signal_fence(order) +#elif defined(__GNUC_ATOMICS) +#define atomic_thread_fence(order) __atomic_thread_fence(order) +#define atomic_signal_fence(order) __atomic_signal_fence(order) +#else +#define atomic_thread_fence(order) __sync_synchronize() +#define atomic_signal_fence(order) __asm volatile ("" : : : "memory") +#endif + +/* + * 7.17.5 Lock-free property. + */ + +#if defined(__CLANG_ATOMICS) +#define atomic_is_lock_free(obj) \ + __c11_atomic_is_lock_free(sizeof(obj)) +#elif defined(__GNUC_ATOMICS) +#define atomic_is_lock_free(obj) \ + __atomic_is_lock_free(sizeof((obj)->__val)) +#else +#define atomic_is_lock_free(obj) \ + (sizeof((obj)->__val) <= sizeof(void *)) +#endif + +/* + * 7.17.6 Atomic integer types. + */ + +typedef _Atomic(_Bool) atomic_bool; +typedef _Atomic(char) atomic_char; +typedef _Atomic(signed char) atomic_schar; +typedef _Atomic(unsigned char) atomic_uchar; +typedef _Atomic(short) atomic_short; // NOLINT +typedef _Atomic(unsigned short) atomic_ushort; // NOLINT +typedef _Atomic(int) atomic_int; +typedef _Atomic(unsigned int) atomic_uint; +typedef _Atomic(long) atomic_long; // NOLINT +typedef _Atomic(unsigned long) atomic_ulong; // NOLINT +typedef _Atomic(long long) atomic_llong; // NOLINT +typedef _Atomic(unsigned long long) atomic_ullong; // NOLINT +#if 0 +typedef _Atomic(char16_t) atomic_char16_t; +typedef _Atomic(char32_t) atomic_char32_t; +#endif +typedef _Atomic(wchar_t) atomic_wchar_t; +typedef _Atomic(int_least8_t) atomic_int_least8_t; +typedef _Atomic(uint_least8_t) atomic_uint_least8_t; +typedef _Atomic(int_least16_t) atomic_int_least16_t; +typedef _Atomic(uint_least16_t) atomic_uint_least16_t; +typedef _Atomic(int_least32_t) atomic_int_least32_t; +typedef _Atomic(uint_least32_t) atomic_uint_least32_t; +typedef _Atomic(int_least64_t) atomic_int_least64_t; +typedef _Atomic(uint_least64_t) atomic_uint_least64_t; +typedef _Atomic(int_fast8_t) atomic_int_fast8_t; +typedef _Atomic(uint_fast8_t) atomic_uint_fast8_t; +typedef _Atomic(int_fast16_t) atomic_int_fast16_t; +typedef _Atomic(uint_fast16_t) atomic_uint_fast16_t; +typedef _Atomic(int_fast32_t) atomic_int_fast32_t; +typedef _Atomic(uint_fast32_t) atomic_uint_fast32_t; +typedef _Atomic(int_fast64_t) atomic_int_fast64_t; +typedef _Atomic(uint_fast64_t) atomic_uint_fast64_t; +typedef _Atomic(intptr_t) atomic_intptr_t; +typedef _Atomic(uintptr_t) atomic_uintptr_t; +typedef _Atomic(size_t) atomic_size_t; +typedef _Atomic(ptrdiff_t) atomic_ptrdiff_t; +typedef _Atomic(intmax_t) atomic_intmax_t; +typedef _Atomic(uintmax_t) atomic_uintmax_t; + +/* + * 7.17.7 Operations on atomic types. + */ + +/* + * Compiler-specific operations. + */ + +#if defined(__CLANG_ATOMICS) +#define atomic_compare_exchange_strong_explicit(object, expected, \ + desired, success, failure) \ + __c11_atomic_compare_exchange_strong(object, expected, desired, \ + success, failure) +#define atomic_compare_exchange_weak_explicit(object, expected, \ + desired, success, failure) \ + __c11_atomic_compare_exchange_weak(object, expected, desired, \ + success, failure) +#define atomic_exchange_explicit(object, desired, order) \ + __c11_atomic_exchange(object, desired, order) +#define atomic_fetch_add_explicit(object, operand, order) \ + __c11_atomic_fetch_add(object, operand, order) +#define atomic_fetch_and_explicit(object, operand, order) \ + __c11_atomic_fetch_and(object, operand, order) +#define atomic_fetch_or_explicit(object, operand, order) \ + __c11_atomic_fetch_or(object, operand, order) +#define atomic_fetch_sub_explicit(object, operand, order) \ + __c11_atomic_fetch_sub(object, operand, order) +#define atomic_fetch_xor_explicit(object, operand, order) \ + __c11_atomic_fetch_xor(object, operand, order) +#define atomic_load_explicit(object, order) \ + __c11_atomic_load(object, order) +#define atomic_store_explicit(object, desired, order) \ + __c11_atomic_store(object, desired, order) +#elif defined(__GNUC_ATOMICS) +#define atomic_compare_exchange_strong_explicit(object, expected, \ + desired, success, failure) \ + __atomic_compare_exchange_n(&(object)->__val, expected, \ + desired, 0, success, failure) +#define atomic_compare_exchange_weak_explicit(object, expected, \ + desired, success, failure) \ + __atomic_compare_exchange_n(&(object)->__val, expected, \ + desired, 1, success, failure) +#define atomic_exchange_explicit(object, desired, order) \ + __atomic_exchange_n(&(object)->__val, desired, order) +#define atomic_fetch_add_explicit(object, operand, order) \ + __atomic_fetch_add(&(object)->__val, operand, order) +#define atomic_fetch_and_explicit(object, operand, order) \ + __atomic_fetch_and(&(object)->__val, operand, order) +#define atomic_fetch_or_explicit(object, operand, order) \ + __atomic_fetch_or(&(object)->__val, operand, order) +#define atomic_fetch_sub_explicit(object, operand, order) \ + __atomic_fetch_sub(&(object)->__val, operand, order) +#define atomic_fetch_xor_explicit(object, operand, order) \ + __atomic_fetch_xor(&(object)->__val, operand, order) +#define atomic_load_explicit(object, order) \ + __atomic_load_n(&(object)->__val, order) +#define atomic_store_explicit(object, desired, order) \ + __atomic_store_n(&(object)->__val, desired, order) +#else +#define atomic_compare_exchange_strong_explicit(object, expected, \ + desired, success, failure) ({ \ + __typeof__((object)->__val) __v; \ + _Bool __r; \ + __v = __sync_val_compare_and_swap(&(object)->__val, \ + *(expected), desired); \ + __r = *(expected) == __v; \ + *(expected) = __v; \ + __r; \ +}) + +#define atomic_compare_exchange_weak_explicit(object, expected, \ + desired, success, failure) \ + atomic_compare_exchange_strong_explicit(object, expected, \ + desired, success, failure) +#if __has_builtin(__sync_swap) +/* Clang provides a full-barrier atomic exchange - use it if available. */ +#define atomic_exchange_explicit(object, desired, order) \ + __sync_swap(&(object)->__val, desired) +#else +/* + * __sync_lock_test_and_set() is only an acquire barrier in theory (although in + * practice it is usually a full barrier) so we need an explicit barrier after + * it. + */ +#define atomic_exchange_explicit(object, desired, order) ({ \ + __typeof__((object)->__val) __v; \ + __v = __sync_lock_test_and_set(&(object)->__val, desired); \ + __sync_synchronize(); \ + __v; \ +}) +#endif +#define atomic_fetch_add_explicit(object, operand, order) \ + __sync_fetch_and_add(&(object)->__val, operand) +#define atomic_fetch_and_explicit(object, operand, order) \ + __sync_fetch_and_and(&(object)->__val, operand) +#define atomic_fetch_or_explicit(object, operand, order) \ + __sync_fetch_and_or(&(object)->__val, operand) +#define atomic_fetch_sub_explicit(object, operand, order) \ + __sync_fetch_and_sub(&(object)->__val, operand) +#define atomic_fetch_xor_explicit(object, operand, order) \ + __sync_fetch_and_xor(&(object)->__val, operand) +#define atomic_load_explicit(object, order) \ + __sync_fetch_and_add(&(object)->__val, 0) +#define atomic_store_explicit(object, desired, order) do { \ + __sync_synchronize(); \ + (object)->__val = (desired); \ + __sync_synchronize(); \ +} while (0) +#endif + +/* + * Convenience functions. + */ + +#define atomic_compare_exchange_strong(object, expected, desired) \ + atomic_compare_exchange_strong_explicit(object, expected, \ + desired, memory_order_seq_cst, memory_order_seq_cst) +#define atomic_compare_exchange_weak(object, expected, desired) \ + atomic_compare_exchange_weak_explicit(object, expected, \ + desired, memory_order_seq_cst, memory_order_seq_cst) +#define atomic_exchange(object, desired) \ + atomic_exchange_explicit(object, desired, memory_order_seq_cst) +#define atomic_fetch_add(object, operand) \ + atomic_fetch_add_explicit(object, operand, memory_order_seq_cst) +#define atomic_fetch_and(object, operand) \ + atomic_fetch_and_explicit(object, operand, memory_order_seq_cst) +#define atomic_fetch_or(object, operand) \ + atomic_fetch_or_explicit(object, operand, memory_order_seq_cst) +#define atomic_fetch_sub(object, operand) \ + atomic_fetch_sub_explicit(object, operand, memory_order_seq_cst) +#define atomic_fetch_xor(object, operand) \ + atomic_fetch_xor_explicit(object, operand, memory_order_seq_cst) +#define atomic_load(object) \ + atomic_load_explicit(object, memory_order_seq_cst) +#define atomic_store(object, desired) \ + atomic_store_explicit(object, desired, memory_order_seq_cst) + +/* + * 7.17.8 Atomic flag type and operations. + */ + +typedef atomic_bool atomic_flag; + +#define ATOMIC_FLAG_INIT ATOMIC_VAR_INIT(0) + +#define atomic_flag_clear_explicit(object, order) \ + atomic_store_explicit(object, 0, order) +#define atomic_flag_test_and_set_explicit(object, order) \ + atomic_compare_exchange_strong_explicit(object, 0, 1, order, order) + +#define atomic_flag_clear(object) \ + atomic_flag_clear_explicit(object, memory_order_seq_cst) +#define atomic_flag_test_and_set(object) \ + atomic_flag_test_and_set_explicit(object, memory_order_seq_cst) + +#endif /* !_STDATOMIC_H_ */ // NOLINT diff --git a/ports/espressif/microros-ext/include/rcutils/rcutils/stdatomic_helper/win32/stdatomic.h b/ports/espressif/microros-ext/include/rcutils/rcutils/stdatomic_helper/win32/stdatomic.h new file mode 100644 index 0000000000000..7000fb21be239 --- /dev/null +++ b/ports/espressif/microros-ext/include/rcutils/rcutils/stdatomic_helper/win32/stdatomic.h @@ -0,0 +1,444 @@ +// Copyright 2015 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. + +/* + * An implementation of C11 stdatomic.h for Win32, part borrowed from FreeBSD + * (original copyright follows), with major modifications for + * portability to Win32 systems. + * + * Caveats and limitations: + * - Only the ``_Atomic parentheses'' notation is implemented, while + * the ``_Atomic space'' one is not. + * - _Atomic types must be typedef'ed, or programs using them will + * not type check correctly (incompatible anonymous structure + * types). + * - Support is limited to 16, 32, and 64 bit types only. + * - Stripped down to only the functions used in rcutils and dependents like rcl. + */ + +/*- + * Copyright (c) 2011 Ed Schouten + * David Chisnall + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE AUTHOR AND CONTRIBUTORS ``AS IS'' AND + * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + * ARE DISCLAIMED. IN NO EVENT SHALL THE AUTHOR OR CONTRIBUTORS BE LIABLE + * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL + * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS + * OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) + * HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY + * OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF + * SUCH DAMAGE. + * + * $FreeBSD: src/include/stdatomic.h,v 1.10.2.2 2012/05/30 19:21:54 theraven Exp $ + */ + +#if !defined(_WIN32) +#error "this stdatomic.h does not support your compiler" +#endif // !defined(_WIN32) + +#ifndef RCUTILS__STDATOMIC_HELPER__WIN32__STDATOMIC_H_ +#define RCUTILS__STDATOMIC_HELPER__WIN32__STDATOMIC_H_ + +// When building with MSVC 19.28.29333.0 on Windows 10 (as of 2020-11-11), +// there appears to be a problem with winbase.h (which is included by +// Windows.h). In particular, warnings of the form: +// +// warning C5105: macro expansion producing 'defined' has undefined behavior +// +// See https://developercommunity.visualstudio.com/content/problem/695656/wdk-and-sdk-are-not-compatible-with-experimentalpr.html +// for more information. For now disable that warning when including windows.h + +#pragma warning(push) +#pragma warning(disable : 5105) +#include +#pragma warning(pop) + +#include +#include +#include + +#include + +// In MSVC, correct alignment of each type is already ensured. +#define _Atomic(T) struct { T __val; } + +/* + * 7.17.2 Initialization. + */ + +#define ATOMIC_VAR_INIT(value) {.__val = (value)} +#define atomic_init(obj, value) do { \ + (obj)->__val = (value); \ +} while (0) + +/* + * Clang and recent GCC both provide predefined macros for the memory + * orderings. If we are using a compiler that doesn't define them, use the + * clang values - these will be ignored in the fallback path. + */ + +#ifndef __ATOMIC_RELAXED +#define __ATOMIC_RELAXED 0 +#endif +#ifndef __ATOMIC_CONSUME +#define __ATOMIC_CONSUME 1 +#endif +#ifndef __ATOMIC_ACQUIRE +#define __ATOMIC_ACQUIRE 2 +#endif +#ifndef __ATOMIC_RELEASE +#define __ATOMIC_RELEASE 3 +#endif +#ifndef __ATOMIC_ACQ_REL +#define __ATOMIC_ACQ_REL 4 +#endif +#ifndef __ATOMIC_SEQ_CST +#define __ATOMIC_SEQ_CST 5 +#endif + +/* + * 7.17.3 Order and consistency. + * + * The memory_order_* constants that denote the barrier behaviour of the + * atomic operations. + */ + +enum memory_order +{ + memory_order_relaxed = __ATOMIC_RELAXED, + memory_order_consume = __ATOMIC_CONSUME, + memory_order_acquire = __ATOMIC_ACQUIRE, + memory_order_release = __ATOMIC_RELEASE, + memory_order_acq_rel = __ATOMIC_ACQ_REL, + memory_order_seq_cst = __ATOMIC_SEQ_CST +}; + +typedef enum memory_order memory_order; + +/* + * 7.17.4 Fences. + */ + +#define atomic_thread_fence(order) MemoryBarrier() +#define atomic_signal_fence(order) _ReadWriteBarrier() + +/* + * 7.17.5 Lock-free property. + */ + +#define atomic_is_lock_free(obj) (sizeof((obj)->__val) <= sizeof(void *)) + +/* + * 7.17.6 Atomic integer types. + */ + +typedef _Atomic (_Bool) atomic_bool; +typedef _Atomic (char) atomic_char; +typedef _Atomic (signed char) atomic_schar; +typedef _Atomic (unsigned char) atomic_uchar; +typedef _Atomic (short) atomic_short; // NOLINT +typedef _Atomic (unsigned short) atomic_ushort; // NOLINT +typedef _Atomic (int) atomic_int; +typedef _Atomic (unsigned int) atomic_uint; +typedef _Atomic (long) atomic_long; // NOLINT +typedef _Atomic (unsigned long) atomic_ulong; // NOLINT +typedef _Atomic (long long) atomic_llong; // NOLINT +typedef _Atomic (unsigned long long) atomic_ullong; // NOLINT +#if 0 +typedef _Atomic (char16_t) atomic_char16_t; +typedef _Atomic (char32_t) atomic_char32_t; +typedef _Atomic (wchar_t) atomic_wchar_t; +typedef _Atomic (int_least8_t) atomic_int_least8_t; +typedef _Atomic (uint_least8_t) atomic_uint_least8_t; +#endif +typedef _Atomic (int_least16_t) atomic_int_least16_t; +typedef _Atomic (uint_least16_t) atomic_uint_least16_t; +typedef _Atomic (int_least32_t) atomic_int_least32_t; +typedef _Atomic (uint_least32_t) atomic_uint_least32_t; +typedef _Atomic (int_least64_t) atomic_int_least64_t; +typedef _Atomic (uint_least64_t) atomic_uint_least64_t; +#if 0 +typedef _Atomic (int_fast8_t) atomic_int_fast8_t; +typedef _Atomic (uint_fast8_t) atomic_uint_fast8_t; +#endif +typedef _Atomic (int_fast16_t) atomic_int_fast16_t; +typedef _Atomic (uint_fast16_t) atomic_uint_fast16_t; +typedef _Atomic (int_fast32_t) atomic_int_fast32_t; +typedef _Atomic (uint_fast32_t) atomic_uint_fast32_t; +typedef _Atomic (int_fast64_t) atomic_int_fast64_t; +typedef _Atomic (uint_fast64_t) atomic_uint_fast64_t; +typedef _Atomic (intptr_t) atomic_intptr_t; +typedef _Atomic (uintptr_t) atomic_uintptr_t; +typedef _Atomic (size_t) atomic_size_t; +typedef _Atomic (ptrdiff_t) atomic_ptrdiff_t; +typedef _Atomic (intmax_t) atomic_intmax_t; +typedef _Atomic (uintmax_t) atomic_uintmax_t; + +#ifdef ROS_PACKAGE_NAME + #define _RCUTILS_PACKAGE_NAME ROS_PACKAGE_NAME +#else + #define _RCUTILS_PACKAGE_NAME "" +#endif + +/* + * 7.17.7 Operations on atomic types. (pruned modified for Windows' crappy C compiler) + */ + +// TODO(emersonknapp) Regression in uncrustify breaks formatting for macros with __pragma +// remove indent-off when we have fix for https://github.com/uncrustify/uncrustify/issues/2314 +// *INDENT-OFF* + +#define rcutils_win32_atomic_compare_exchange_strong(object, out, expected, desired) \ + __pragma(warning(push)) \ + __pragma(warning(disable: 4244)) \ + __pragma(warning(disable: 4047)) \ + __pragma(warning(disable: 4024)) \ + do { \ + switch (sizeof(out)) { \ + case sizeof(uint64_t): \ + out = InterlockedCompareExchange64((LONGLONG *) object, desired, *expected); \ + break; \ + case sizeof(uint32_t): \ + out = _InterlockedCompareExchange((LONG *) object, desired, *expected); \ + break; \ + case sizeof(uint16_t): \ + out = _InterlockedCompareExchange16((SHORT *) object, desired, *expected); \ + break; \ + case sizeof(uint8_t): \ + out = _InterlockedCompareExchange8((char *) object, desired, *expected); \ + break; \ + default: \ + RCUTILS_LOG_ERROR_NAMED( \ + _RCUTILS_PACKAGE_NAME, "Unsupported integer type in atomic_compare_exchange_strong"); \ + exit(-1); \ + break; \ + } \ + } while (0); \ + __pragma(warning(pop)) + +#define rcutils_win32_atomic_compare_exchange_weak(object, out, expected, desired) \ + rcutils_win32_atomic_compare_exchange_strong(object, out, expected, desired) + +#define rcutils_win32_atomic_exchange(object, out, desired) \ + __pragma(warning(push)) \ + __pragma(warning(disable: 4244)) \ + __pragma(warning(disable: 4047)) \ + __pragma(warning(disable: 4024)) \ + do { \ + switch (sizeof(out)) { \ + case sizeof(uint64_t): \ + out = InterlockedExchange64((LONGLONG *) object, desired); \ + break; \ + case sizeof(uint32_t): \ + out = _InterlockedExchange((LONG *) object, desired); \ + break; \ + case sizeof(uint16_t): \ + out = _InterlockedExchange16((SHORT *) object, desired); \ + break; \ + case sizeof(uint8_t): \ + out = _InterlockedExchange8((char *) object, desired); \ + break; \ + default: \ + RCUTILS_LOG_ERROR_NAMED( \ + _RCUTILS_PACKAGE_NAME, "Unsupported integer type in atomic_exchange_strong"); \ + exit(-1); \ + break; \ + } \ + } while (0); \ + __pragma(warning(pop)) + +#define rcutils_win32_atomic_fetch_add(object, out, operand) \ + __pragma(warning(push)) \ + __pragma(warning(disable: 4244)) \ + __pragma(warning(disable: 4047)) \ + __pragma(warning(disable: 4024)) \ + do { \ + switch (sizeof(out)) { \ + case sizeof(uint64_t): \ + out = InterlockedExchangeAdd64((LONGLONG *) object, operand); \ + break; \ + case sizeof(uint32_t): \ + out = _InterlockedExchangeAdd((LONG *) object, operand); \ + break; \ + case sizeof(uint16_t): \ + out = _InterlockedExchangeAdd16((SHORT *) object, operand); \ + break; \ + case sizeof(uint8_t): \ + out = _InterlockedExchangeAdd8((char *) object, operand); \ + break; \ + default: \ + RCUTILS_LOG_ERROR_NAMED( \ + _RCUTILS_PACKAGE_NAME, "Unsupported integer type in atomic_fetch_add"); \ + exit(-1); \ + break; \ + } \ + } while (0); \ + __pragma(warning(pop)) + +#define rcutils_win32_atomic_fetch_and(object, out, operand) \ + __pragma(warning(push)) \ + __pragma(warning(disable: 4244)) \ + __pragma(warning(disable: 4047)) \ + __pragma(warning(disable: 4024)) \ + do { \ + switch (sizeof(out)) { \ + case sizeof(uint64_t): \ + out = InterlockedAnd64((LONGLONG *) object, operand); \ + break; \ + case sizeof(uint32_t): \ + out = _InterlockedAnd((LONG *) object, operand); \ + break; \ + case sizeof(uint16_t): \ + out = _InterlockedAnd16((SHORT *) object, operand); \ + break; \ + case sizeof(uint8_t): \ + out = _InterlockedAnd8((char *) object, operand); \ + break; \ + default: \ + RCUTILS_LOG_ERROR_NAMED( \ + _RCUTILS_PACKAGE_NAME, "Unsupported integer type in atomic_fetch_and"); \ + exit(-1); \ + break; \ + } \ + } while (0); \ + __pragma(warning(pop)) + +#define rcutils_win32_atomic_fetch_or(object, out, operand) \ + __pragma(warning(push)) \ + __pragma(warning(disable: 4244)) \ + __pragma(warning(disable: 4047)) \ + __pragma(warning(disable: 4024)) \ + do { \ + switch (sizeof(out)) { \ + case sizeof(uint64_t): \ + out = InterlockedOr64((LONGLONG *) object, operand); \ + break; \ + case sizeof(uint32_t): \ + out = _InterlockedOr((LONG *) object, operand); \ + break; \ + case sizeof(uint16_t): \ + out = _InterlockedOr16((SHORT *) object, operand); \ + break; \ + case sizeof(uint8_t): \ + out = _InterlockedOr8((char *) object, operand); \ + break; \ + default: \ + RCUTILS_LOG_ERROR_NAMED( \ + _RCUTILS_PACKAGE_NAME, "Unsupported integer type in atomic_fetch_or"); \ + exit(-1); \ + break; \ + } \ + } while (0); \ + __pragma(warning(pop)) + +#define rcutils_win32_atomic_fetch_sub(object, out, operand) \ + rcutils_win32_atomic_fetch_add(object, out, -(operand)) + +#define rcutils_win32_atomic_fetch_xor(object, out, operand) \ + __pragma(warning(push)) \ + __pragma(warning(disable: 4244)) \ + __pragma(warning(disable: 4047)) \ + __pragma(warning(disable: 4024)) \ + do { \ + switch (sizeof(out)) { \ + case sizeof(uint64_t): \ + out = InterlockedXor64((LONGLONG *) object, operand); \ + break; \ + case sizeof(uint32_t): \ + out = _InterlockedXor((LONG *) object, operand); \ + break; \ + case sizeof(uint16_t): \ + out = _InterlockedXor16((SHORT *) object, operand); \ + break; \ + case sizeof(uint8_t): \ + out = _InterlockedXor8((char *) object, operand); \ + break; \ + default: \ + RCUTILS_LOG_ERROR_NAMED( \ + _RCUTILS_PACKAGE_NAME, "Unsupported integer type in atomic_fetch_xor"); \ + exit(-1); \ + break; \ + } \ + } while (0); \ + __pragma(warning(pop)) + +#define rcutils_win32_atomic_load(object, out) \ + __pragma(warning(push)) \ + __pragma(warning(disable: 4244)) \ + __pragma(warning(disable: 4047)) \ + __pragma(warning(disable: 4024)) \ + do { \ + switch (sizeof(out)) { \ + case sizeof(uint64_t): \ + out = InterlockedExchangeAdd64((LONGLONG *) object, 0); \ + break; \ + case sizeof(uint32_t): \ + out = _InterlockedExchangeAdd((LONG *) object, 0); \ + break; \ + case sizeof(uint16_t): \ + out = _InterlockedExchangeAdd16((SHORT *) object, 0); \ + break; \ + case sizeof(uint8_t): \ + out = _InterlockedExchangeAdd8((char *) object, 0); \ + break; \ + default: \ + RCUTILS_LOG_ERROR_NAMED( \ + _RCUTILS_PACKAGE_NAME, "Unsupported integer type in atomic_load"); \ + exit(-1); \ + break; \ + } \ + } while (0); \ + __pragma(warning(pop)) + +// *INDENT-ON* + +#define rcutils_win32_atomic_store(object, desired) \ + do { \ + MemoryBarrier(); \ + (object)->__val = (desired); \ + MemoryBarrier(); \ + } while (0) + +/* + * 7.17.8 Atomic flag type and operations. (disabled for now) + */ + +// typedef atomic_bool atomic_flag; + +// #define ATOMIC_FLAG_INIT ATOMIC_VAR_INIT(0) + +// #define atomic_flag_clear_explicit(object, order) \ +// atomic_store_explicit(object, 0, order) +// #define atomic_flag_test_and_set_explicit(object, order) \ +// atomic_compare_exchange_strong_explicit(object, 0, 1, order, order) + +// #define atomic_flag_clear(object) \ +// atomic_flag_clear_explicit(object, memory_order_seq_cst) +// #define atomic_flag_test_and_set(object) \ +// atomic_flag_test_and_set_explicit(object, memory_order_seq_cst) + +#endif // RCUTILS__STDATOMIC_HELPER__WIN32__STDATOMIC_H_ diff --git a/ports/espressif/microros-ext/include/rcutils/rcutils/strcasecmp.h b/ports/espressif/microros-ext/include/rcutils/rcutils/strcasecmp.h new file mode 100644 index 0000000000000..8b03ed3481b56 --- /dev/null +++ b/ports/espressif/microros-ext/include/rcutils/rcutils/strcasecmp.h @@ -0,0 +1,80 @@ +// Copyright 2020 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. + +/// \file + +#ifndef RCUTILS__STRCASECMP_H_ +#define RCUTILS__STRCASECMP_H_ + +#ifdef __cplusplus +extern "C" +{ +#endif + +#include "rcutils/macros.h" +#include "rcutils/visibility_control.h" + +/// Case insensitive string compare. +/** + * This function compares two strings ignoring case in a portable way. + * This performs a byte-by-byte comparison of the strings s1 and s2, + * ignoring the case of the characters. + * + * \param[in] s1 Null terminated string to compare. + * \param[in] s2 Null terminated string to compare. + * \param[out] value Pointer to comparison result. + * An integer less than, equal to, or greater than zero if s1 is, after + * ignoring case, found to be less than, to match, or be greater than s2, + * respectively. + * \return 0 if method succeeded, or + * \return -1 if failed. + */ +RCUTILS_PUBLIC +RCUTILS_WARN_UNUSED +int +rcutils_strcasecmp( + const char * s1, + const char * s2, + int * value); + +/// Case insensitive string compare up to count characters. +/** + * This function compares two strings ignoring case in a portable way. + * This performs a byte-by-byte comparison of the strings s1 and s2 up to count + * characters of s1 and s2, ignoring the case of the characters. + * + * \param[in] s1 First string to compare. + * \param[in] s2 Second string to compare. + * \param[in] n Count of characters to compare. + * \param[out] value Pointer to comparison result. + * An integer less than, equal to, or greater than zero if s1 is, after + * ignoring case, found to be less than, to match, or be greater than s2, + * respectively. + * \return 0 if method succeeded, or + * \return -1 if failed. + */ +RCUTILS_PUBLIC +RCUTILS_WARN_UNUSED +int +rcutils_strncasecmp( + const char * s1, + const char * s2, + size_t n, + int * value); + +#ifdef __cplusplus +} +#endif + +#endif // RCUTILS__STRCASECMP_H_ diff --git a/ports/espressif/microros-ext/include/rcutils/rcutils/strdup.h b/ports/espressif/microros-ext/include/rcutils/rcutils/strdup.h new file mode 100644 index 0000000000000..cc3c304f04997 --- /dev/null +++ b/ports/espressif/microros-ext/include/rcutils/rcutils/strdup.h @@ -0,0 +1,78 @@ +// Copyright 2017 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. + +/// \file + +#ifndef RCUTILS__STRDUP_H_ +#define RCUTILS__STRDUP_H_ + +#ifdef __cplusplus +extern "C" +{ +#endif + +#include + +#include "rcutils/allocator.h" +#include "rcutils/macros.h" +#include "rcutils/visibility_control.h" + +/// Return a duplicated string with an allocator, or null if an error occurs. +/** + * This function is identical to rcutils_strndup() except the length of the + * c string does not have to be given and therefore the c string must be + * null terminated. + * + * \see rcutils_strndup() + * + * \param[in] str null terminated c string to be duplicated + * \param[in] allocator the allocator to use for allocation + * \return duplicated string, or + * \return `NULL` if there is an error. + */ +RCUTILS_PUBLIC +RCUTILS_WARN_UNUSED +char * +rcutils_strdup(const char * str, rcutils_allocator_t allocator); + +/// Return a duplicated string with an allocator, or null if an error occurs. +/** + * This function can fail and return null if memory cannot be allocated or + * if the input c string pointer is null. + * In both cases no error message is set. + * The returned string should be deallocated using the given allocator when + * it is no longer needed. + * + * The max_length given does not include the null terminating character. + * Therefore a max_length of 0 will still result in a duplicated string, but + * the string will be an empty string of strlen 0, but it still must be + * deallocated. + * All returned strings are null terminated. + * + * \param[in] str null terminated c string to be duplicated + * \param[in] max_length maximum length of the string to duplicate + * \param[in] allocator the allocator to use for allocation + * \return duplicated string, or + * \return `NULL` if there is an error. + */ +RCUTILS_PUBLIC +RCUTILS_WARN_UNUSED +char * +rcutils_strndup(const char * str, size_t max_length, rcutils_allocator_t allocator); + +#ifdef __cplusplus +} +#endif + +#endif // RCUTILS__STRDUP_H_ diff --git a/ports/espressif/microros-ext/include/rcutils/rcutils/strerror.h b/ports/espressif/microros-ext/include/rcutils/rcutils/strerror.h new file mode 100644 index 0000000000000..a3a900a9d1af6 --- /dev/null +++ b/ports/espressif/microros-ext/include/rcutils/rcutils/strerror.h @@ -0,0 +1,48 @@ +// Copyright 2020 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. + +/// \file + +#ifndef RCUTILS__STRERROR_H_ +#define RCUTILS__STRERROR_H_ + +#ifdef __cplusplus +extern "C" +{ +#endif + +#include "rcutils/visibility_control.h" + +/// Retrieve the string corresponding to the last system error. +/** + * This function retrieves the value of errno, and calls the system-specific + * equivalent of `strerror` on it, storing the output in the provided buffer. + * If the error message is longer than the buffer, it will be truncated. + * The memory for the c-string buffer that is passed in must be managed by the + * caller. + * + * This function is thread-safe. + * + * \param[inout] buffer The buffer in which to store the data + * \param[in] buffer_length the maximum length of the buffer + */ +RCUTILS_PUBLIC +void +rcutils_strerror(char * buffer, size_t buffer_length); + +#ifdef __cplusplus +} +#endif + +#endif // RCUTILS__STRERROR_H_ diff --git a/ports/espressif/microros-ext/include/rcutils/rcutils/testing/fault_injection.h b/ports/espressif/microros-ext/include/rcutils/rcutils/testing/fault_injection.h new file mode 100644 index 0000000000000..d74a49bf3c7db --- /dev/null +++ b/ports/espressif/microros-ext/include/rcutils/rcutils/testing/fault_injection.h @@ -0,0 +1,219 @@ +// Copyright 2020 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. + +#ifndef RCUTILS__TESTING__FAULT_INJECTION_H_ +#define RCUTILS__TESTING__FAULT_INJECTION_H_ +#include +#include +#include + +#include "rcutils/macros.h" +#include "rcutils/visibility_control.h" + +#ifdef __cplusplus +extern "C" +{ +#endif + +#define RCUTILS_FAULT_INJECTION_NEVER_FAIL -1 + +#define RCUTILS_FAULT_INJECTION_FAIL_NOW 0 + +RCUTILS_PUBLIC +RCUTILS_WARN_UNUSED +bool +rcutils_fault_injection_is_test_complete(void); + +/** + * \brief Atomically set the fault injection counter. + * + * This is typically not the preferred method of interacting directly with the fault injection + * logic, instead use `RCUTILS_FAULT_INJECTION_TEST` instead. + * + * This function may also be used for pausing code inside of a `RCUTILS_FAULT_INJECTION_TEST` with + * something like the following: + * + * RCUTILS_FAULT_INJECTION_TEST({ + * ... // code to run with fault injection + * int64_t count = rcutils_fault_injection_get_count(); + * rcutils_fault_injection_set_count(RCUTILS_FAULT_INJECTION_NEVER_FAIL); + * ... // code to run without fault injection + * rcutils_fault_injection_set_count(count); + * ... // code to run with fault injection + * }); + * + * \param count The count to set the fault injection counter to. If count is negative, then fault + * injection errors will be disabled. The counter is globally initialized to + * RCUTILS_FAULT_INJECTION_NEVER_FAIL. + */ +RCUTILS_PUBLIC +void +rcutils_fault_injection_set_count(int_least64_t count); + +/** + * \brief Atomically get the fault injection counter value + * + * This function is typically not used directly but instead indirectly inside an + * `RCUTILS_FAULT_INJECTION_TEST` + */ +RCUTILS_PUBLIC +RCUTILS_WARN_UNUSED +int_least64_t +rcutils_fault_injection_get_count(void); + +/** + * \brief Implementation of fault injection decrementer + * + * This is included inside of macros, so it needs to be exported as a public function, but it + * should not be used directly. + */ +RCUTILS_PUBLIC +RCUTILS_WARN_UNUSED +int_least64_t +_rcutils_fault_injection_maybe_fail(void); + +#ifdef RCUTILS_ENABLE_FAULT_INJECTION + +/** + * \def RCUTILS_FAULT_INJECTION_MAYBE_RETURN_ERROR + * \brief This macro checks and decrements a static global variable atomic counter and returns + * `return_value_on_error` if 0. + * + * This macro is not a function itself, so when this macro returns it will cause the calling + * function to return with the return value. + * + * Set the counter with `RCUTILS_FAULT_INJECTION_SET_COUNT`. If the count is less than 0, then + * `RCUTILS_FAULT_INJECTION_MAYBE_RETURN_ERROR` will not cause an early return. + * + * This macro is thread-safe, and ensures that at most one invocation results in a failure for each + * time the fault injection counter is set with `RCUTILS_FAULT_INJECTION_SET_COUNT` + * + * \param return_value_on_error the value to return in the case of fault injected failure. + */ +#define RCUTILS_FAULT_INJECTION_MAYBE_RETURN_ERROR(return_value_on_error) \ + if (RCUTILS_FAULT_INJECTION_FAIL_NOW == _rcutils_fault_injection_maybe_fail()) { \ + printf( \ + "%s:%d Injecting fault and returning " #return_value_on_error "\n", __FILE__, __LINE__); \ + return return_value_on_error; \ + } + +/** + * \def RCUTILS_FAULT_INJECTION_MAYBE_FAIL + * \brief This macro checks and decrements a static global variable atomic counter and executes + * `failure_code` if the counter is 0 inside a scoped block (any variables declared in + * failure_code) will not be avaliable outside of this scoped block. + * + * This macro is not a function itself, so it will cause the calling function to execute the code + * from within an if loop. + * + * Set the counter with `RCUTILS_FAULT_INJECTION_SET_COUNT`. If the count is less than 0, then + * `RCUTILS_FAULT_INJECTION_MAYBE_FAIL` will not execute the failure code. + * + * This macro is thread-safe, and ensures that at most one invocation results in a failure for each + * time the fault injection counter is set with `RCUTILS_FAULT_INJECTION_SET_COUNT` + * + * \param failure_code the code to execute in the case of fault injected failure. + */ +#define RCUTILS_FAULT_INJECTION_MAYBE_FAIL(failure_code) \ + if (RCUTILS_FAULT_INJECTION_FAIL_NOW == _rcutils_fault_injection_maybe_fail()) { \ + printf( \ + "%s:%d Injecting fault and executing " #failure_code "\n", __FILE__, __LINE__); \ + failure_code; \ + } + +/** + * \def RCUTILS_FAULT_INJECTION_TEST + * + * The fault injection macro for use with unit tests to check that `code` can tolerate injected + * failures at all points along the execution path where the indicating macros + * `RCUTILS_CAN_RETURN_WITH_ERROR_OF` and `RCUTILS_CAN_FAIL_WITH` are located. + * + * This macro is intended to be used within a gtest function macro like 'TEST', 'TEST_F', etc. + * + * `code` is executed within a do-while loop and therefore any variables declared within are in + * their own scope block. + * + * Here's a simple example: + * RCUTILS_FAULT_INJECTION_TEST( + * rcl_ret_t ret = rcl_init(argc, argv, options, context); + * if (RCL_RET_OK == ret) + * { + * ret = rcl_shutdown(context); + * } + * }); + * + * In this example, you will need have conditional execution based on the return value of + * `rcl_init`. If it failed, then it wouldn't make sense to call rcl_shutdown. In your own test, + * there might be similar logic that requires conditional checks. The goal of writing this test + * is less about checking the behavior is consistent, but instead that failures do not cause + * program crashes, memory errors, or unnecessary memory leaks. + */ +#define RCUTILS_FAULT_INJECTION_TEST(code) \ + do { \ + int fault_injection_count = 0; \ + do { \ + rcutils_fault_injection_set_count(fault_injection_count++); \ + code; \ + } while (!rcutils_fault_injection_is_test_complete()); \ + rcutils_fault_injection_set_count(RCUTILS_FAULT_INJECTION_NEVER_FAIL); \ + } while (0) + +/** + * \def RCUTILS_NO_FAULT_INJECTION + * + * A convenience macro built around rcutils_fault_injection_set_count() to pause fault + * injection during `code` execution. + * This macro is intended to be used within RCUTILS_FAULT_INJECTION_TEST() blocks. + * + * `code` is executed within a do-while loop and therefore any variables declared within are in + * their own scope block. + * + * Here's a simple example: + * RCUTILS_FAULT_INJECTION_TEST({ + * rcl_ret_t ret = rcl_init(argc, argv, options, context); + * if (RCL_RET_OK == ret) + * { + * RCUTILS_NO_FAULT_INJECTION({ + * ret = rcl_shutdown(context); + * }); + * } + * }); + * + * In this example, on successful rcl_init(), rcl_shutdown() is called while ensuring that + * it will not fail due to fault injection. + */ +#define RCUTILS_NO_FAULT_INJECTION(code) \ + do { \ + int64_t no_fault_injection_count = rcutils_fault_injection_get_count(); \ + rcutils_fault_injection_set_count(RCUTILS_FAULT_INJECTION_NEVER_FAIL); \ + code; \ + rcutils_fault_injection_set_count(no_fault_injection_count); \ + } while (0) + +#else + +// Mocks for micro-ROS when fault injection not enabled + +#define RCUTILS_FAULT_INJECTION_MAYBE_RETURN_ERROR(return_value_on_error) +#define RCUTILS_FAULT_INJECTION_MAYBE_FAIL(failure_code) +#define RCUTILS_FAULT_INJECTION_TEST(code) +#define RCUTILS_NO_FAULT_INJECTION(code) + +#endif + +#ifdef __cplusplus +} +#endif + +#endif // RCUTILS__TESTING__FAULT_INJECTION_H_ diff --git a/ports/espressif/microros-ext/include/rcutils/rcutils/time.h b/ports/espressif/microros-ext/include/rcutils/rcutils/time.h new file mode 100644 index 0000000000000..bff3e41a5a807 --- /dev/null +++ b/ports/espressif/microros-ext/include/rcutils/rcutils/time.h @@ -0,0 +1,189 @@ +// Copyright 2015 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. + +/// \file + +#ifndef RCUTILS__TIME_H_ +#define RCUTILS__TIME_H_ + +#ifdef __cplusplus +extern "C" +{ +#endif + +#include + +#include "rcutils/macros.h" +#include "rcutils/types.h" +#include "rcutils/visibility_control.h" + +/// Convenience macro to convert seconds to nanoseconds. +#define RCUTILS_S_TO_NS(seconds) ((seconds) * (1000LL * 1000LL * 1000LL)) +/// Convenience macro to convert milliseconds to nanoseconds. +#define RCUTILS_MS_TO_NS(milliseconds) ((milliseconds) * (1000LL * 1000LL)) +/// Convenience macro to convert microseconds to nanoseconds. +#define RCUTILS_US_TO_NS(microseconds) ((microseconds) * 1000LL) + +/// Convenience macro to convert nanoseconds to seconds. +#define RCUTILS_NS_TO_S(nanoseconds) ((nanoseconds) / (1000LL * 1000LL * 1000LL)) +/// Convenience macro to convert nanoseconds to milliseconds. +#define RCUTILS_NS_TO_MS(nanoseconds) ((nanoseconds) / (1000LL * 1000LL)) +/// Convenience macro to convert nanoseconds to microseconds. +#define RCUTILS_NS_TO_US(nanoseconds) ((nanoseconds) / 1000LL) +/// Convenience macro for rcutils_steady_time_now(rcutils_time_point_value_t *). +#define RCUTILS_STEADY_TIME rcutils_steady_time_now + +/// A single point in time, measured in nanoseconds since the Unix epoch. +typedef int64_t rcutils_time_point_value_t; +/// A duration of time, measured in nanoseconds. +typedef int64_t rcutils_duration_value_t; + +/** + * This function returns the time from a system clock. + * The closest equivalent would be to std::chrono::system_clock::now(); + * + * The resolution (e.g. nanoseconds vs microseconds) is not guaranteed. + * + * The now argument must point to an allocated rcutils_time_point_value_t object, + * as the result is copied into this variable. + * + *
+ * Attribute | Adherence + * ------------------ | ------------- + * Allocates Memory | No + * Thread-Safe | Yes + * Uses Atomics | No + * Lock-Free | Yes + * + * \param[out] now a datafield in which the current time is stored + * \return #RCUTILS_RET_OK if the current time was successfully obtained, or + * \return #RCUTILS_RET_INVALID_ARGUMENT if any arguments are invalid, or + * \return #RCUTILS_RET_ERROR if an unspecified error occur. + */ +RCUTILS_PUBLIC +RCUTILS_WARN_UNUSED +rcutils_ret_t +rcutils_system_time_now(rcutils_time_point_value_t * now); + +/// Retrieve the current time as a rcutils_time_point_value_t object. +/** + * This function returns the time from a monotonically increasing clock. + * The closest equivalent would be to std::chrono::steady_clock::now(); + * + * The resolution (e.g. nanoseconds vs microseconds) is not guaranteed. + * + * The now argument must point to an allocated rcutils_time_point_value_t object, + * as the result is copied into this variable. + * + *
+ * Attribute | Adherence + * ------------------ | ------------- + * Allocates Memory | No + * Thread-Safe | Yes + * Uses Atomics | No + * Lock-Free | Yes + * + * \param[out] now a struct in which the current time is stored + * \return #RCUTILS_RET_OK if the current time was successfully obtained, or + * \return #RCUTILS_RET_INVALID_ARGUMENT if any arguments are invalid, or + * \return #RCUTILS_RET_ERROR if an unspecified error occur. + */ +RCUTILS_PUBLIC +RCUTILS_WARN_UNUSED +rcutils_ret_t +rcutils_steady_time_now(rcutils_time_point_value_t * now); + +/// Return a time point as nanoseconds in a string. +/** + * The number is always fixed width, with left padding zeros up to the maximum + * number of digits the time point can represent. + * Right now that is 19 digits (so 19 characters) for a signed 64-bit integer. + * Negative values will have a leading `-`, so they will be one character + * longer than the positive values. + * + * The recommended minimum size of the input string is 32 characters, but + * 21 (` ` or `-` for sign, 19 digits, null terminator) should be sufficiently + * large for both positive and negative values. + * If the given string is not large enough, the result will be truncated. + * If you need a string with variable width, using `snprintf()` directly is + * recommended. + * + *
+ * Attribute | Adherence + * ------------------ | ------------- + * Allocates Memory | No [1] + * Thread-Safe | Yes + * Uses Atomics | No + * Lock-Free | Yes + * [1] if `snprintf()` does not allocate additional memory internally + * + * \param[in] time_point the time to be made into a string + * \param[out] str the output string in which it is stored + * \param[in] str_size the size of the output string + * \return #RCUTILS_RET_OK if successful (even if truncated), or + * \return #RCUTILS_RET_INVALID_ARGUMENT if any arguments are invalid, or + * \return #RCUTILS_RET_ERROR if an unspecified error occur. + */ +RCUTILS_PUBLIC +RCUTILS_WARN_UNUSED +rcutils_ret_t +rcutils_time_point_value_as_nanoseconds_string( + const rcutils_time_point_value_t * time_point, + char * str, + size_t str_size); + +/// Return a time point as floating point seconds in a string. +/** + * The number is always fixed width, with left padding zeros up to the maximum + * number of digits for the mantissa that the time point can represent and a + * characteristic (fractional-part) with a fixed width of 9 digits. + * Right now that means the mantissa is always 10 digits to add up to 19 total + * for the signed 64-bit time point type. + * Negative values will have a leading `-`, so they will be one character + * longer then positive values. + * + * The recommended minimum size of the input string is 32 characters, but + * 22 (` ` or `-` for sign, 19 digits, decimal point, null terminator) should + * be sufficient for now. + * If the given string is not large enough, the result will be truncated. + * + *
+ * Attribute | Adherence + * ------------------ | ------------- + * Allocates Memory | No [1] + * Thread-Safe | Yes + * Uses Atomics | No + * Lock-Free | Yes + * [1] if `snprintf()` does not allocate additional memory internally + * + * \param[in] time_point the time to be made into a string + * \param[out] str the output string in which it is stored + * \param[in] str_size the size of the output string + * \return #RCUTILS_RET_OK if successful (even if truncated), or + * \return #RCUTILS_RET_INVALID_ARGUMENT if any arguments are invalid, or + * \return #RCUTILS_RET_ERROR if an unspecified error occur. + */ +RCUTILS_PUBLIC +RCUTILS_WARN_UNUSED +rcutils_ret_t +rcutils_time_point_value_as_seconds_string( + const rcutils_time_point_value_t * time_point, + char * str, + size_t str_size); + +#ifdef __cplusplus +} +#endif + +#endif // RCUTILS__TIME_H_ diff --git a/ports/espressif/microros-ext/include/rcutils/rcutils/types.h b/ports/espressif/microros-ext/include/rcutils/rcutils/types.h new file mode 100644 index 0000000000000..aa3b24af91fe2 --- /dev/null +++ b/ports/espressif/microros-ext/include/rcutils/rcutils/types.h @@ -0,0 +1,35 @@ +// Copyright 2017 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. + +#ifndef RCUTILS__TYPES_H_ +#define RCUTILS__TYPES_H_ + +#ifdef __cplusplus +extern "C" +{ +#endif + +#include "rcutils/types/array_list.h" +#include "rcutils/types/char_array.h" +#include "rcutils/types/hash_map.h" +#include "rcutils/types/string_array.h" +#include "rcutils/types/string_map.h" +#include "rcutils/types/rcutils_ret.h" +#include "rcutils/types/uint8_array.h" + +#ifdef __cplusplus +} +#endif + +#endif // RCUTILS__TYPES_H_ diff --git a/ports/espressif/microros-ext/include/rcutils/rcutils/types/array_list.h b/ports/espressif/microros-ext/include/rcutils/rcutils/types/array_list.h new file mode 100644 index 0000000000000..ffde41a2d1a9d --- /dev/null +++ b/ports/espressif/microros-ext/include/rcutils/rcutils/types/array_list.h @@ -0,0 +1,288 @@ +// Copyright 2018-2019 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. + +/// \file + +#ifndef RCUTILS__TYPES__ARRAY_LIST_H_ +#define RCUTILS__TYPES__ARRAY_LIST_H_ + +#ifdef __cplusplus +extern "C" +{ +#endif + +#include + +#include "rcutils/allocator.h" +#include "rcutils/macros.h" +#include "rcutils/types/rcutils_ret.h" +#include "rcutils/visibility_control.h" + +struct rcutils_array_list_impl_s; + +/// The structure holding the metadata for an array list. +typedef struct RCUTILS_PUBLIC_TYPE rcutils_array_list_s +{ + /// A pointer to the PIMPL implementation type. + struct rcutils_array_list_impl_s * impl; +} rcutils_array_list_t; + +/** + * Validates that an rcutils_array_list_t* points to a valid array list. + * \param[in] array_list A pointer to an rcutils_array_list_t + * \return RCUTILS_RET_INVALID_ARGUMENT if array_list is null + * \return RCUTILS_RET_NOT_INITIALIZED if array_list is not initialized + */ +#define ARRAY_LIST_VALIDATE_ARRAY_LIST(array_list) \ + RCUTILS_CHECK_ARGUMENT_FOR_NULL(array_list, RCUTILS_RET_INVALID_ARGUMENT); \ + if (NULL == array_list->impl) { \ + RCUTILS_SET_ERROR_MSG("array_list is not initialized"); \ + return RCUTILS_RET_NOT_INITIALIZED; \ + } + +/// Return an empty array_list struct. +/** + * This function returns an empty and zero initialized array_list struct. + * Calling rcutils_array_list_fini() on any non-initialized instance leads + * to undefined behavior. + * Every instance of array_list_t has to either be zero_initialized with this + * function or manually allocated. + * + *
+ * Attribute | Adherence + * ------------------ | ------------- + * Allocates Memory | No + * Thread-Safe | Yes + * Uses Atomics | No + * Lock-Free | Yes + * + * Example: + * + * ```c + * rcutils_array_list_t foo; + * rcutils_array_list_fini(&foo); // undefined behavior! + * + * rcutils_array_list_t bar = rcutils_get_zero_initialized_array_list(); + * rcutils_array_list_fini(&bar); // ok + * ``` + */ +RCUTILS_PUBLIC +rcutils_array_list_t +rcutils_get_zero_initialized_array_list(void); + +/// Initialize an array list with a given initial capacity. +/** + * This function will initialize a given, zero initialized, array_list to + * a given size. + * + *
+ * Attribute | Adherence + * ------------------ | ------------- + * Allocates Memory | Yes + * Thread-Safe | No + * Uses Atomics | No + * Lock-Free | Yes + * + * Example: + * + * ```c + * rcutils_allocator_t allocator = rcutils_get_default_allocator(); + * rcutils_array_list_t array_list = rcutils_get_zero_initialized_array_list(); + * rcutils_ret_t ret = rcutils_array_list_init(&array_list, 2, sizeof(int), &allocator); + * if (ret != RCUTILS_RET_OK) { + * // ... error handling + * } + * int data = 42; + * int out_data = 0; + * ret = rcutils_array_list_add(&array_list, &data); + * data++; + * ret = rcutils_array_list_get(&array_list, 0, &out_data); + * assert(42 == out_data); + * ret = rcutils_array_list_fini(&array_list); + * ``` + * + * \param[inout] array_list object to be initialized + * \param[in] initial_capacity the initial capacity to allocate in the list + * \param[in] data_size the size (in bytes) of the data object being stored in the list + * \param[in] allocator to be used to allocate and deallocate memory + * \return #RCUTILS_RET_OK if successful, or + * \return #RCUTILS_RET_INVALID_ARGUMENT for invalid arguments, or + * \return #RCUTILS_RET_BAD_ALLOC if memory allocation fails, or + * \return #RCUTILS_RET_ERROR if an unknown error occurs. + */ +RCUTILS_PUBLIC +rcutils_ret_t +rcutils_array_list_init( + rcutils_array_list_t * array_list, + size_t initial_capacity, + size_t data_size, + const rcutils_allocator_t * allocator); + +/// Finalize an array list, reclaiming all resources. +/** + * This function reclaims any memory owned by the array list. + * + * The allocator used to initialize the array list is used to deallocate each + * entry in the list and the list itself. + * + *
+ * Attribute | Adherence + * ------------------ | ------------- + * Allocates Memory | No + * Thread-Safe | No + * Uses Atomics | No + * Lock-Free | Yes + * + * \param[inout] array_list object to be finalized + * \return #RCUTILS_RET_OK if successful, or + * \return #RCUTILS_RET_INVALID_ARGUMENT for invalid arguments, or + * \return #RCUTILS_RET_ERROR if an unknown error occurs. + */ +RCUTILS_PUBLIC +RCUTILS_WARN_UNUSED +rcutils_ret_t +rcutils_array_list_fini(rcutils_array_list_t * array_list); + +/// Adds an entry to the list +/** + * This function adds the provided data to the end of the list. A shallow copy of + * the provided data is made to store in the list instead of just storing + * the pointer to the provided data. + * + *
+ * Attribute | Adherence + * ------------------ | ------------- + * Allocates Memory | Yes + * Thread-Safe | No + * Uses Atomics | No + * Lock-Free | Yes + * + * \param[in] array_list to add the data to + * \param[in] data a pointer to the data to add to the list + * \return #RCUTILS_RET_OK if successful, or + * \return #RCUTILS_RET_INVALID_ARGUMENT for invalid arguments, or + * \return #RCUTILS_RET_BAD_ALLOC if memory allocation fails, or + * \return #RCUTILS_RET_ERROR if an unknown error occurs. + */ +RCUTILS_PUBLIC +RCUTILS_WARN_UNUSED +rcutils_ret_t +rcutils_array_list_add(rcutils_array_list_t * array_list, const void * data); + +/// Sets an entry in the list to the provided data +/** + * This function sets the provided data at the specified index in the list. + * A shallow copy of the provided data is made to store in the list instead + * of just storing the pointer to the provided data. + * + *
+ * Attribute | Adherence + * ------------------ | ------------- + * Allocates Memory | No + * Thread-Safe | No + * Uses Atomics | No + * Lock-Free | Yes + * + * \param[in] array_list to add the data to + * \param[in] index the position in the list to set the data + * \param[in] data a pointer to the data that will be set in the list + * \return #RCUTILS_RET_OK if successful, or + * \return #RCUTILS_RET_INVALID_ARGUMENT for invalid arguments, or + * \return #RCUTILS_RET_INVALID_ARGUMENT if index out of bounds, or + * \return #RCUTILS_RET_ERROR if an unknown error occurs. + */ +RCUTILS_PUBLIC +RCUTILS_WARN_UNUSED +rcutils_ret_t +rcutils_array_list_set(rcutils_array_list_t * array_list, size_t index, const void * data); + +/// Removes an entry in the list at the provided index +/** + * This function removes data from the list at the specified index. The capacity + * of the list will never decrease when entries are removed. + * + *
+ * Attribute | Adherence + * ------------------ | ------------- + * Allocates Memory | No + * Thread-Safe | No + * Uses Atomics | No + * Lock-Free | Yes + * + * \param[in] array_list to add the data to + * \param[in] index the index of the item to remove from the list + * \return #RCUTILS_RET_OK if successful, or + * \return #RCUTILS_RET_INVALID_ARGUMENT for invalid arguments, or + * \return #RCUTILS_RET_INVALID_ARGUMENT if index out of bounds, or + * \return #RCUTILS_RET_ERROR if an unknown error occurs. + */ +RCUTILS_PUBLIC +RCUTILS_WARN_UNUSED +rcutils_ret_t +rcutils_array_list_remove(rcutils_array_list_t * array_list, size_t index); + +/// Retrieves an entry in the list at the provided index +/** + * This function retrieves a copy of the data stored in the list at the provided index. + * + *
+ * Attribute | Adherence + * ------------------ | ------------- + * Allocates Memory | No + * Thread-Safe | No + * Uses Atomics | No + * Lock-Free | Yes + * + * + * \param[in] array_list to add the data to + * \param[in] index the index at which to get the data + * \param[out] data a copy of the data stored in the list + * \return #RCUTILS_RET_OK if successful, or + * \return #RCUTILS_RET_INVALID_ARGUMENT for invalid arguments, or + * \return #RCUTILS_RET_ERROR if an unknown error occurs. + */ +RCUTILS_PUBLIC +RCUTILS_WARN_UNUSED +rcutils_ret_t +rcutils_array_list_get(const rcutils_array_list_t * array_list, size_t index, void * data); + +/// Retrieves the size of the provided array_list +/** + * This function retrieves the number of items in the provided array list + * + *
+ * Attribute | Adherence + * ------------------ | ------------- + * Allocates Memory | No + * Thread-Safe | No + * Uses Atomics | No + * Lock-Free | Yes + * + * + * \param[in] array_list list to get the size of + * \param[out] size The number of items currently stored in the list + * \return #RCUTILS_RET_OK if successful, or + * \return #RCUTILS_RET_INVALID_ARGUMENT for invalid arguments, or + * \return #RCUTILS_RET_ERROR if an unknown error occurs. + */ +RCUTILS_PUBLIC +RCUTILS_WARN_UNUSED +rcutils_ret_t +rcutils_array_list_get_size(const rcutils_array_list_t * array_list, size_t * size); + +#ifdef __cplusplus +} +#endif + +#endif // RCUTILS__TYPES__ARRAY_LIST_H_ diff --git a/ports/espressif/microros-ext/include/rcutils/rcutils/types/char_array.h b/ports/espressif/microros-ext/include/rcutils/rcutils/types/char_array.h new file mode 100644 index 0000000000000..a0d64f042cea6 --- /dev/null +++ b/ports/espressif/microros-ext/include/rcutils/rcutils/types/char_array.h @@ -0,0 +1,246 @@ +// 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. + +/// \file + +#ifndef RCUTILS__TYPES__CHAR_ARRAY_H_ +#define RCUTILS__TYPES__CHAR_ARRAY_H_ + +#if __cplusplus +extern "C" +{ +#endif + +#include + +#include "rcutils/allocator.h" +#include "rcutils/types/rcutils_ret.h" +#include "rcutils/visibility_control.h" + +/// The structure holding the metadata for a char array. +typedef struct RCUTILS_PUBLIC_TYPE rcutils_char_array_s +{ + /// A pointer to the allocated memory for this char array. + char * buffer; + + /** + * if this is true, we may safely free/realloc the buffer as needed; + * otherwise we will leave the buffer alone and alloc new memory if + * more space is needed + */ + bool owns_buffer; + + /// The length of the data stored in the buffer pointer. + size_t buffer_length; + + /// The maximum capacity of the buffer pointer. + size_t buffer_capacity; + + /// The allocator used to allocate and free the data in the pointer. + rcutils_allocator_t allocator; +} rcutils_char_array_t; + +/// Return a zero initialized char array struct. +/** + * \return rcutils_char_array_t a zero initialized char array struct + */ +RCUTILS_PUBLIC +RCUTILS_WARN_UNUSED +rcutils_char_array_t +rcutils_get_zero_initialized_char_array(void); + +/// Initialize a zero initialized char array struct. +/** + * This function may leak if the char array struct is already + * pre-initialized. + * If the capacity is set to 0, no memory is allocated and the internal buffer + * is still NULL. + * + * \param[in] char_array a pointer to the to be initialized char array struct + * \param[in] buffer_capacity the size of the memory to allocate for the byte stream + * \param[in] allocator the allocator to use for the memory allocation + * \return #RCUTILS_RET_OK if successful, or + * \return #RCUTILS_RET_INVALID_ARGUMENT if any arguments are invalid, or + * \return #RCUTILS_RET_BAD_ALLOC if no memory could be allocated correctly + * \return #RCUTILS_RET_ERROR if an unexpected error occurs. + */ +RCUTILS_PUBLIC +RCUTILS_WARN_UNUSED +rcutils_ret_t +rcutils_char_array_init( + rcutils_char_array_t * char_array, + size_t buffer_capacity, + const rcutils_allocator_t * allocator); + +/// Finalize a char array struct. +/** + * Cleans up and deallocates any resources owned by rcutils_char_array_t. + * The array passed to this function needs to have been initialized by + * rcutils_char_array_init(). + * If .owns_buffer is false, this function has no effect because that + * implies that the char_array does not own the internal buffer. + * Passing an uninitialized instance to this function leads to undefined + * behavior. + * + * \param[in] char_array pointer to the rcutils_char_array_t to be cleaned up + * \return #RCUTILS_RET_OK if successful, or + * \return #RCUTILS_RET_INVALID_ARGUMENT if the char_array argument is invalid + * \return #RCUTILS_RET_ERROR if an unexpected error occurs. + */ +RCUTILS_PUBLIC +RCUTILS_WARN_UNUSED +rcutils_ret_t +rcutils_char_array_fini(rcutils_char_array_t * char_array); + +/// Resize the internal buffer of the char array. +/** + * The internal buffer of the char array can be resized dynamically if needed. + * If the new size is smaller than the current capacity, then the memory is + * truncated. + * Be aware, that this will deallocate the memory and therefore invalidates any + * pointers to this storage. + * If the new size is larger, new memory is getting allocated and the existing + * content is copied over. + * Note that if the array doesn't own the current buffer the function just + * allocates a new block of memory and copies the contents of the old buffer + * instead of resizing the existing buffer. + * + * \param[in] char_array pointer to the instance of rcutils_char_array_t which is being resized + * \param[in] new_size the new size of the internal buffer + * \return #RCUTILS_RET_OK if successful, or + * \return #RCUTILS_RET_INVALID_ARGUMENT if new_size is set to zero + * \return #RCUTILS_RET_BAD_ALLOC if memory allocation failed, or + * \return #RCUTILS_RET_ERROR if an unexpected error occurs. + */ +RCUTILS_PUBLIC +RCUTILS_WARN_UNUSED +rcutils_ret_t +rcutils_char_array_resize(rcutils_char_array_t * char_array, size_t new_size); + +/// Expand the internal buffer of the char array. +/** + * This function is equivalent to `rcutils_char_array_resize` except that it resizes + * the internal buffer only when it is not big enough. + * If the buffer is already big enough for `new_size`, it returns `RCUTILS_RET_OK` without + * doing anything. + * + * \param[inout] char_array pointer to the instance of rcutils_char_array_t which is being resized + * \param[in] new_size the new size of the internal buffer + * \return #RCUTILS_RET_OK if successful, or + * \return #RCUTILS_RET_BAD_ALLOC if memory allocation failed, or + * \return #RCUTILS_RET_ERROR if an unexpected error occurs. + */ +RCUTILS_PUBLIC +RCUTILS_WARN_UNUSED +rcutils_ret_t +rcutils_char_array_expand_as_needed(rcutils_char_array_t * char_array, size_t new_size); + +/// Produce output according to format and args. +/** + * This function is equivalent to `vsprintf(char_array->buffer, format, args)` + * except that the buffer grows as needed so a user doesn't have to deal with + * memory management. + * The `va_list args` will be cloned before being used, so a user can safely + * use it again after calling this function. + * + * \param[inout] char_array pointer to the instance of rcutils_char_array_t which is being + * written to + * \param[in] format the format string used by the underlying `vsnprintf` + * \param[in] args the `va_list` used by the underlying `vsnprintf` + * \return #RCUTILS_RET_OK if successful, or + * \return #RCUTILS_RET_BAD_ALLOC if memory allocation failed, or + * \return #RCUTILS_RET_ERROR if an unexpected error occurs. + */ +RCUTILS_PUBLIC +RCUTILS_WARN_UNUSED +rcutils_ret_t +rcutils_char_array_vsprintf(rcutils_char_array_t * char_array, const char * format, va_list args); + +/// Append a string (or part of it) to the string in buffer. +/** + * This function treats the internal buffer as a string and appends the src string to it. + * If src is longer than n, n bytes will be used and an extra null byte will be appended. + * It is virtually equivalent to `strncat(char_array->buffer, src, n)` except that the buffer + * grows as needed so a user doesn't have to deal with memory management. + * + * \param[inout] char_array pointer to the instance of rcutils_char_array_t which is being appended to + * \param[in] src the string to be appended to the end of the string in buffer + * \param[in] n it uses at most n bytes from the src string + * \return #RCUTILS_RET_OK if successful, or + * \return #RCUTILS_RET_BAD_ALLOC if memory allocation failed, or + * \return #RCUTILS_RET_ERROR if an unexpected error occurs. + */ +RCUTILS_PUBLIC +RCUTILS_WARN_UNUSED +rcutils_ret_t +rcutils_char_array_strncat(rcutils_char_array_t * char_array, const char * src, size_t n); + +/// Append a string to the string in buffer. +/** + * This function treats the internal buffer as a string and appends the src string to it. + * It is virtually equivalent to `strcat(char_array->buffer, src)` except that the buffer + * grows as needed. That is to say, a user can safely use it without doing calculation or + * checks on the sizes of the src and buffer. + * + * \param[inout] char_array pointer to the instance of rcutils_char_array_t which is being + * appended to + * \param[in] src the string to be appended to the end of the string in buffer + * \return #RCUTILS_RET_OK if successful, or + * \return #RCUTILS_RET_BAD_ALLOC if memory allocation failed, or + * \return #RCUTILS_RET_ERROR if an unexpected error occurs. + */ +RCUTILS_PUBLIC +RCUTILS_WARN_UNUSED +rcutils_ret_t +rcutils_char_array_strcat(rcutils_char_array_t * char_array, const char * src); + +/// Copy memory to buffer. +/** + * This function is equivalent to `memcpy(char_array->buffer, src, n)` except that the buffer + * grows as needed so a user doesn't have to worry about overflow. + * + * \param[inout] char_array pointer to the instance of rcutils_char_array_t which is being resized + * \param[in] src the memory to be copied from + * \param[in] n a total of n bytes will be copied + * \return #RCUTILS_RET_OK if successful, or + * \return #RCUTILS_RET_BAD_ALLOC if memory allocation failed, or + * \return #RCUTILS_RET_ERROR if an unexpected error occurs. + */ +RCUTILS_PUBLIC +RCUTILS_WARN_UNUSED +rcutils_ret_t +rcutils_char_array_memcpy(rcutils_char_array_t * char_array, const char * src, size_t n); + +/// Copy a string to buffer. +/** + * This function is equivalent to `strcpy(char_array->buffer, src)` except that the buffer + * grows as needed so that `src` will fit without overflow. + * + * \param[inout] char_array pointer to the instance of rcutils_char_array_t which is being + * copied to + * \param[in] src the string to be copied from + * \return #RCUTILS_RET_OK if successful, or + * \return #RCUTILS_RET_BAD_ALLOC if memory allocation failed, or + * \return #RCUTILS_RET_ERROR if an unexpected error occurs. + */ +RCUTILS_PUBLIC +RCUTILS_WARN_UNUSED +rcutils_ret_t +rcutils_char_array_strcpy(rcutils_char_array_t * char_array, const char * src); + +#if __cplusplus +} +#endif + +#endif // RCUTILS__TYPES__CHAR_ARRAY_H_ diff --git a/ports/espressif/microros-ext/include/rcutils/rcutils/types/hash_map.h b/ports/espressif/microros-ext/include/rcutils/rcutils/types/hash_map.h new file mode 100644 index 0000000000000..4d5de731d12ce --- /dev/null +++ b/ports/espressif/microros-ext/include/rcutils/rcutils/types/hash_map.h @@ -0,0 +1,427 @@ +// Copyright 2018-2019 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. + +/// \file + +#ifndef RCUTILS__TYPES__HASH_MAP_H_ +#define RCUTILS__TYPES__HASH_MAP_H_ + +#ifdef __cplusplus +extern "C" +{ +#endif + +#include + +#include "rcutils/allocator.h" +#include "rcutils/types/rcutils_ret.h" +#include "rcutils/macros.h" +#include "rcutils/visibility_control.h" + +struct rcutils_hash_map_impl_s; + +/// The structure holding the metadata for a hash map. +typedef struct RCUTILS_PUBLIC_TYPE rcutils_hash_map_s +{ + /// A pointer to the PIMPL implementation type. + struct rcutils_hash_map_impl_s * impl; +} rcutils_hash_map_t; + +/// The function signature for a key hashing function. +/** + * \param[in] key The key that needs to be hashed + * \return A hash value for the provided string + */ +typedef size_t (* rcutils_hash_map_key_hasher_t)( + const void * key +); + +/// The function signature for a key comparison function. +/** + * \param[in] val1 The first value to compare + * \param[in] val2 The second value to compare + * \return A negative number if val1 < val2, or + * \return A positve number if val1 > val2, or + * \return Zero if val1 == val2. + */ +typedef int (* rcutils_hash_map_key_cmp_t)( + const void * val1, + const void * val2 +); + +/** + * Validates that an rcutils_hash_map_t* points to a valid hash map. + * \param[in] map A pointer to an rcutils_hash_map_t + * \return #RCUTILS_RET_INVALID_ARGUMENT if map is null + * \return #RCUTILS_RET_NOT_INITIALIZED if map is not initialized. + */ +#define HASH_MAP_VALIDATE_HASH_MAP(map) \ + RCUTILS_CHECK_ARGUMENT_FOR_NULL(map, RCUTILS_RET_INVALID_ARGUMENT); \ + if (NULL == map->impl) { \ + RCUTILS_SET_ERROR_MSG("map is not initialized"); \ + return RCUTILS_RET_NOT_INITIALIZED; \ + } + +/// A hashing function for a null terminated c string. +/** + * A hashing function for a null terminated c string. + * Should be used when your key is just a pointer to a c-string + */ +RCUTILS_PUBLIC +size_t +rcutils_hash_map_string_hash_func(const void * key_str); + +/// A comparison function for a null terminated c string. +/** + * A comparison function for a null terminated c string. + * Should be used when your key is just a pointer to a c-string + */ +RCUTILS_PUBLIC +int +rcutils_hash_map_string_cmp_func(const void * val1, const void * val2); + +/// Return an empty hash_map struct. +/** + * This function returns an empty and zero initialized hash_map struct. + * All hash maps should be initialized with this or manually initialized + * before being used. + * + *
+ * Attribute | Adherence + * ------------------ | ------------- + * Allocates Memory | No + * Thread-Safe | No + * Uses Atomics | No + * Lock-Free | Yes + * + * Example: + * ```c + * // Do not do this: + * // rcutils_hash_map_t foo; + * // rcutils_hash_map_fini(&foo); // undefined behavior! + * + * // Do this instead: + * rcutils_hash_map_t bar = rcutils_get_zero_initialized_hash_map(); + * rcutils_hash_map_fini(&bar); // ok + * ``` + * */ +RCUTILS_PUBLIC +RCUTILS_WARN_UNUSED +rcutils_hash_map_t +rcutils_get_zero_initialized_hash_map(); + +/// Initialize a rcutils_hash_map_t, allocating space for given capacity. +/** + * This function initializes the rcutils_hash_map_t with a given initial + * capacity for entries. + * Note this does not allocate space for keys or values in the hash_map, just the + * arrays of pointers to the keys and values. + * rcutils_hash_map_set() should still be used when assigning values. + * + * The hash_map argument should point to allocated memory and should have + * been zero initialized with rcutils_get_zero_initialized_hash_map(). + * + *
+ * Attribute | Adherence + * ------------------ | ------------- + * Allocates Memory | Yes + * Thread-Safe | No + * Uses Atomics | No + * Lock-Free | Yes + * + * Example: + * ```c + * rcutils_hash_map_t hash_map = rcutils_get_zero_initialized_hash_map(); + * rcutils_ret_t ret = + * rcutils_hash_map_init(&hash_map, 2, rcutils_get_default_allocator()); + * if (ret != RCUTILS_RET_OK) { + * // ... do error handling + * } + * // ... use the hash_map and when done: + * ret = rcutils_hash_map_fini(&hash_map); + * if (ret != RCUTILS_RET_OK) { + * // ... do error handling + * } + * ``` + * + * \param[inout] hash_map rcutils_hash_map_t to be initialized + * \param[in] initial_capacity the amount of initial capacity for the hash_map - this must be + * greater than zero and will be automatically rounded up to the next power of 2 + * \param[in] key_size the size (in bytes) of the key used to index the data + * \param[in] data_size the size (in bytes) of the data being stored + * \param[in] key_hashing_func a function that returns a hashed value for a key + * \param[in] key_cmp_func a function used to compare keys + * \param[in] allocator the allocator to use through out the lifetime of the hash_map + * \return #RCUTILS_RET_OK if successful, or + * \return #RCUTILS_RET_INVALID_ARGUMENT for invalid arguments, or + * \return #RCUTILS_RET_BAD_ALLOC if memory allocation fails, or + * \return #RCUTILS_RET_STRING_MAP_ALREADY_INIT if alread initialized, or + * \return #RCUTILS_RET_ERROR if an unknown error occurs. + */ +RCUTILS_PUBLIC +RCUTILS_WARN_UNUSED +rcutils_ret_t +rcutils_hash_map_init( + rcutils_hash_map_t * hash_map, + size_t initial_capacity, + size_t key_size, + size_t data_size, + rcutils_hash_map_key_hasher_t key_hashing_func, + rcutils_hash_map_key_cmp_t key_cmp_func, + const rcutils_allocator_t * allocator); + +/// Finalize the previously initialized hash_map struct. +/** + * This function will free any resources which were created when initializing + * or when calling rcutils_hash_map_set(). + * + *
+ * Attribute | Adherence + * ------------------ | ------------- + * Allocates Memory | No + * Thread-Safe | No + * Uses Atomics | No + * Lock-Free | Yes + * + * \param[inout] hash_map rcutils_hash_map_t to be finalized + * \return #RCUTILS_RET_OK if successful, or + * \return #RCUTILS_RET_INVALID_ARGUMENT for invalid arguments, or + * \return #RCUTILS_RET_ERROR if an unknown error occurs. + */ +RCUTILS_PUBLIC +RCUTILS_WARN_UNUSED +rcutils_ret_t +rcutils_hash_map_fini(rcutils_hash_map_t * hash_map); + +/// Get the current capacity of the hash_map. +/** + * This function will return the internal capacity of the hash_map, which is the + * number of buckets the hash_map uses to sort the keys. + * The capacity does not indicate how many key value pairs are stored in the + * hash_map, the rcutils_hash_map_get_size() function can provide that, nor the + * maximum number that can be stored without increasing the capacity. + * The capacity can be set initially with rcutils_hash_map_init(). + * + *
+ * Attribute | Adherence + * ------------------ | ------------- + * Allocates Memory | No + * Thread-Safe | No + * Uses Atomics | No + * Lock-Free | Yes + * + * \param[in] hash_map rcutils_hash_map_t to be queried + * \param[out] capacity capacity of the hash_map + * \return #RCUTILS_RET_OK if successful, or + * \return #RCUTILS_RET_INVALID_ARGUMENT for invalid arguments, or + * \return #RCUTILS_RET_NOT_INITIALIZED if the hash_map is invalid, or + * \return #RCUTILS_RET_ERROR if an unknown error occurs. + */ +RCUTILS_PUBLIC +RCUTILS_WARN_UNUSED +rcutils_ret_t +rcutils_hash_map_get_capacity(const rcutils_hash_map_t * hash_map, size_t * capacity); + +/// Get the current size of the hash_map. +/** + * This function will return the internal size of the hash_map, which is the + * current number of key value pairs in the hash_map. + * The size is changed when calling rcutils_hash_map_set() or rcutils_hash_map_unset(). + * + *
+ * Attribute | Adherence + * ------------------ | ------------- + * Allocates Memory | No + * Thread-Safe | No + * Uses Atomics | No + * Lock-Free | Yes + * + * \param[in] hash_map rcutils_hash_map_t to be queried + * \param[out] size size of the hash_map + * \return #RCUTILS_RET_OK if successful, or + * \return #RCUTILS_RET_INVALID_ARGUMENT for invalid arguments, or + * \return #RCUTILS_RET_NOT_INITIALIZED if the hash_map is invalid, or + * \return #RCUTILS_RET_ERROR if an unknown error occurs. + */ +RCUTILS_PUBLIC +RCUTILS_WARN_UNUSED +rcutils_ret_t +rcutils_hash_map_get_size(const rcutils_hash_map_t * hash_map, size_t * size); + +/// Set a key value pair in the hash_map, increasing capacity if necessary. +/** + * If the key already exists in the map then the value is updated to the new value + * provided. If it does not already exist then a new entry is added for the new key + * and value. The capacity will be increased if needed. + * + *
+ * Attribute | Adherence + * ------------------ | ------------- + * Allocates Memory | Yes + * Thread-Safe | No + * Uses Atomics | No + * Lock-Free | Yes + * + * \param[inout] hash_map rcutils_hash_map_t to be updated + * \param[in] key hash_map key + * \param[in] value value for given hash_map key + * \return #RCUTILS_RET_OK if successful, or + * \return #RCUTILS_RET_INVALID_ARGUMENT for invalid arguments, or + * \return #RCUTILS_RET_BAD_ALLOC if memory allocation fails, or + * \return #RCUTILS_RET_NOT_INITIALIZED if the hash_map is invalid, or + * \return #RCUTILS_RET_ERROR if an unknown error occurs. + */ +RCUTILS_PUBLIC +RCUTILS_WARN_UNUSED +rcutils_ret_t +rcutils_hash_map_set(rcutils_hash_map_t * hash_map, const void * key, const void * value); + +/// Unset a key value pair in the hash_map. +/** + * Unsets the key value pair in the hash_map and frees any internal resources allocated + * for the entry. This function will never decrease the capacity when removing keys. + * If the given key is not found, RCUTILS_RET_STRING_KEY_NOT_FOUND is returned. + * + *
+ * Attribute | Adherence + * ------------------ | ------------- + * Allocates Memory | No + * Thread-Safe | No + * Uses Atomics | No + * Lock-Free | Yes + * + * \param[inout] hash_map rcutils_hash_map_t to be updated + * \param[in] key hash_map key, must be null terminated c string + * \return #RCUTILS_RET_OK if successful, or + * \return #RCUTILS_RET_INVALID_ARGUMENT for invalid arguments, or + * \return #RCUTILS_RET_NOT_INITIALIZED if the hash_map is invalid, or + * \return #RCUTILS_RET_STRING_KEY_NOT_FOUND if the key is not found in the map, or + * \return #RCUTILS_RET_ERROR if an unknown error occurs. + */ +RCUTILS_PUBLIC +RCUTILS_WARN_UNUSED +rcutils_ret_t +rcutils_hash_map_unset(rcutils_hash_map_t * hash_map, const void * key); + +/// Get whether or not a key exists. +/** + * Returns true if the provided key exists in the hash_map or false if it does not or + * if the hash_map or key are invalid. + * In all cases no error message is set. + * + *
+ * Attribute | Adherence + * ------------------ | ------------- + * Allocates Memory | No + * Thread-Safe | No + * Uses Atomics | No + * Lock-Free | Yes + * + * \param[in] hash_map rcutils_hash_map_t to be searched + * \param[in] key hash_map key, must be null terminated c string + * \return `true` if key is in the hash_map, or + * \return `false` if key is not in the hash_map, or + * \return `false` for invalid arguments, or + * \return `false` if the hash_map is invalid. + */ +RCUTILS_PUBLIC +bool +rcutils_hash_map_key_exists(const rcutils_hash_map_t * hash_map, const void * key); + +/// Get value given a key. +/** + * This function can be used to retrieve a shallow copy of the stored data. The data + * pointer must point to a section of memory large enough to copy the full size of + * the data being stored, which is specified when the hash_map in initialized. + * + *
+ * Attribute | Adherence + * ------------------ | ------------- + * Allocates Memory | No + * Thread-Safe | No + * Uses Atomics | No + * Lock-Free | Yes + * + * \param[in] hash_map rcutils_hash_map_t to be searched + * \param[in] key hash_map key to look up the data for + * \param[out] data A copy of the data stored in the map + * \return #RCUTILS_RET_OK if successful, or + * \return #RCUTILS_RET_INVALID_ARGUMENT for invalid arguments, or + * \return #RCUTILS_RET_NOT_INITIALIZED if the hash_map is invalid, or + * \return #RCUTILS_RET_NOT_FOUND if the key doesn't exist in the map, or + * \return #RCUTILS_RET_ERROR if an unknown error occurs. + */ +RCUTILS_PUBLIC +rcutils_ret_t +rcutils_hash_map_get(const rcutils_hash_map_t * hash_map, const void * key, void * data); + +/// Get the next key in the hash_map, unless NULL is given, then get the first key. +/** + * This function allows you to iteratively get each key/value pair in the hash_map. + * + * If NULL is given for the previous_key, then the first key in the hash_map is returned. + * If that returned key is given as the previous_key for the next call to this function, + * then the next key in the hash_map is returned. + * If there are no more keys in the hash_map or if the given key is not in the hash_map, + * an error will be returned. + * + * The order of the keys in the hash_map is arbitrary and if the hash_map is modified + * between calls to this function the behavior is undefined. + * If the hash_map is modified then iteration should begin again by passing NULL to + * get the first key again. + * + *
+ * Attribute | Adherence + * ------------------ | ------------- + * Allocates Memory | No + * Thread-Safe | No + * Uses Atomics | No + * Lock-Free | Yes + * + * Example: + * ```c + * printf("entries in the hash_map:\n"); + * int key = 0, data = 0; + * rcutils_ret_t status = rcutils_hash_map_get_next_key(&hash_map, NULL, &key, &data); + * while (RCUTILS_RET_OK == status) { + * printf("%i: %i\n", key, data); + * status = rcutils_hash_map_get_next_key(&hash_map, &key, &key, &data); + * } + * ``` + * + * \param[in] hash_map rcutils_hash_map_t to be queried + * \param[in] previous_key NULL to get the first key or the previous key to get the next for + * \param[out] key A copy of the next key in the sequence + * \param[out] data A copy of the next data in the sequence + * \return #RCUTILS_RET_OK if successful, or + * \return #RCUTILS_RET_INVALID_ARGUMENT for invalid arguments, or + * \return #RCUTILS_RET_NOT_INITIALIZED if the hash_map is invalid, or + * \return #RCUTILS_RET_NOT_FOUND if the previous_key doesn't exist in the map, or + * \return #RCUTILS_RET_HASH_MAP_NO_MORE_ENTRIES if there is no more data beyound the previous_key, or + * \return #RCUTILS_RET_ERROR if an unknown error occurs. + */ +RCUTILS_PUBLIC +rcutils_ret_t +rcutils_hash_map_get_next_key_and_data( + const rcutils_hash_map_t * hash_map, + const void * previous_key, + void * key, + void * data); + + +#ifdef __cplusplus +} +#endif + +#endif // RCUTILS__TYPES__HASH_MAP_H_ diff --git a/ports/espressif/microros-ext/include/rcutils/rcutils/types/rcutils_ret.h b/ports/espressif/microros-ext/include/rcutils/rcutils/types/rcutils_ret.h new file mode 100644 index 0000000000000..b4712d2b0756e --- /dev/null +++ b/ports/espressif/microros-ext/include/rcutils/rcutils/types/rcutils_ret.h @@ -0,0 +1,66 @@ +// Copyright 2017 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. + +/// \file + +#ifndef RCUTILS__TYPES__RCUTILS_RET_H_ +#define RCUTILS__TYPES__RCUTILS_RET_H_ + +#ifdef __cplusplus +extern "C" +{ +#endif + +/// The type that holds a return value for an rcutils operation. +typedef int rcutils_ret_t; + +/// Successful operation. +#define RCUTILS_RET_OK 0 +/// Operation produced a warning. +#define RCUTILS_RET_WARN 1 +/// Generic failure in operation. +#define RCUTILS_RET_ERROR 2 + +/// Failed to allocate memory return code. +#define RCUTILS_RET_BAD_ALLOC 10 +/// Invalid argument return code. +#define RCUTILS_RET_INVALID_ARGUMENT 11 +/// Not enough storage to do operation. +#define RCUTILS_RET_NOT_ENOUGH_SPACE 12 +/// Resource is not initialized +#define RCUTILS_RET_NOT_INITIALIZED 13 +/// Resource for request not found +#define RCUTILS_RET_NOT_FOUND 14 + +/// Given string map was either already initialized or was not zero initialized. +#define RCUTILS_RET_STRING_MAP_ALREADY_INIT 30 +/// Given string map is invalid, perhaps not initialized yet. +#define RCUTILS_RET_STRING_MAP_INVALID 31 +/// Given key not found in given string map. +#define RCUTILS_RET_STRING_KEY_NOT_FOUND 32 + +/// Internal severity map for logger thresholds is invalid. +#define RCUTILS_RET_LOGGING_SEVERITY_MAP_INVALID 40 +/// String representation of a severity is invalid. +#define RCUTILS_RET_LOGGING_SEVERITY_STRING_INVALID 41 + +/// There are no more entires beyond the last one in the map +#define RCUTILS_RET_HASH_MAP_NO_MORE_ENTRIES 50 + + +#ifdef __cplusplus +} +#endif + +#endif // RCUTILS__TYPES__RCUTILS_RET_H_ diff --git a/ports/espressif/microros-ext/include/rcutils/rcutils/types/string_array.h b/ports/espressif/microros-ext/include/rcutils/rcutils/types/string_array.h new file mode 100644 index 0000000000000..4c4c97e937f53 --- /dev/null +++ b/ports/espressif/microros-ext/include/rcutils/rcutils/types/string_array.h @@ -0,0 +1,221 @@ +// Copyright 2017 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. + +/// \file + +#ifndef RCUTILS__TYPES__STRING_ARRAY_H_ +#define RCUTILS__TYPES__STRING_ARRAY_H_ + +#ifdef __cplusplus +extern "C" +{ +#endif + +#include + +#include "rcutils/allocator.h" +#include "rcutils/error_handling.h" +#include "rcutils/macros.h" +#include "rcutils/qsort.h" +#include "rcutils/types/rcutils_ret.h" +#include "rcutils/visibility_control.h" + +/// The structure holding the metadata for a string array. +typedef struct RCUTILS_PUBLIC_TYPE rcutils_string_array_s +{ + /// The number of strings that can be stored in the string array. + size_t size; + + /// The allocated memory for the string array. + char ** data; + + /// The allocator used to allocate and free memory for the string array. + rcutils_allocator_t allocator; +} rcutils_string_array_t; + +/// Return an empty string array struct. +/** + * This function returns an empty and zero initialized string array struct. + * Calling rcutils_string_array_fini() on any non-initialized instance leads + * to undefined behavior. + * Every instance of string_array_t has to either be zero_initialized with this + * function or manually allocated. + * + * Example: + * + * ```c + * rcutils_string_array_t foo; + * rcutils_string_array_fini(&foo); // undefined behavior! + * + * rcutils_string_array_t bar = rcutils_get_zero_initialized_string_array(); + * rcutils_string_array_fini(&bar); // ok + * ``` + */ +RCUTILS_PUBLIC +rcutils_string_array_t +rcutils_get_zero_initialized_string_array(void); + +/// Initialize a string array with a given size. +/** + * This function will initialize a given, zero initialized, string array to + * a given size. + * + * Note that putting a string into the array gives owenship to the array. + * + * Example: + * + * ```c + * rcutils_allocator_t allocator = rcutils_get_default_allocator(); + * rcutils_string_array_t string_array = rcutils_get_zero_initialized_string_array(); + * rcutils_ret_t ret = rcutils_string_array_init(&string_array, 2, &allocator); + * if (ret != RCUTILS_RET_OK) { + * // ... error handling + * } + * string_array.data[0] = rcutils_strdup("Hello", &allocator); + * string_array.data[1] = rcutils_strdup("World", &allocator); + * ret = rcutils_string_array_fini(&string_array); + * ``` + * + * \param[inout] string_array object to be initialized + * \param[in] size the size the array should be + * \param[in] allocator to be used to allocate and deallocate memory + * \return #RCUTILS_RET_OK if successful, or + * \return #RCUTILS_RET_INVALID_ARGUMENT for invalid arguments, or + * \return #RCUTILS_RET_BAD_ALLOC if memory allocation fails, or + * \return #RCUTILS_RET_ERROR if an unknown error occurs. + */ +RCUTILS_PUBLIC +RCUTILS_WARN_UNUSED +rcutils_ret_t +rcutils_string_array_init( + rcutils_string_array_t * string_array, + size_t size, + const rcutils_allocator_t * allocator); + +/// Finalize a string array, reclaiming all resources. +/** + * This function reclaims any memory owned by the string array, including the + * strings it references. + * + * The allocator used to initialize the string array is used to deallocate each + * string in the array and the array of strings itself. + * + * \param[inout] string_array object to be finalized + * \return #RCUTILS_RET_OK if successful, or + * \return #RCUTILS_RET_INVALID_ARGUMENT for invalid arguments, or + * \return #RCUTILS_RET_ERROR if an unknown error occurs. + */ +RCUTILS_PUBLIC +RCUTILS_WARN_UNUSED +rcutils_ret_t +rcutils_string_array_fini(rcutils_string_array_t * string_array); + +/// Compare two string arrays. +/** + * The two string arrays are compared according to lexicographical order. + * + * \param[in] lhs The first string array. + * \param[in] rhs The second string array. + * \param[out] res Negative value if `lhs` appears before `rhs` in lexicographical order. + * Zero if `lhs` and `rhs` are equal. + * Positive value if `lhs` appears after `rhs` in lexographical order. + * \return #RCUTILS_RET_OK if successful, or + * \return #RCUTILS_RET_INVALID_ARGUMENT if any argument is `NULL, or + * \return #RCUTILS_RET_INVALID_ARGUMENT if `lhs->data` or `rhs->data` is `NULL, or + * \return #RCUTILS_RET_ERROR if an unknown error occurs. + */ +RCUTILS_PUBLIC +RCUTILS_WARN_UNUSED +rcutils_ret_t +rcutils_string_array_cmp( + const rcutils_string_array_t * lhs, + const rcutils_string_array_t * rhs, + int * res); + +/// Resize a string array, reclaiming removed resources. +/** + * This function changes the size of an existing string array. + * If the new size is larger, new entries are added to the end of the array and + * are zero- initialized. + * If the new size is smaller, entries are removed from the end of the array + * and their resources reclaimed. + * + * \par Note: + * Resizing to 0 is not a substitute for calling ::rcutils_string_array_fini. + * + * \par Note: + * If this function fails, \p string_array remains unchanged and should still + * be reclaimed with ::rcutils_string_array_fini. + * + * \param[inout] string_array object to be resized. + * \param[in] new_size the size the array should be changed to. + * \return #RCUTILS_RET_OK if successful, or + * \return #RCUTILS_RET_INVALID_ARGUMENT for invalid arguments, or + * \return #RCUTILS_RET_BAD_ALLOC if memory allocation fails, or + * \return #RCUTILS_RET_ERROR if an unknown error occurs. + */ +RCUTILS_PUBLIC +RCUTILS_WARN_UNUSED +rcutils_ret_t +rcutils_string_array_resize( + rcutils_string_array_t * string_array, + size_t new_size); + +/// Lexicographic comparer for pointers to string pointers. +/** + * This functions compares pointers to string pointers lexicographically + * ascending. + * + * \param[in] lhs pointer to the first string pointer. + * \param[in] rhs pointer to the second string pointer. + * \return <0 if lhs is lexicographically lower, or + * \return 0 if the strings are the same, or + * \return >0 if lhs is lexicographically higher. + */ +RCUTILS_PUBLIC +RCUTILS_WARN_UNUSED +int +rcutils_string_array_sort_compare(const void * lhs, const void * rhs); + +/// Sort a string array according to lexicographical order. +/** + * This function changes the order of the entries in a string array so that + * they are in lexicographically ascending order. + * Empty entries are placed at the end of the array. + * + * \param[inout] string_array object whose elements should be sorted. + * \return #RCUTILS_RET_OK if successful, or + * \return #RCUTILS_RET_INVALID_ARGUMENT for invalid arguments, or + * \return #RCUTILS_RET_ERROR if an unknown error occurs. + */ +inline +RCUTILS_WARN_UNUSED +rcutils_ret_t +rcutils_string_array_sort(rcutils_string_array_t * string_array) +{ + RCUTILS_CHECK_FOR_NULL_WITH_MSG( + string_array, "string_array is null", return RCUTILS_RET_INVALID_ARGUMENT); + + return rcutils_qsort( + string_array->data, + string_array->size, + sizeof(string_array->data[0]), + rcutils_string_array_sort_compare); +} + +#ifdef __cplusplus +} +#endif + +#endif // RCUTILS__TYPES__STRING_ARRAY_H_ diff --git a/ports/espressif/microros-ext/include/rcutils/rcutils/types/string_map.h b/ports/espressif/microros-ext/include/rcutils/rcutils/types/string_map.h new file mode 100644 index 0000000000000..49b65fdbfdd50 --- /dev/null +++ b/ports/espressif/microros-ext/include/rcutils/rcutils/types/string_map.h @@ -0,0 +1,443 @@ +// Copyright 2017 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. + +/// \file + +#ifndef RCUTILS__TYPES__STRING_MAP_H_ +#define RCUTILS__TYPES__STRING_MAP_H_ + +#ifdef __cplusplus +extern "C" +{ +#endif + +#include + +#include "rcutils/allocator.h" +#include "rcutils/types/rcutils_ret.h" +#include "rcutils/macros.h" +#include "rcutils/visibility_control.h" + +struct rcutils_string_map_impl_s; + +/// The structure holding the metadata for a string map. +typedef struct RCUTILS_PUBLIC_TYPE rcutils_string_map_s +{ + /// A pointer to the PIMPL implementation type. + struct rcutils_string_map_impl_s * impl; +} rcutils_string_map_t; + +/// Return an empty string map struct. +/** + * This function returns an empty and zero initialized string map struct. + * + * Example: + * + * ```c + * // Do not do this: + * // rcutils_string_map_t foo; + * // rcutils_string_map_fini(&foo); // undefined behavior! + * + * // Do this instead: + * rcutils_string_map_t bar = rcutils_get_zero_initialized_string_map(); + * rcutils_string_map_fini(&bar); // ok + * ``` + * */ +RCUTILS_PUBLIC +RCUTILS_WARN_UNUSED +rcutils_string_map_t +rcutils_get_zero_initialized_string_map(); + +/// Initialize a rcutils_string_map_t, allocating space for given capacity. +/** + * This function initializes the rcutils_string_map_t with a given initial + * capacity for entries. + * Note this does not allocate space for keys or values in the map, just the + * arrays of pointers to the keys and values. + * rcutils_string_map_set() should still be used when assigning values. + * + * The string_map argument should point to allocated memory and should have + * been zero initialized with rcutils_get_zero_initialized_string_map(). + * For example: + * + * ```c + * rcutils_string_map_t string_map = rcutils_get_zero_initialized_string_map(); + * rcutils_ret_t ret = + * rcutils_string_map_init(&string_map, 10, rcutils_get_default_allocator()); + * if (ret != RCUTILS_RET_OK) { + * // ... do error handling + * } + * // ... use the string map and when done: + * ret = rcutils_string_map_fini(&string_map); + * if (ret != RCUTILS_RET_OK) { + * // ... do error handling + * } + * ``` + * + * \param[inout] string_map rcutils_string_map_t to be initialized + * \param[in] initial_capacity the amount of initial capacity for the string map + * \param[in] allocator the allocator to use through out the lifetime of the map + * \return #RCUTILS_RET_OK if successful, or + * \return #RCUTILS_RET_INVALID_ARGUMENT for invalid arguments, or + * \return #RCUTILS_RET_BAD_ALLOC if memory allocation fails, or + * \return #RCUTILS_RET_STRING_MAP_ALREADY_INIT if already initialized, or + * \return #RCUTILS_RET_ERROR if an unknown error occurs. + */ +RCUTILS_PUBLIC +RCUTILS_WARN_UNUSED +rcutils_ret_t +rcutils_string_map_init( + rcutils_string_map_t * string_map, + size_t initial_capacity, + rcutils_allocator_t allocator); + +/// Finalize the previously initialized string map struct. +/** + * This function will free any resources which were created when initializing + * or when calling rcutils_string_map_set(). + * + * \param[inout] string_map rcutils_string_map_t to be finalized + * \return #RCUTILS_RET_OK if successful, or + * \return #RCUTILS_RET_INVALID_ARGUMENT for invalid arguments, or + * \return #RCUTILS_RET_ERROR if an unknown error occurs. + */ +RCUTILS_PUBLIC +RCUTILS_WARN_UNUSED +rcutils_ret_t +rcutils_string_map_fini(rcutils_string_map_t * string_map); + +/// Get the current capacity of the string map. +/** + * This function will return the internal capacity of the map, which is the + * maximum number of key value pairs the map could hold. + * The capacity can be set initially with rcutils_string_map_init() or + * with rcutils_string_map_reserve(). + * The capacity does not indicate how many key value paris are stored in the + * map, the rcutils_string_map_get_size() function can provide that. + * + * \param[in] string_map rcutils_string_map_t to be queried + * \param[out] capacity capacity of the string map + * \return #RCUTILS_RET_OK if successful, or + * \return #RCUTILS_RET_INVALID_ARGUMENT for invalid arguments, or + * \return #RCUTILS_RET_STRING_MAP_INVALID if the string map is invalid, or + * \return #RCUTILS_RET_ERROR if an unknown error occurs. + */ +RCUTILS_PUBLIC +RCUTILS_WARN_UNUSED +rcutils_ret_t +rcutils_string_map_get_capacity(const rcutils_string_map_t * string_map, size_t * capacity); + +/// Get the current size of the string map. +/** + * This function will return the internal size of the map, which is the + * current number of key value pairs in the map. + * The size is changed when calling rcutils_string_map_set_no_resize(), + * rcutils_string_map_set(), or rcutils_string_map_unset(). + * + * \param[in] string_map rcutils_string_map_t to be queried + * \param[out] size size of the string map + * \return #RCUTILS_RET_OK if successful, or + * \return #RCUTILS_RET_INVALID_ARGUMENT for invalid arguments, or + * \return #RCUTILS_RET_STRING_MAP_INVALID if the string map is invalid, or + * \return #RCUTILS_RET_ERROR if an unknown error occurs. + */ +RCUTILS_PUBLIC +RCUTILS_WARN_UNUSED +rcutils_ret_t +rcutils_string_map_get_size(const rcutils_string_map_t * string_map, size_t * size); + +/// Reserve a given amount of capacity in the map. +/** + * Increases the capacity of the map to at least the given size. + * + * If the current capacity is less than requested capacity then the capacity + * is increased using the allocator given during initialization of the map in + * rcutils_string_map_init(). + * If the requested capacity is less than the current capacity, the capacity + * may be reduced, but no existing key value pairs will be truncated to do so. + * In effect, the capacity will be shrunk to fit the number of items in map or + * the requested capacity, which ever is larger. + * + * If recovering all resources is desired first call rcutils_string_map_clear() + * and then this function with a capacity of 0. + * + * \param[inout] string_map rcutils_string_map_t to have space reserved in + * \param[in] capacity requested size to reserve in the map + * \return #RCUTILS_RET_OK if successful, or + * \return #RCUTILS_RET_INVALID_ARGUMENT for invalid arguments, or + * \return #RCUTILS_RET_BAD_ALLOC if memory allocation fails, or + * \return #RCUTILS_RET_STRING_MAP_INVALID if the string map is invalid, or + * \return #RCUTILS_RET_ERROR if an unknown error occurs. + */ +RCUTILS_PUBLIC +RCUTILS_WARN_UNUSED +rcutils_ret_t +rcutils_string_map_reserve(rcutils_string_map_t * string_map, size_t capacity); + +/// Remove all key value pairs from the map. +/** + * This function will remove all key value pairs from the map, and it will + * reclaim all resources allocated as a result of setting key value pairs. + * rcutils_string_map_fini() should still be called after this. + * + * \param[inout] string_map rcutils_string_map_t to be cleared + * \return #RCUTILS_RET_OK if successful, or + * \return #RCUTILS_RET_INVALID_ARGUMENT for invalid arguments, or + * \return #RCUTILS_RET_STRING_MAP_INVALID if the string map is invalid, or + * \return #RCUTILS_RET_ERROR if an unknown error occurs. + */ +RCUTILS_PUBLIC +RCUTILS_WARN_UNUSED +rcutils_ret_t +rcutils_string_map_clear(rcutils_string_map_t * string_map); + +/// Set a key value pair in the map, increasing capacity if necessary. +/** + * The capacity will be increased if needed using rcutils_string_map_reserve(). + * Otherwise it is the same as rcutils_string_map_set_no_resize(). + * + * \see rcutils_string_map_set_no_resize() + * + * \param[inout] string_map rcutils_string_map_t to be updated + * \param[in] key map key, must be null terminated c string + * \param[in] value value for given map key, must be null terminated c string + * \return #RCUTILS_RET_OK if successful, or + * \return #RCUTILS_RET_INVALID_ARGUMENT for invalid arguments, or + * \return #RCUTILS_RET_BAD_ALLOC if memory allocation fails, or + * \return #RCUTILS_RET_STRING_MAP_INVALID if the string map is invalid, or + * \return #RCUTILS_RET_ERROR if an unknown error occurs. + */ +RCUTILS_PUBLIC +RCUTILS_WARN_UNUSED +rcutils_ret_t +rcutils_string_map_set(rcutils_string_map_t * string_map, const char * key, const char * value); + +/// Set a key value pair in the map but only if the map has enough capacity. +/** + * If the map already contains the given key, the existing value will be + * replaced with the given value. + * If the map does not contain the given key, and the map has additional + * unused capacity, then it will store the given key and value in the map. + * If there is no unused capacity in the map, then RCUTILS_RET_NOT_ENOUGH_SPACE + * is returned. + * + * The given key and value c strings are copied into the map, and so storage is + * allocated for them in the map when this function is called if necessary. + * The storage allocated for this purpose is reclaimed either when + * rcutils_string_map_fini() is called on this map or when using this function + * or rcutils_string_map_unset(). + * + * Any allocation that occurs in this functions uses the allocator of the map, + * which is given when the map is initialized in rcutils_string_map_init(). + * + * \param[inout] string_map rcutils_string_map_t to be updated + * \param[in] key map key, must be null terminated c string + * \param[in] value value for given map key, must be null terminated c string + * \return #RCUTILS_RET_OK if successful, or + * \return #RCUTILS_RET_INVALID_ARGUMENT for invalid arguments, or + * \return #RCUTILS_RET_BAD_ALLOC if memory allocation fails, or + * \return #RCUTILS_RET_STRING_MAP_INVALID if the string map is invalid, or + * \return #RCUTILS_RET_NOT_ENOUGH_SPACE if map is full, or + * \return #RCUTILS_RET_ERROR if an unknown error occurs. + */ +RCUTILS_PUBLIC +RCUTILS_WARN_UNUSED +rcutils_ret_t +rcutils_string_map_set_no_resize( + rcutils_string_map_t * string_map, + const char * key, + const char * value); + +/// Unset a key value pair in the map. +/** + * The key needs to be a null terminated c string. + * If the given key is not found, RCUTILS_RET_STRING_KEY_NOT_FOUND is returned. + * + * \param[inout] string_map rcutils_string_map_t to be updated + * \param[in] key map key, must be null terminated c string + * \return #RCUTILS_RET_OK if successful, or + * \return #RCUTILS_RET_INVALID_ARGUMENT for invalid arguments, or + * \return #RCUTILS_RET_STRING_MAP_INVALID if the string map is invalid, or + * \return #RCUTILS_RET_STRING_KEY_NOT_FOUND if key not found, or + * \return #RCUTILS_RET_ERROR if an unknown error occurs. + */ +RCUTILS_PUBLIC +RCUTILS_WARN_UNUSED +rcutils_ret_t +rcutils_string_map_unset(rcutils_string_map_t * string_map, const char * key); + +/// Get whether or not a key exists. +/** + * The key needs to be a null terminated c string. + * + * This function can fail and return false if the key is not found, + * or the string_map is NULL or invalid, or if the key is NULL. + * In all cases no error message is set. + * + * \param[in] string_map rcutils_string_map_t to be searched + * \param[in] key map key, must be null terminated c string + * \return `true` if key is in the map, or + * \return `false` if key is not in the map, or + * \return `false` for invalid arguments, or + * \return `false` if the string map is invalid. + */ +RCUTILS_PUBLIC +bool +rcutils_string_map_key_exists(const rcutils_string_map_t * string_map, const char * key); + +/// Get whether or not a key of known length exists. +/** + * Identical to rcutils_string_map_key_exists() but without relying on key to be + * a null terminated c string. + * + * \param[in] string_map rcutils_string_map_t to be searched + * \param[in] key map key + * \param[in] key_length map key length + * \return `true` if key is in the map, or + * \return `false` if key is not in the map, or + * \return `false` for invalid arguments, or + * \return `false` if the string map is invalid. + */ +RCUTILS_PUBLIC +bool +rcutils_string_map_key_existsn( + const rcutils_string_map_t * string_map, + const char * key, + size_t key_length); + +/// Get value given a key. +/** + * The key needs to be a null terminated c string. + * + * This function can fail, and therefore return NULL, if the key is not found, + * or the string_map is NULL or invalid, or if the key is NULL. + * In all cases no error message is set. + * + * The returned value string is still owned by the map, and it should not be + * modified or free'd. + * This also means that the value pointer becomes invalid if either + * rcutils_string_map_clear() or rcutils_string_map_fini() are called or if + * the key value pair is updated or removed with one of rcutils_string_map_set() + * or rcutils_string_map_set_no_resize() or rcutils_string_map_unset(). + * + * \param[in] string_map rcutils_string_map_t to be searched + * \param[in] key map key, must be null terminated c string + * \return value for the given key if successful, or + * \return `NULL` for invalid arguments, or + * \return `NULL` if the string map is invalid, or + * \return `NULL` if key not found, or + * \return `NULL` if an unknown error occurs. + */ +RCUTILS_PUBLIC +const char * +rcutils_string_map_get(const rcutils_string_map_t * string_map, const char * key); + +/// Get value given a key and key length. +/** + * Identical to rcutils_string_map_get() but without relying on key to be a + * null terminated c string. + * + * \param[in] string_map rcutils_string_map_t to be searched + * \param[in] key map key + * \param[in] key_length map key length + * \return value for the given key if successful, or + * \return `NULL` for invalid arguments, or + * \return `NULL` if the string map is invalid, or + * \return `NULL` if key not found, or + * \return `NULL` if an unknown error occurs. + */ +RCUTILS_PUBLIC +const char * +rcutils_string_map_getn( + const rcutils_string_map_t * string_map, + const char * key, + size_t key_length); + +/// Get the next key in the map, unless NULL is given, then get the first key. +/** + * This function allows you iteratively get each key in the map. + * + * If NULL is given for the key, then the first key in the map is returned. + * If that returned key if given to the this function, then the next key in the + * map is returned. + * If there are no more keys in the map or if the given key is not in the map, + * NULL is returned. + * + * The order of the keys in the map is arbitrary and if the map is modified + * between calls to this function the behavior is undefined. + * If the map is modifeid then iteration should begin again by passing NULL to + * get the first key again. + * + * This function operates based on the address of the pointer, you cannot pass + * a copy of a key to get the next key. + * + * Example: + * + * ```c + * printf("keys in the map:\n"); + * const char * current_key = rcutils_string_map_get_next_key(&map, NULL); + * while (current_key) { + * printf(" - %s\n", current_key); + * current_key = rcutils_string_map_get_next_key(&map, current_key); + * } + * ``` + * + * NULL can also be returned if NULL is given for the string_map or if the + * string_map is invalid. + * + * \param[in] string_map rcutils_string_map_t to be queried + * \param[in] key NULL to get the first key or the previous key to get the next + * \return value for the given key if successful, or + * \return `NULL` for invalid arguments, or + * \return `NULL` if the string map is invalid, or + * \return `NULL` if key not found, or + * \return `NULL` if there are no more keys in the map, or + * \return `NULL` if an unknown error occurs. + */ +RCUTILS_PUBLIC +const char * +rcutils_string_map_get_next_key( + const rcutils_string_map_t * string_map, + const char * key); + +/// Copy all the key value pairs from one map into another, overwritting and resizing if needed. +/** + * If the destination string map does not have enough storage, then it is will + * be resized. + * If a key value pair exists in the destination map, its value will be + * replaced with the source map's value. + * + * It is possible for only some of the values to be copied if an error happens + * during the copying process, e.g. if memory allocation fails. + * + * \param[in] src_string_map rcutils_string_map_t to be copied from + * \param[inout] dst_string_map rcutils_string_map_t to be copied to + * \return #RCUTILS_RET_OK if successful, or + * \return #RCUTILS_RET_INVALID_ARGUMENT for invalid arguments, or + * \return #RCUTILS_RET_BAD_ALLOC if memory allocation fails, or + * \return #RCUTILS_RET_STRING_MAP_INVALID if the string map is invalid, or + * \return #RCUTILS_RET_ERROR if an unknown error occurs. + */ +RCUTILS_PUBLIC +RCUTILS_WARN_UNUSED +rcutils_ret_t +rcutils_string_map_copy( + const rcutils_string_map_t * src_string_map, + rcutils_string_map_t * dst_string_map); + +#ifdef __cplusplus +} +#endif + +#endif // RCUTILS__TYPES__STRING_MAP_H_ diff --git a/ports/espressif/microros-ext/include/rcutils/rcutils/types/uint8_array.h b/ports/espressif/microros-ext/include/rcutils/rcutils/types/uint8_array.h new file mode 100644 index 0000000000000..215e9384ad720 --- /dev/null +++ b/ports/espressif/microros-ext/include/rcutils/rcutils/types/uint8_array.h @@ -0,0 +1,121 @@ +// 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. + +/// \file + +#ifndef RCUTILS__TYPES__UINT8_ARRAY_H_ +#define RCUTILS__TYPES__UINT8_ARRAY_H_ + +#if __cplusplus +extern "C" +{ +#endif + +#include + +#include "rcutils/allocator.h" +#include "rcutils/types/rcutils_ret.h" +#include "rcutils/visibility_control.h" + +/// The structure holding the metadata for a uint8 array. +typedef struct RCUTILS_PUBLIC_TYPE rcutils_uint8_array_s +{ + /// The allocated memory for the uint8 array. + uint8_t * buffer; + + /// The number of valid elements in the uint8 array. + size_t buffer_length; + + /// The maximum capacity of the uint8 array. + size_t buffer_capacity; + + /// The allocator used to allocate and free memory for the uint8 array. + rcutils_allocator_t allocator; +} rcutils_uint8_array_t; + +/// Return a zero initialized uint8 array struct. +/** + * \return rcutils_uint8_array_t a zero initialized uint8 array struct + */ +RCUTILS_PUBLIC +RCUTILS_WARN_UNUSED +rcutils_uint8_array_t +rcutils_get_zero_initialized_uint8_array(void); + +/// Initialize a zero initialized uint8 array struct. +/** + * This function may leak if the uint8 array struct is already initialized. + * If the capacity is set to 0, no memory is allocated and the internal buffer + * is still NULL. + * + * \param[inout] uint8_array a pointer to the to be initialized uint8 array struct + * \param[in] buffer_capacity the size of the memory to allocate for the byte stream + * \param[in] allocator the allocator to use for the memory allocation + * \return #RCUTILS_RET_OK if successful, or + * \return #RCUTILS_RET_INVALID_ARGUMENT if any arguments are invalid, or + * \return 'RCUTILS_RET_BAD_ALLOC` if no memory could be allocated correctly + * \return #RCUTILS_RET_ERROR if an unexpected error occurs. + */ +RCUTILS_PUBLIC +RCUTILS_WARN_UNUSED +rcutils_ret_t +rcutils_uint8_array_init( + rcutils_uint8_array_t * uint8_array, + size_t buffer_capacity, + const rcutils_allocator_t * allocator); + +/// Finalize a uint8 array struct. +/** + * Cleans up and deallocates any resources used in a rcutils_uint8_array_t. + * The array passed to this function needs to have been initialized by + * rcutils_uint8_array_init(). + * Passing an uninitialized instance to this function leads to undefined + * behavior. + * + * \param[in] uint8_array pointer to the rcutils_uint8_array_t to be cleaned up + * \return #RCUTILS_RET_OK if successful, or + * \return #RCUTILS_RET_INVALID_ARGUMENT if the uint8_array argument is invalid + * \return #RCUTILS_RET_ERROR if an unexpected error occurs. + */ +RCUTILS_PUBLIC +RCUTILS_WARN_UNUSED +rcutils_ret_t +rcutils_uint8_array_fini(rcutils_uint8_array_t * uint8_array); + +/// Resize the internal buffer of the uint8 array. +/** + * The internal buffer of the uint8 array can be resized dynamically if needed. + * If the new size is smaller than the current capacity, then the memory is + * truncated. + * Be aware, that this might deallocate the memory and therefore invalidates any + * pointers to this storage. + * + * \param[inout] uint8_array pointer to the instance of rcutils_uint8_array_t which is + * being resized + * \param[in] new_size the new size of the internal buffer + * \return #RCUTILS_RET_OK if successful, or + * \return #RCUTILS_RET_INVALID_ARGUMENT if new_size is set to zero + * \return #RCUTILS_RET_BAD_ALLOC if memory allocation failed, or + * \return #RCUTILS_RET_ERROR if an unexpected error occurs. + */ +RCUTILS_PUBLIC +RCUTILS_WARN_UNUSED +rcutils_ret_t +rcutils_uint8_array_resize(rcutils_uint8_array_t * uint8_array, size_t new_size); + +#if __cplusplus +} +#endif + +#endif // RCUTILS__TYPES__UINT8_ARRAY_H_ diff --git a/ports/espressif/microros-ext/include/rcutils/rcutils/visibility_control.h b/ports/espressif/microros-ext/include/rcutils/rcutils/visibility_control.h new file mode 100644 index 0000000000000..189cb39a3d8cc --- /dev/null +++ b/ports/espressif/microros-ext/include/rcutils/rcutils/visibility_control.h @@ -0,0 +1,32 @@ +// Copyright 2015 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. + +#ifndef RCUTILS__VISIBILITY_CONTROL_H_ +#define RCUTILS__VISIBILITY_CONTROL_H_ + +#include "rcutils/visibility_control_macros.h" + +#ifdef RCUTILS_BUILDING_DLL +# define RCUTILS_PUBLIC RCUTILS_EXPORT +#else +# define RCUTILS_PUBLIC RCUTILS_IMPORT +#endif // !RCUTILS_BUILDING_DLL + +#if defined(_MSC_VER) || defined(__CYGWIN__) +# define RCUTILS_PUBLIC_TYPE RCUTILS_PUBLIC +#else // defined(_MSC_VER) || defined(__CYGWIN__) +# define RCUTILS_PUBLIC_TYPE +#endif // !defined(_MSC_VER) && !defined(__CYGWIN__) + +#endif // RCUTILS__VISIBILITY_CONTROL_H_ diff --git a/ports/espressif/microros-ext/include/rcutils/rcutils/visibility_control_macros.h b/ports/espressif/microros-ext/include/rcutils/rcutils/visibility_control_macros.h new file mode 100644 index 0000000000000..1f0bfa8b66747 --- /dev/null +++ b/ports/espressif/microros-ext/include/rcutils/rcutils/visibility_control_macros.h @@ -0,0 +1,65 @@ +// Copyright 2019 Amazon.com, Inc. or its affiliates. All Rights Reserved. +// +// 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. + +#ifndef RCUTILS__VISIBILITY_CONTROL_MACROS_H_ +#define RCUTILS__VISIBILITY_CONTROL_MACROS_H_ + +// Defines macros to express whether a symbol is localed, imported, or exported +// +// Those macros are compatible with GCC, clang, and Microsoft Visual C++. They +// can be used to enforce which symbols of a library are publicly accessible. +// +// RCUTILS_IMPORT, RCUTILS_EXPORT, and RCUTILS_LOCAL are respectively declaring +// an imported, exported, or local symbol. +// RCUTILS_LOCAL can be used directly. However, RCUTILS_IMPORT, and +// RCUTILS_EXPORT may not be used directly. Every project need to provide +// an additional header called `visibility_macros.h` containing: +// +// #ifdef _BUILDING_DLL +// # define _PUBLIC RCUTILS_EXPORT +// #else +// # define _PUBLIC RCUTILS_IMPORT +// #endif // !_BUILDING_DLL +// #define _LOCAL RCUTILS_LOCAL +// +// ...where "" has been replaced by the project name, such as +// "MY_PROJECT". +// Your project CMakeLists.txt should also contain the following statement: +// +// target_compile_definitions( PRIVATE "_BUILDING_DLL") +// +// A public (exported) class should then be tagged as _PUBLIC, whereas +// a non-public class should be tagged with _LOCAL. +// +// See GCC documentation: https://gcc.gnu.org/wiki/Visibility + +#if defined(_MSC_VER) || defined(__CYGWIN__) +// Use the Windows syntax when compiling with Microsoft Visual C++. +// +// GCC on Windows also support this syntax. When compiling with cygwin, +// prefer using dllimport/dllexport are the semantic of those flags is closer +// to msvc++ behavior. See GCC documentation: +// https://gcc.gnu.org/onlinedocs/gcc/Microsoft-Windows-Function-Attributes.html +# define RCUTILS_IMPORT __declspec(dllimport) +# define RCUTILS_EXPORT __declspec(dllexport) +# define RCUTILS_LOCAL +#else // defined(_MSC_VER) || defined(__CYGWIN__) +// On Linux, use the GCC syntax. This syntax is understood by other compilers +// such as clang, icpc, and xlc++. +# define RCUTILS_IMPORT __attribute__ ((visibility("default"))) +# define RCUTILS_EXPORT __attribute__ ((visibility("default"))) +# define RCUTILS_LOCAL __attribute__ ((visibility("hidden"))) +#endif // !defined(_MSC_VER) && !defined(__CYGWIN__) + +#endif // RCUTILS__VISIBILITY_CONTROL_MACROS_H_ diff --git a/ports/espressif/microros-ext/include/rosidl_runtime_c/rosidl_runtime_c/action_type_support_struct.h b/ports/espressif/microros-ext/include/rosidl_runtime_c/rosidl_runtime_c/action_type_support_struct.h new file mode 100644 index 0000000000000..62b45b036eea7 --- /dev/null +++ b/ports/espressif/microros-ext/include/rosidl_runtime_c/rosidl_runtime_c/action_type_support_struct.h @@ -0,0 +1,73 @@ +// 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. + +#ifndef ROSIDL_RUNTIME_C__ACTION_TYPE_SUPPORT_STRUCT_H_ +#define ROSIDL_RUNTIME_C__ACTION_TYPE_SUPPORT_STRUCT_H_ + +#include "rosidl_runtime_c/message_type_support_struct.h" +#include "rosidl_runtime_c/service_type_support_struct.h" +#include "rosidl_runtime_c/type_hash.h" +#include "rosidl_runtime_c/visibility_control.h" +#include "rosidl_typesupport_interface/macros.h" + +#ifdef __cplusplus +extern "C" +{ +#endif + +typedef struct rosidl_action_type_support_t rosidl_action_type_support_t; + +typedef const rosidl_type_hash_t * +(* rosidl_action_get_type_hash_function)(const rosidl_action_type_support_t *); + +typedef const rosidl_runtime_c__type_description__TypeDescription * +(* rosidl_action_get_type_description_function)(const rosidl_action_type_support_t *); + +typedef const rosidl_runtime_c__type_description__TypeSource__Sequence * +(* rosidl_action_get_type_description_sources_function)(const rosidl_action_type_support_t *); + +/// Contains rosidl action type support data. +/* + * Actions are built based on services(goal, result and cancel) and message (feedback and status). + */ +struct rosidl_action_type_support_t +{ + const rosidl_service_type_support_t * goal_service_type_support; + const rosidl_service_type_support_t * result_service_type_support; + const rosidl_service_type_support_t * cancel_service_type_support; + const rosidl_message_type_support_t * feedback_message_type_support; + const rosidl_message_type_support_t * status_message_type_support; + /// Pointer to function to get the hash of the action's description + rosidl_action_get_type_hash_function get_type_hash_func; + /// Pointer to function to get the description of the type + rosidl_action_get_type_description_function get_type_description_func; + /// Pointer to function to get the text of the sources that defined the description of the type + rosidl_action_get_type_description_sources_function get_type_description_sources_func; +}; + +/// Get the action type support given a provided action and package. +/* + * \param PkgName name of the package that contains the action + * \param Name action name + * \return a rosidl_action_type_support_t struct if found, otherwise NULL. + */ +#define ROSIDL_GET_ACTION_TYPE_SUPPORT(PkgName, Name) \ + ROSIDL_TYPESUPPORT_INTERFACE__ACTION_SYMBOL_NAME( \ + rosidl_typesupport_c, PkgName, action, Name)() + +#ifdef __cplusplus +} +#endif + +#endif // ROSIDL_RUNTIME_C__ACTION_TYPE_SUPPORT_STRUCT_H_ diff --git a/ports/espressif/microros-ext/include/rosidl_runtime_c/rosidl_runtime_c/message_initialization.h b/ports/espressif/microros-ext/include/rosidl_runtime_c/rosidl_runtime_c/message_initialization.h new file mode 100644 index 0000000000000..8778594a39db2 --- /dev/null +++ b/ports/espressif/microros-ext/include/rosidl_runtime_c/rosidl_runtime_c/message_initialization.h @@ -0,0 +1,35 @@ +// Copyright 2017 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. + +#ifndef ROSIDL_RUNTIME_C__MESSAGE_INITIALIZATION_H_ +#define ROSIDL_RUNTIME_C__MESSAGE_INITIALIZATION_H_ + +enum rosidl_runtime_c__message_initialization +{ + // Initialize all fields of the message, either with the default value + // (if the field has one), or with an empty value (generally 0 or an + // empty string). + ROSIDL_RUNTIME_C_MSG_INIT_ALL, + // Skip initialization of all fields of the message. It is up to the user to + // ensure that all fields are initialized before use. + ROSIDL_RUNTIME_C_MSG_INIT_SKIP, + // Initialize all fields of the message to an empty value (generally 0 or an + // empty string). + ROSIDL_RUNTIME_C_MSG_INIT_ZERO, + // Initialize all fields of the message that have defaults; all other fields + // are left untouched. + ROSIDL_RUNTIME_C_MSG_INIT_DEFAULTS_ONLY, +}; + +#endif // ROSIDL_RUNTIME_C__MESSAGE_INITIALIZATION_H_ diff --git a/ports/espressif/microros-ext/include/rosidl_runtime_c/rosidl_runtime_c/message_type_support_struct.h b/ports/espressif/microros-ext/include/rosidl_runtime_c/rosidl_runtime_c/message_type_support_struct.h new file mode 100644 index 0000000000000..071cac27d3ef5 --- /dev/null +++ b/ports/espressif/microros-ext/include/rosidl_runtime_c/rosidl_runtime_c/message_type_support_struct.h @@ -0,0 +1,106 @@ +// Copyright 2015-2016 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. + +#ifndef ROSIDL_RUNTIME_C__MESSAGE_TYPE_SUPPORT_STRUCT_H_ +#define ROSIDL_RUNTIME_C__MESSAGE_TYPE_SUPPORT_STRUCT_H_ + +#include "rosidl_runtime_c/type_description/type_description__struct.h" +#include "rosidl_runtime_c/type_description/type_source__struct.h" +#include "rosidl_runtime_c/type_hash.h" +#include "rosidl_runtime_c/visibility_control.h" +#include "rosidl_typesupport_interface/macros.h" + +#ifdef __cplusplus +extern "C" +{ +#endif + +typedef struct rosidl_message_type_support_t rosidl_message_type_support_t; + +typedef const rosidl_message_type_support_t * (* rosidl_message_typesupport_handle_function)( + const rosidl_message_type_support_t *, const char *); + +typedef const rosidl_type_hash_t * +(* rosidl_message_get_type_hash_function)(const rosidl_message_type_support_t *); + +typedef const rosidl_runtime_c__type_description__TypeDescription * +(* rosidl_message_get_type_description_function)(const rosidl_message_type_support_t *); + +typedef const rosidl_runtime_c__type_description__TypeSource__Sequence * +(* rosidl_message_get_type_description_sources_function)(const rosidl_message_type_support_t *); + +/// Contains rosidl message type support data +struct rosidl_message_type_support_t +{ + /// String identifier for the type_support. + const char * typesupport_identifier; + /// Pointer to the message type support library + const void * data; + /// Pointer to the message type support handler function + rosidl_message_typesupport_handle_function func; + /// Pointer to function to get the hash of the message's description + rosidl_message_get_type_hash_function get_type_hash_func; + /// Pointer to function to get the description of the type + rosidl_message_get_type_description_function get_type_description_func; + /// Pointer to function to get the text of the sources that defined the description of the type + rosidl_message_get_type_description_sources_function get_type_description_sources_func; +}; + +/// Return a rosidl_message_type_support_t struct with members set to `NULL`. +ROSIDL_GENERATOR_C_PUBLIC +rosidl_message_type_support_t rosidl_get_zero_initialized_message_type_support_handle(void); + +/// Get the message type support handle specific to this identifier. +/** + * The handle's message typesupport identifier function is returned or if the parameters are NULL + * then an assert will happen. + * + * \param handle Handle to message type support + * \param identifier The typesupport identifier to get the handle function for + * \return The associated message typesupport handle function. + */ +ROSIDL_GENERATOR_C_PUBLIC +const rosidl_message_type_support_t * get_message_typesupport_handle( + const rosidl_message_type_support_t * handle, const char * identifier); + +// Get the message type support handle function specific to this identifier. +/** + * If the identifier is the same as this handle's typesupport_identifier the handle is simply + * returned or if the parameters are NULL then an assert will happen. + * + * \param handle Handle to message type support + * \param identifier The typesupport identifier to get the handle function for + * \return if the identifier match's the handle's identifier then the handle's function + * is returned. + */ +ROSIDL_GENERATOR_C_PUBLIC +const rosidl_message_type_support_t * get_message_typesupport_handle_function( + const rosidl_message_type_support_t * handle, const char * identifier); + +/// Get the message type support given a provided action and package. +/* + * \param PkgName Name of the package that contains the message + * \param MsgSubfolder name of the subfolder (for example: msg) + * \param MsgName message name + * \return a rosidl_message_type_support_t struct if founded, otherwise NULL. + */ +#define ROSIDL_GET_MSG_TYPE_SUPPORT(PkgName, MsgSubfolder, MsgName) \ + ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME( \ + rosidl_typesupport_c, PkgName, MsgSubfolder, MsgName)() + +#ifdef __cplusplus +} +#endif + +#endif // ROSIDL_RUNTIME_C__MESSAGE_TYPE_SUPPORT_STRUCT_H_ diff --git a/ports/espressif/microros-ext/include/rosidl_runtime_c/rosidl_runtime_c/primitives_sequence.h b/ports/espressif/microros-ext/include/rosidl_runtime_c/rosidl_runtime_c/primitives_sequence.h new file mode 100644 index 0000000000000..5c152a3c6576b --- /dev/null +++ b/ports/espressif/microros-ext/include/rosidl_runtime_c/rosidl_runtime_c/primitives_sequence.h @@ -0,0 +1,57 @@ +// Copyright 2015 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. + +#ifndef ROSIDL_RUNTIME_C__PRIMITIVES_SEQUENCE_H_ +#define ROSIDL_RUNTIME_C__PRIMITIVES_SEQUENCE_H_ + +#include +#include +#include + +#define ROSIDL_RUNTIME_C__PRIMITIVE_SEQUENCE(STRUCT_NAME, TYPE_NAME) \ + typedef struct rosidl_runtime_c__ ## STRUCT_NAME ## __Sequence \ + { \ + TYPE_NAME * data; /*!< The pointer to an array of STRUCT_NAME */ \ + size_t size; /*!< The number of valid items in data */ \ + size_t capacity; /*!< The number of allocated items in data */ \ + } rosidl_runtime_c__ ## STRUCT_NAME ## __Sequence; + +// sequence types for all basic types +ROSIDL_RUNTIME_C__PRIMITIVE_SEQUENCE(float, float) +ROSIDL_RUNTIME_C__PRIMITIVE_SEQUENCE(double, double) +ROSIDL_RUNTIME_C__PRIMITIVE_SEQUENCE(long_double, long double) +ROSIDL_RUNTIME_C__PRIMITIVE_SEQUENCE(char, signed char) +ROSIDL_RUNTIME_C__PRIMITIVE_SEQUENCE(wchar, uint16_t) +ROSIDL_RUNTIME_C__PRIMITIVE_SEQUENCE(boolean, bool) +ROSIDL_RUNTIME_C__PRIMITIVE_SEQUENCE(octet, uint8_t) +ROSIDL_RUNTIME_C__PRIMITIVE_SEQUENCE(uint8, uint8_t) +ROSIDL_RUNTIME_C__PRIMITIVE_SEQUENCE(int8, int8_t) +ROSIDL_RUNTIME_C__PRIMITIVE_SEQUENCE(uint16, uint16_t) +ROSIDL_RUNTIME_C__PRIMITIVE_SEQUENCE(int16, int16_t) +ROSIDL_RUNTIME_C__PRIMITIVE_SEQUENCE(uint32, uint32_t) +ROSIDL_RUNTIME_C__PRIMITIVE_SEQUENCE(int32, int32_t) +ROSIDL_RUNTIME_C__PRIMITIVE_SEQUENCE(uint64, uint64_t) +ROSIDL_RUNTIME_C__PRIMITIVE_SEQUENCE(int64, int64_t) + +// emulate legacy API +typedef rosidl_runtime_c__boolean__Sequence + rosidl_runtime_c__bool__Sequence; +typedef rosidl_runtime_c__octet__Sequence + rosidl_runtime_c__byte__Sequence; +typedef rosidl_runtime_c__float__Sequence + rosidl_runtime_c__float32__Sequence; +typedef rosidl_runtime_c__double__Sequence + rosidl_runtime_c__float64__Sequence; + +#endif // ROSIDL_RUNTIME_C__PRIMITIVES_SEQUENCE_H_ diff --git a/ports/espressif/microros-ext/include/rosidl_runtime_c/rosidl_runtime_c/primitives_sequence_functions.h b/ports/espressif/microros-ext/include/rosidl_runtime_c/rosidl_runtime_c/primitives_sequence_functions.h new file mode 100644 index 0000000000000..4f8b1feafa664 --- /dev/null +++ b/ports/espressif/microros-ext/include/rosidl_runtime_c/rosidl_runtime_c/primitives_sequence_functions.h @@ -0,0 +1,216 @@ +// Copyright 2015 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. + +#ifndef ROSIDL_RUNTIME_C__PRIMITIVES_SEQUENCE_FUNCTIONS_H_ +#define ROSIDL_RUNTIME_C__PRIMITIVES_SEQUENCE_FUNCTIONS_H_ + +#include +#include + +#include "rosidl_runtime_c/primitives_sequence.h" +#include "rosidl_runtime_c/visibility_control.h" + +#ifdef __cplusplus +extern "C" +{ +#endif + +/** + * \def ROSIDL_RUNTIME_C__DECLARE_PRIMITIVE_SEQUENCE_INIT(STRUCT_NAME) + * + * \brief Allocate the memory for the sequence. + * + * Calling the function with an already allocated sequence will leak the + * previously allocated memory. + * + * param sequence a pointer to a sequence struct + * param size the number of items to allocate in the sequence, both sequence + * fields `size` and `capacity` are set to this parameter + * return true if successful, false if the passed sequence pointer is null + * or the memory allocation failed + */ +#define ROSIDL_RUNTIME_C__DECLARE_PRIMITIVE_SEQUENCE_INIT(STRUCT_NAME) \ + /** See #ROSIDL_RUNTIME_C__DECLARE_PRIMITIVE_SEQUENCE_INIT(STRUCT_NAME) */ \ + ROSIDL_GENERATOR_C_PUBLIC \ + bool rosidl_runtime_c__ ## STRUCT_NAME ## __Sequence__init( \ + rosidl_runtime_c__ ## STRUCT_NAME ## __Sequence * sequence, size_t size); + +/** + * \def ROSIDL_RUNTIME_C__DECLARE_PRIMITIVE_SEQUENCE_FINI(STRUCT_NAME) + * + * \brief Deallocate the memory of the sequence. + * + * Calling the function with an already deallocated sequence is a no-op. + * + * param sequence a pointer to a sequence struct + */ +#define ROSIDL_RUNTIME_C__DECLARE_PRIMITIVE_SEQUENCE_FINI(STRUCT_NAME) \ + /** See #ROSIDL_RUNTIME_C__DECLARE_PRIMITIVE_SEQUENCE_FINI(STRUCT_NAME) */ \ + ROSIDL_GENERATOR_C_PUBLIC \ + void rosidl_runtime_c__ ## STRUCT_NAME ## __Sequence__fini( \ + rosidl_runtime_c__ ## STRUCT_NAME ## __Sequence * sequence); + +/** + * \def ROSIDL_RUNTIME_C__DECLARE_PRIMITIVE_SEQUENCE_EQ(STRUCT_NAME) + * + * \brief Check for sequence equality. + * + * param lhs a pointer to a sequence struct + * param rhs a pointer to another sequence struct + */ +#define ROSIDL_RUNTIME_C__DECLARE_PRIMITIVE_SEQUENCE_EQ(STRUCT_NAME) \ + /** See #ROSIDL_RUNTIME_C__DECLARE_PRIMITIVE_SEQUENCE_EQ(STRUCT_NAME) */ \ + ROSIDL_GENERATOR_C_PUBLIC \ + bool rosidl_runtime_c__ ## STRUCT_NAME ## __Sequence__are_equal( \ + const rosidl_runtime_c__ ## STRUCT_NAME ## __Sequence * lhs, \ + const rosidl_runtime_c__ ## STRUCT_NAME ## __Sequence * rhs); + +/** + * \def ROSIDL_RUNTIME_C__DECLARE_PRIMITIVE_SEQUENCE_COPY(STRUCT_NAME) + * + * \brief Copy the sequence. + * + * param input a pointer to the sequence to copy from + * param output a pointer to an initialized sequence to copy to + * return true if successful, false if either pointer is null or memory + * allocation fails. + */ +#define ROSIDL_RUNTIME_C__DECLARE_PRIMITIVE_SEQUENCE_COPY(STRUCT_NAME) \ + /** See #ROSIDL_RUNTIME_C__DECLARE_PRIMITIVE_SEQUENCE_COPY(STRUCT_NAME) */ \ + ROSIDL_GENERATOR_C_PUBLIC \ + bool rosidl_runtime_c__ ## STRUCT_NAME ## __Sequence__copy( \ + const rosidl_runtime_c__ ## STRUCT_NAME ## __Sequence * input, \ + rosidl_runtime_c__ ## STRUCT_NAME ## __Sequence * output); + +/** + * \def ROSIDL_RUNTIME_C__DECLARE_PRIMITIVE_SEQUENCE_FUNCTIONS(STRUCT_NAME) + * + * \brief See #ROSIDL_RUNTIME_C__DECLARE_PRIMITIVE_SEQUENCE_INIT(STRUCT_NAME), + * #ROSIDL_RUNTIME_C__DECLARE_PRIMITIVE_SEQUENCE_FINI(STRUCT_NAME), + * #ROSIDL_RUNTIME_C__DECLARE_PRIMITIVE_SEQUENCE_EQ(STRUCT_NAME), and + * #ROSIDL_RUNTIME_C__DECLARE_PRIMITIVE_SEQUENCE_COPY(STRUCT_NAME). + */ +#define ROSIDL_RUNTIME_C__DECLARE_PRIMITIVE_SEQUENCE_FUNCTIONS(STRUCT_NAME) \ + ROSIDL_RUNTIME_C__DECLARE_PRIMITIVE_SEQUENCE_INIT(STRUCT_NAME) \ + ROSIDL_RUNTIME_C__DECLARE_PRIMITIVE_SEQUENCE_FINI(STRUCT_NAME) \ + ROSIDL_RUNTIME_C__DECLARE_PRIMITIVE_SEQUENCE_EQ(STRUCT_NAME) \ + ROSIDL_RUNTIME_C__DECLARE_PRIMITIVE_SEQUENCE_COPY(STRUCT_NAME) + +/** + * \defgroup primitives_sequence_functions__basic_types Sequence functions for all basic types. + */ +/**@{*/ +ROSIDL_RUNTIME_C__DECLARE_PRIMITIVE_SEQUENCE_FUNCTIONS(float) +ROSIDL_RUNTIME_C__DECLARE_PRIMITIVE_SEQUENCE_FUNCTIONS(double) +ROSIDL_RUNTIME_C__DECLARE_PRIMITIVE_SEQUENCE_FUNCTIONS(long_double) +ROSIDL_RUNTIME_C__DECLARE_PRIMITIVE_SEQUENCE_FUNCTIONS(char) +ROSIDL_RUNTIME_C__DECLARE_PRIMITIVE_SEQUENCE_FUNCTIONS(wchar) +ROSIDL_RUNTIME_C__DECLARE_PRIMITIVE_SEQUENCE_FUNCTIONS(boolean) +ROSIDL_RUNTIME_C__DECLARE_PRIMITIVE_SEQUENCE_FUNCTIONS(octet) +ROSIDL_RUNTIME_C__DECLARE_PRIMITIVE_SEQUENCE_FUNCTIONS(uint8) +ROSIDL_RUNTIME_C__DECLARE_PRIMITIVE_SEQUENCE_FUNCTIONS(int8) +ROSIDL_RUNTIME_C__DECLARE_PRIMITIVE_SEQUENCE_FUNCTIONS(uint16) +ROSIDL_RUNTIME_C__DECLARE_PRIMITIVE_SEQUENCE_FUNCTIONS(int16) +ROSIDL_RUNTIME_C__DECLARE_PRIMITIVE_SEQUENCE_FUNCTIONS(uint32) +ROSIDL_RUNTIME_C__DECLARE_PRIMITIVE_SEQUENCE_FUNCTIONS(int32) +ROSIDL_RUNTIME_C__DECLARE_PRIMITIVE_SEQUENCE_FUNCTIONS(uint64) +ROSIDL_RUNTIME_C__DECLARE_PRIMITIVE_SEQUENCE_FUNCTIONS(int64) +/**@}*/ + +/** + * \defgroup primitives_sequence_functions__legacy Sequence functions for legacy types for backward compatibility. + */ +/**@{*/ +/** See #ROSIDL_RUNTIME_C__DECLARE_PRIMITIVE_SEQUENCE_INIT(bool) */ +ROSIDL_GENERATOR_C_PUBLIC +bool rosidl_runtime_c__bool__Sequence__init( + rosidl_runtime_c__boolean__Sequence * sequence, size_t size); +/** See #ROSIDL_RUNTIME_C__DECLARE_PRIMITIVE_SEQUENCE_FINI(bool) */ +ROSIDL_GENERATOR_C_PUBLIC +void rosidl_runtime_c__bool__Sequence__fini( + rosidl_runtime_c__boolean__Sequence * sequence); +/** See #ROSIDL_RUNTIME_C__DECLARE_PRIMITIVE_SEQUENCE_EQ(bool) */ +ROSIDL_GENERATOR_C_PUBLIC +bool rosidl_runtime_c__bool__Sequence__are_equal( + const rosidl_runtime_c__boolean__Sequence * lhs, + const rosidl_runtime_c__boolean__Sequence * rhs); +/** See #ROSIDL_RUNTIME_C__DECLARE_PRIMITIVE_SEQUENCE_COPY(bool) */ +ROSIDL_GENERATOR_C_PUBLIC +bool rosidl_runtime_c__bool__Sequence__copy( + const rosidl_runtime_c__boolean__Sequence * input, + rosidl_runtime_c__boolean__Sequence * output); + +/** See #ROSIDL_RUNTIME_C__DECLARE_PRIMITIVE_SEQUENCE_INIT(byte) */ +ROSIDL_GENERATOR_C_PUBLIC +bool rosidl_runtime_c__byte__Sequence__init( + rosidl_runtime_c__octet__Sequence * sequence, size_t size); +/** See #ROSIDL_RUNTIME_C__DECLARE_PRIMITIVE_SEQUENCE_FINI(byte) */ +ROSIDL_GENERATOR_C_PUBLIC +void rosidl_runtime_c__byte__Sequence__fini( + rosidl_runtime_c__octet__Sequence * sequence); +/** See #ROSIDL_RUNTIME_C__DECLARE_PRIMITIVE_SEQUENCE_EQ(byte) */ +ROSIDL_GENERATOR_C_PUBLIC +bool rosidl_runtime_c__byte__Sequence__are_equal( + const rosidl_runtime_c__octet__Sequence * lhs, + const rosidl_runtime_c__octet__Sequence * rhs); +/** See #ROSIDL_RUNTIME_C__DECLARE_PRIMITIVE_SEQUENCE_COPY(byte) */ +ROSIDL_GENERATOR_C_PUBLIC +bool rosidl_runtime_c__byte__Sequence__copy( + const rosidl_runtime_c__octet__Sequence * input, + rosidl_runtime_c__octet__Sequence * output); + +/** See #ROSIDL_RUNTIME_C__DECLARE_PRIMITIVE_SEQUENCE_INIT(float32) */ +ROSIDL_GENERATOR_C_PUBLIC +bool rosidl_runtime_c__float32__Sequence__init( + rosidl_runtime_c__float__Sequence * sequence, size_t size); +/** See #ROSIDL_RUNTIME_C__DECLARE_PRIMITIVE_SEQUENCE_FINI(float32) */ +ROSIDL_GENERATOR_C_PUBLIC +void rosidl_runtime_c__float32__Sequence__fini( + rosidl_runtime_c__float__Sequence * sequence); +/** See #ROSIDL_RUNTIME_C__DECLARE_PRIMITIVE_SEQUENCE_EQ(float32) */ +ROSIDL_GENERATOR_C_PUBLIC +bool rosidl_runtime_c__float32__Sequence__are_equal( + const rosidl_runtime_c__float__Sequence * lhs, + const rosidl_runtime_c__float__Sequence * rhs); +/** See #ROSIDL_RUNTIME_C__DECLARE_PRIMITIVE_SEQUENCE_COPY(float32) */ +ROSIDL_GENERATOR_C_PUBLIC +bool rosidl_runtime_c__float32__Sequence__copy( + const rosidl_runtime_c__float__Sequence * input, + rosidl_runtime_c__float__Sequence * output); + +/** See #ROSIDL_RUNTIME_C__DECLARE_PRIMITIVE_SEQUENCE_INIT(float64) */ +ROSIDL_GENERATOR_C_PUBLIC +bool rosidl_runtime_c__float64__Sequence__init( + rosidl_runtime_c__double__Sequence * sequence, size_t size); +/** See #ROSIDL_RUNTIME_C__DECLARE_PRIMITIVE_SEQUENCE_FINI(float64) */ +ROSIDL_GENERATOR_C_PUBLIC +void rosidl_runtime_c__float64__Sequence__fini( + rosidl_runtime_c__double__Sequence * sequence); +/** See #ROSIDL_RUNTIME_C__DECLARE_PRIMITIVE_SEQUENCE_EQ(float64) */ +ROSIDL_GENERATOR_C_PUBLIC +bool rosidl_runtime_c__float64__Sequence__are_equal( + const rosidl_runtime_c__double__Sequence * lhs, + const rosidl_runtime_c__double__Sequence * rhs); +/** See #ROSIDL_RUNTIME_C__DECLARE_PRIMITIVE_SEQUENCE_COPY(float64) */ +ROSIDL_GENERATOR_C_PUBLIC +bool rosidl_runtime_c__float64__Sequence__copy( + const rosidl_runtime_c__double__Sequence * input, + rosidl_runtime_c__double__Sequence * output); +/**@}*/ + +#ifdef __cplusplus +} +#endif + +#endif // ROSIDL_RUNTIME_C__PRIMITIVES_SEQUENCE_FUNCTIONS_H_ diff --git a/ports/espressif/microros-ext/include/rosidl_runtime_c/rosidl_runtime_c/sequence_bound.h b/ports/espressif/microros-ext/include/rosidl_runtime_c/rosidl_runtime_c/sequence_bound.h new file mode 100644 index 0000000000000..bce6ab5d7427c --- /dev/null +++ b/ports/espressif/microros-ext/include/rosidl_runtime_c/rosidl_runtime_c/sequence_bound.h @@ -0,0 +1,82 @@ +// Copyright 2015-2018 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. + +#ifndef ROSIDL_RUNTIME_C__SEQUENCE_BOUND_H_ +#define ROSIDL_RUNTIME_C__SEQUENCE_BOUND_H_ + +#include "rosidl_runtime_c/visibility_control.h" +#include "rosidl_typesupport_interface/macros.h" + +#ifdef __cplusplus +extern "C" +{ +#endif + +typedef struct rosidl_runtime_c__Sequence__bound rosidl_runtime_c__Sequence__bound; + +typedef const rosidl_runtime_c__Sequence__bound * (* rosidl_runtime_c__bound_handle_function)( + const rosidl_runtime_c__Sequence__bound *, const char *); + +struct rosidl_runtime_c__Sequence__bound +{ + /// String identifier for the type_support. + const char * typesupport_identifier; + /// Pointer to type support handle function + const void * data; + rosidl_runtime_c__bound_handle_function func; +}; + +/// Get the message bounds handle specific to this identifier. +/** + * The handle's sequence bound is simply returned or if the parameters are NULL then an assert + * will happen. + * + * \param handle Handle to service type support + * \param identifier The identifier to get the handle for + * \return The associated sequence bound handle function. + */ +ROSIDL_GENERATOR_C_PUBLIC +const rosidl_runtime_c__Sequence__bound * get_sequence_bound_handle( + const rosidl_runtime_c__Sequence__bound * handle, const char * identifier); + +/// Get the message bounds handle function specific to this identifier. +/** + * If the identifier is the same as this handle function's identifier the handle is simply returned + * or if the parameters are NULL then an assert will happen. + * + * \param handle Handle to service type support + * \param identifier The identifier to get the handle function for + * \return if the identifier match's the handle's identifier then the handle's function + * is returned. + */ +ROSIDL_GENERATOR_C_PUBLIC +const rosidl_runtime_c__Sequence__bound * get_sequence_bound_handle_function( + const rosidl_runtime_c__Sequence__bound * handle, const char * identifier); + +/// Get the sequence bounds given a provided action and package. +/* + * \param PkgName Name of the package that contains the message + * \param MsgSubfolder name of the subfolder (foe example: msg) + * \param MsgName message name + * \return a rosidl_message_bounds_t struct if founded, otherwise NULL. + */ +#define ROSIDL_GET_SEQUENCE_BOUNDS(PkgName, MsgSubfolder, MsgName) \ + ROSIDL_BOUNDS_INTERFACE__MESSAGE_SYMBOL_NAME( \ + rosidl_typesupport_c, PkgName, MsgSubfolder, MsgName)() + +#ifdef __cplusplus +} +#endif + +#endif // ROSIDL_RUNTIME_C__SEQUENCE_BOUND_H_ diff --git a/ports/espressif/microros-ext/include/rosidl_runtime_c/rosidl_runtime_c/service_type_support_struct.h b/ports/espressif/microros-ext/include/rosidl_runtime_c/rosidl_runtime_c/service_type_support_struct.h new file mode 100644 index 0000000000000..c6009ecd34956 --- /dev/null +++ b/ports/espressif/microros-ext/include/rosidl_runtime_c/rosidl_runtime_c/service_type_support_struct.h @@ -0,0 +1,154 @@ +// Copyright 2015-2016 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. + +#ifndef ROSIDL_RUNTIME_C__SERVICE_TYPE_SUPPORT_STRUCT_H_ +#define ROSIDL_RUNTIME_C__SERVICE_TYPE_SUPPORT_STRUCT_H_ + +#include + +#include "rcutils/allocator.h" +#include "rosidl_runtime_c/message_type_support_struct.h" +#include "rosidl_runtime_c/type_hash.h" +#include "rosidl_runtime_c/visibility_control.h" + +#include "rosidl_typesupport_interface/macros.h" + +#ifdef __cplusplus +extern "C" +{ +#endif + +typedef struct rosidl_service_type_support_t rosidl_service_type_support_t; + +typedef const rosidl_service_type_support_t * (* rosidl_service_typesupport_handle_function)( + const rosidl_service_type_support_t *, const char *); + +typedef struct rosidl_service_introspection_info_s +{ + uint8_t event_type; + int32_t stamp_sec; + uint32_t stamp_nanosec; + uint8_t client_gid[16]; + int64_t sequence_number; +} rosidl_service_introspection_info_t; + +/// Creates a ServiceEvent message for the service. +/** + * Instantiates a ServiceEvent message with the given info and request/response message. + * The message is allocated using the given allocator and must be deallocated using + * the rosidl_service_introspection_destroy_handle + * + * \param[in] info POD fields of service_msgs/msg/ServiceEventInfo to be passed from rcl + * \param[in] allocator The allocator to use for allocating the ServiceEvent message + * \param[in] request_message type-erased handle to request message from rcl. Can be NULL. + * \param[in] response_message type-erased handle to request message from rcl. Can be NULL. + * \return The built ServiceEvent message. Will return NULL if the message could not be built. + **/ +typedef void * (* rosidl_event_message_create_handle_function_function)( + const rosidl_service_introspection_info_t * info, + rcutils_allocator_t * allocator, + const void * request_message, + const void * response_message); + +/// Destroys a ServiceEvent message +/** + * Destroys a ServiceEvent message returned by a rosidl_service_introspection_message_create_handle + * by calling the corresponding __fini function then deallocating + * + * \param[in] event_message The message to destroy. + * \param[in] allocator The allocator to use for deallocating the message. + */ +typedef bool (* rosidl_event_message_destroy_handle_function_function)( + void * event_message, + rcutils_allocator_t * allocator); + +typedef const rosidl_type_hash_t * +(* rosidl_service_get_type_hash_function)(const rosidl_service_type_support_t *); + +typedef const rosidl_runtime_c__type_description__TypeDescription * +(* rosidl_service_get_type_description_function)(const rosidl_service_type_support_t *); + +typedef const rosidl_runtime_c__type_description__TypeSource__Sequence * +(* rosidl_service_get_type_description_sources_function)(const rosidl_service_type_support_t *); + +/// Contains rosidl service type support data +struct rosidl_service_type_support_t +{ + /// String identifier for the type_support. + const char * typesupport_identifier; + /// Pointer to the service type support library + const void * data; + /// Pointer to the service type support handler function + rosidl_service_typesupport_handle_function func; + /// Service request message typesupport + const rosidl_message_type_support_t * request_typesupport; + /// Service response message typesupport + const rosidl_message_type_support_t * response_typesupport; + /// Service event message typesupport + const rosidl_message_type_support_t * event_typesupport; + /// Pointer to function to create the introspection message + rosidl_event_message_create_handle_function_function event_message_create_handle_function; + /// Pointer to function to finalize the introspection message + rosidl_event_message_destroy_handle_function_function event_message_destroy_handle_function; + /// Pointer to function to get the hash of the message's description + rosidl_service_get_type_hash_function get_type_hash_func; + /// Pointer to function to get the description of the type + rosidl_service_get_type_description_function get_type_description_func; + /// Pointer to function to get the text of the sources that defined the description of the type + rosidl_service_get_type_description_sources_function get_type_description_sources_func; +}; + +/// Get the service type support handle specific to this identifier. +/** + * The handle's message typesupport identifier function is returned or if the parameters are NULL + * then an assert will happen. + * + * \param handle Handle to service type support + * \param identifier The typesupport identifier to get the handle function for + * \return The associated service typesupport handle function. + */ +ROSIDL_GENERATOR_C_PUBLIC +const rosidl_service_type_support_t * get_service_typesupport_handle( + const rosidl_service_type_support_t * handle, const char * identifier); + +/// Get the service type support handle function specific to this identifier. +/** +* If the identifier is the same as this handle's typesupport_identifier the handle is simply +* returned or if the parameters are NULL then an assert will happen. + * + * \param handle Handle to service type support + * \param identifier The typesupport identifier to get the handle function for + * \return if the identifier match's the handle's identifier then the handle's function + * is returned. + */ +ROSIDL_GENERATOR_C_PUBLIC +const rosidl_service_type_support_t * get_service_typesupport_handle_function( + const rosidl_service_type_support_t * handle, const char * identifier); + +/// Get the service type support given a provided action and package. +/* + * \param PkgName Name of the package that contains the service + * \param SrvSubfolder name of the subfolder (for example: srv) + * \param SrvName service name + * \return a rosidl_service_type_support_t struct if founded, otherwise NULL. + */ +#define ROSIDL_GET_SRV_TYPE_SUPPORT(PkgName, SrvSubfolder, SrvName) \ + ROSIDL_TYPESUPPORT_INTERFACE__SERVICE_SYMBOL_NAME( \ + rosidl_typesupport_c, PkgName, SrvSubfolder, SrvName)() + +#ifdef __cplusplus +} +#endif + +#endif // ROSIDL_RUNTIME_C__SERVICE_TYPE_SUPPORT_STRUCT_H_ diff --git a/ports/espressif/microros-ext/include/rosidl_runtime_c/rosidl_runtime_c/string.h b/ports/espressif/microros-ext/include/rosidl_runtime_c/rosidl_runtime_c/string.h new file mode 100644 index 0000000000000..a37e7f6cc440c --- /dev/null +++ b/ports/espressif/microros-ext/include/rosidl_runtime_c/rosidl_runtime_c/string.h @@ -0,0 +1,35 @@ +// Copyright 2015 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. + +#ifndef ROSIDL_RUNTIME_C__STRING_H_ +#define ROSIDL_RUNTIME_C__STRING_H_ + +#include + +#include "rosidl_runtime_c/primitives_sequence.h" + +/// An array of 8-bit characters terminated by a null byte. +typedef struct rosidl_runtime_c__String +{ + /// The pointer to the first character, the sequence ends with a null byte. + char * data; + /// The length of the string (excluding the null byte). + size_t size; + /// The capacity represents the number of allocated bytes (including the null byte). + size_t capacity; +} rosidl_runtime_c__String; + +ROSIDL_RUNTIME_C__PRIMITIVE_SEQUENCE(String, rosidl_runtime_c__String) + +#endif // ROSIDL_RUNTIME_C__STRING_H_ diff --git a/ports/espressif/microros-ext/include/rosidl_runtime_c/rosidl_runtime_c/string_bound.h b/ports/espressif/microros-ext/include/rosidl_runtime_c/rosidl_runtime_c/string_bound.h new file mode 100644 index 0000000000000..a58e26d9fb258 --- /dev/null +++ b/ports/espressif/microros-ext/include/rosidl_runtime_c/rosidl_runtime_c/string_bound.h @@ -0,0 +1,27 @@ +// 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. + +#ifndef ROSIDL_RUNTIME_C__STRING_BOUND_H_ +#define ROSIDL_RUNTIME_C__STRING_BOUND_H_ + +#include + +/// Upper boundary for #rosidl_runtime_c__String or #rosidl_runtime_c__U16String. +typedef struct rosidl_runtime_c__String__bound +{ + /// The number of characters in the string (excluding the null character). + size_t bound; +} rosidl_runtime_c__String__bound; + +#endif // ROSIDL_RUNTIME_C__STRING_BOUND_H_ diff --git a/ports/espressif/microros-ext/include/rosidl_runtime_c/rosidl_runtime_c/string_functions.h b/ports/espressif/microros-ext/include/rosidl_runtime_c/rosidl_runtime_c/string_functions.h new file mode 100644 index 0000000000000..ef553df33888d --- /dev/null +++ b/ports/espressif/microros-ext/include/rosidl_runtime_c/rosidl_runtime_c/string_functions.h @@ -0,0 +1,210 @@ +// Copyright 2015 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. + +#ifndef ROSIDL_RUNTIME_C__STRING_FUNCTIONS_H_ +#define ROSIDL_RUNTIME_C__STRING_FUNCTIONS_H_ + +#include + +#include "rosidl_runtime_c/string.h" +#include "rosidl_runtime_c/visibility_control.h" + +#ifdef __cplusplus +extern "C" +{ +#endif + +/// Initialize a rosidl_runtime_c__String structure. +/* + * The contents of rosidl_runtime_c__String are initialized to a single null character ('\0'). + * The string initially has size 0 and capacity 1. + * Size represents the size of the contents of the string, while capacity represents the overall + * storage of the string (counting the null terminator). + * All strings must be null-terminated. + * The rosidl_runtime_c__String structure should be deallocated using the given function + * rosidl_runtime_c__String__fini() when it is no longer needed. + * Calling this function with an already initialized U16 string sequence structure will leak + * memory. + * + * \param[inout] str a pointer to a rosidl_runtime_c__String structure + * \return true if successful, false if the passed string pointer is null + * or the memory allocation failed + */ +ROSIDL_GENERATOR_C_PUBLIC +bool +rosidl_runtime_c__String__init(rosidl_runtime_c__String * str); + +/// Deallocate the memory of the rosidl_runtime_c__String structure. +/* +* Calling the function with an already deallocated sequence is a no-op. +* +* \param[inout] str a pointer to a rosidl_runtime_c__String structure to be finalized +*/ +ROSIDL_GENERATOR_C_PUBLIC +void +rosidl_runtime_c__String__fini(rosidl_runtime_c__String * str); + +/// Copy rosidl_runtime_c__String structure content. +/** + * This functions performs a deep copy, as opposed to the shallow copy that + * plain assignment yields. + * + * \param[in] input a pointer to a rosidl_runtime_c__String structure + * to copy from. + * \param[out] output a pointer to an initialized rosidl_runtime_c__String + * structure to copy into. + * \return true if successful, false if either pointer is null or memory + * allocation fails. + */ +ROSIDL_GENERATOR_C_PUBLIC +bool +rosidl_runtime_c__String__copy( + const rosidl_runtime_c__String * input, + rosidl_runtime_c__String * output); + +/// Check for rosidl_runtime_c__String structure equality. +/** + * \param[in] lhs a pointer to the left hand side of the equality operator. + * \param[in] lhs a pointer to the right hand side of the equality operator. + * \return true if rosidl_runtime_c__String structures are equal in size and content, + * otherwise false. + */ +ROSIDL_GENERATOR_C_PUBLIC +bool +rosidl_runtime_c__String__are_equal( + const rosidl_runtime_c__String * lhs, const rosidl_runtime_c__String * rhs); + +/// Assign the c string pointer of n characters to the rosidl_runtime_c__String structure. +/* + * \param[inout] str a pointer to a string structure + * \param[in] value c string pointer to be assigned + * \param[in] n size of the value string + * \return true if successful, false if the passed string pointer is null + * or if the passed value pointer is null or if the size is higher than SIZE_MAX + * or if the memory reallocation failed. + */ +ROSIDL_GENERATOR_C_PUBLIC +bool +rosidl_runtime_c__String__assignn( + rosidl_runtime_c__String * str, const char * value, size_t n); + +/// Assign the c string pointer to the rosidl_runtime_c__String structure. +/* + * + * This function is identical to rosidl_runtime_c__String__assignn() except the length of the + * c string does not have to be given and therefore the c string must be null terminated. + * + * \see rosidl_runtime_c__String__assignn() + * + * \param[inout] str a pointer to a rosidl_runtime_c__String structure + * \param[in] value c string pointer to be assigned + * \return true if successful, false if the passed string pointer is null + * or if the passed value pointer is null or if the size is higher than SIZE_MAX + * or if the memory reallocation failed. + */ +ROSIDL_GENERATOR_C_PUBLIC +bool +rosidl_runtime_c__String__assign( + rosidl_runtime_c__String * str, const char * value); + +/// Initialize a rosidl_runtime_c__String__Sequence__init structure. +/* + * The rosidl_runtime_c__String__Sequence is initialized with the size passed to the function. + * The rosidl_runtime_c__String__Sequence structure should be deallocated using the given function + * rosidl_runtime_c__String__Sequence__fini() when it is no longer needed. + * Calling this function with an already initialized U16 string sequence structure will leak + * memory. + * + * \param[inout] sequence a pointer to a string sequence + * \param[in] size represents the size of the string sequence + * \return true if successful, false if the passed string pointer is null + * or the memory allocation failed + */ +ROSIDL_GENERATOR_C_PUBLIC +bool +rosidl_runtime_c__String__Sequence__init( + rosidl_runtime_c__String__Sequence * sequence, size_t size); + +/// Deallocate the memory of the string sequence structure. +/* + * Calling the function with an already deallocated sequence is a no-op. + * + * \param[inout] sequence a pointer to a string sequence to be finalized + */ +ROSIDL_GENERATOR_C_PUBLIC +void +rosidl_runtime_c__String__Sequence__fini( + rosidl_runtime_c__String__Sequence * sequence); + +/// Check for rosidl_runtime_c__String__Sequence structure equality. +/** + * \param[in] lhs a pointer to the left hand side of the equality operator. + * \param[in] lhs a pointer to the right hand side of the equality operator. + * \return true if rosidl_runtime_c__String__Sequence structures are equal + * in size and content, otherwise false. + */ +ROSIDL_GENERATOR_C_PUBLIC +bool +rosidl_runtime_c__String__Sequence__are_equal( + const rosidl_runtime_c__String__Sequence * lhs, + const rosidl_runtime_c__String__Sequence * rhs); + +/// Copy rosidl_runtime_c__String__Sequence structure content. +/** + * This functions performs a deep copy, as opposed to the shallow copy + * that plain assignment yields. + * + * \param[in] input a pointer to a rosidl_runtime_c__String__Sequence + * structure to copy from. + * \param[out] output a pointer to an initialized rosidl_runtime_c__String__Sequence + * structure to copy into. + * \return true if successful, false if either pointer is null or memory + * allocation fails. + */ +ROSIDL_GENERATOR_C_PUBLIC +bool +rosidl_runtime_c__String__Sequence__copy( + const rosidl_runtime_c__String__Sequence * input, + rosidl_runtime_c__String__Sequence * output); + +/// Create a rosidl_runtime_c__String__Sequence structure with a specific size. +/* + * The string sequence initially has size and capacity equal to the size argument passed to the + * function. + * The rosidl_runtime_c__String__Sequence structure should be deallocated using the given function + * rosidl_runtime_c__String__Sequence__destroy() when it is no longer needed. + * + * \param[in] size of the desired string sequence + * \return a string sequence if initialization was successfully, otherwise NULL. + */ +ROSIDL_GENERATOR_C_PUBLIC +rosidl_runtime_c__String__Sequence * +rosidl_runtime_c__String__Sequence__create(size_t size); + +/// Destroy a rosidl_runtime_c__String__Sequence structure. +/* + * Calling the function with an already deallocated sequence is a no-op. + * + * \param[inout] sequence a pointer to a string sequence to be finalized + */ +ROSIDL_GENERATOR_C_PUBLIC +void +rosidl_runtime_c__String__Sequence__destroy( + rosidl_runtime_c__String__Sequence * sequence); + +#ifdef __cplusplus +} +#endif + +#endif // ROSIDL_RUNTIME_C__STRING_FUNCTIONS_H_ diff --git a/ports/espressif/microros-ext/include/rosidl_runtime_c/rosidl_runtime_c/type_description/field__functions.h b/ports/espressif/microros-ext/include/rosidl_runtime_c/rosidl_runtime_c/type_description/field__functions.h new file mode 100644 index 0000000000000..4ae248dd61286 --- /dev/null +++ b/ports/espressif/microros-ext/include/rosidl_runtime_c/rosidl_runtime_c/type_description/field__functions.h @@ -0,0 +1,205 @@ +// DO NOT EDIT MANUALLY - this copied file managed by copy_type_description_generated_sources.bash +// generated from rosidl_generator_c/resource/idl__functions.h.em +// with input from type_description_interfaces:msg/Field.idl +// generated code does not contain a copyright notice + +#ifndef ROSIDL_RUNTIME_C__TYPE_DESCRIPTION__FIELD__FUNCTIONS_H_ +#define ROSIDL_RUNTIME_C__TYPE_DESCRIPTION__FIELD__FUNCTIONS_H_ + +#ifdef __cplusplus +extern "C" +{ +#endif + +#include +#include + +#include "rosidl_runtime_c/action_type_support_struct.h" +#include "rosidl_runtime_c/message_type_support_struct.h" +#include "rosidl_runtime_c/service_type_support_struct.h" +#include "rosidl_runtime_c/type_hash.h" +#include "rosidl_runtime_c/visibility_control.h" + +#include "rosidl_runtime_c/type_description/field__struct.h" + +/// Initialize msg/Field message. +/** + * If the init function is called twice for the same message without + * calling fini inbetween previously allocated memory will be leaked. + * \param[in,out] msg The previously allocated message pointer. + * Fields without a default value will not be initialized by this function. + * You might want to call memset(msg, 0, sizeof( + * rosidl_runtime_c__type_description__Field + * )) before or use + * rosidl_runtime_c__type_description__Field__create() + * to allocate and initialize the message. + * \return true if initialization was successful, otherwise false + */ +ROSIDL_GENERATOR_C_PUBLIC +bool +rosidl_runtime_c__type_description__Field__init(rosidl_runtime_c__type_description__Field * msg); + +/// Finalize msg/Field message. +/** + * \param[in,out] msg The allocated message pointer. + */ +ROSIDL_GENERATOR_C_PUBLIC +void +rosidl_runtime_c__type_description__Field__fini(rosidl_runtime_c__type_description__Field * msg); + +/// Create msg/Field message. +/** + * It allocates the memory for the message, sets the memory to zero, and + * calls + * rosidl_runtime_c__type_description__Field__init(). + * \return The pointer to the initialized message if successful, + * otherwise NULL + */ +ROSIDL_GENERATOR_C_PUBLIC +rosidl_runtime_c__type_description__Field * +rosidl_runtime_c__type_description__Field__create(); + +/// Destroy msg/Field message. +/** + * It calls + * rosidl_runtime_c__type_description__Field__fini() + * and frees the memory of the message. + * \param[in,out] msg The allocated message pointer. + */ +ROSIDL_GENERATOR_C_PUBLIC +void +rosidl_runtime_c__type_description__Field__destroy(rosidl_runtime_c__type_description__Field * msg); + +/// Check for msg/Field message equality. +/** + * \param[in] lhs The message on the left hand size of the equality operator. + * \param[in] rhs The message on the right hand size of the equality operator. + * \return true if messages are equal, otherwise false. + */ +ROSIDL_GENERATOR_C_PUBLIC +bool +rosidl_runtime_c__type_description__Field__are_equal(const rosidl_runtime_c__type_description__Field * lhs, const rosidl_runtime_c__type_description__Field * rhs); + +/// Copy a msg/Field message. +/** + * This functions performs a deep copy, as opposed to the shallow copy that + * plain assignment yields. + * + * \param[in] input The source message pointer. + * \param[out] output The target message pointer, which must + * have been initialized before calling this function. + * \return true if successful, or false if either pointer is null + * or memory allocation fails. + */ +ROSIDL_GENERATOR_C_PUBLIC +bool +rosidl_runtime_c__type_description__Field__copy( + const rosidl_runtime_c__type_description__Field * input, + rosidl_runtime_c__type_description__Field * output); + +/// Retrieve pointer to the hash of the description of this type. +ROSIDL_GENERATOR_C_PUBLIC +const rosidl_type_hash_t * +rosidl_runtime_c__type_description__Field__get_type_hash( + const rosidl_message_type_support_t * type_support); + +/// Retrieve pointer to the description of this type. +ROSIDL_GENERATOR_C_PUBLIC +const rosidl_runtime_c__type_description__TypeDescription * +rosidl_runtime_c__type_description__Field__get_type_description( + const rosidl_message_type_support_t * type_support); + +/// Retrieve pointer to the single raw source text that defined this type. +ROSIDL_GENERATOR_C_PUBLIC +const rosidl_runtime_c__type_description__TypeSource * +rosidl_runtime_c__type_description__Field__get_individual_type_description_source( + const rosidl_message_type_support_t * type_support); + +/// Retrieve pointer to the recursive raw sources that defined the description of this type. +ROSIDL_GENERATOR_C_PUBLIC +const rosidl_runtime_c__type_description__TypeSource__Sequence * +rosidl_runtime_c__type_description__Field__get_type_description_sources( + const rosidl_message_type_support_t * type_support); + +/// Initialize array of msg/Field messages. +/** + * It allocates the memory for the number of elements and calls + * rosidl_runtime_c__type_description__Field__init() + * for each element of the array. + * \param[in,out] array The allocated array pointer. + * \param[in] size The size / capacity of the array. + * \return true if initialization was successful, otherwise false + * If the array pointer is valid and the size is zero it is guaranteed + # to return true. + */ +ROSIDL_GENERATOR_C_PUBLIC +bool +rosidl_runtime_c__type_description__Field__Sequence__init(rosidl_runtime_c__type_description__Field__Sequence * array, size_t size); + +/// Finalize array of msg/Field messages. +/** + * It calls + * rosidl_runtime_c__type_description__Field__fini() + * for each element of the array and frees the memory for the number of + * elements. + * \param[in,out] array The initialized array pointer. + */ +ROSIDL_GENERATOR_C_PUBLIC +void +rosidl_runtime_c__type_description__Field__Sequence__fini(rosidl_runtime_c__type_description__Field__Sequence * array); + +/// Create array of msg/Field messages. +/** + * It allocates the memory for the array and calls + * rosidl_runtime_c__type_description__Field__Sequence__init(). + * \param[in] size The size / capacity of the array. + * \return The pointer to the initialized array if successful, otherwise NULL + */ +ROSIDL_GENERATOR_C_PUBLIC +rosidl_runtime_c__type_description__Field__Sequence * +rosidl_runtime_c__type_description__Field__Sequence__create(size_t size); + +/// Destroy array of msg/Field messages. +/** + * It calls + * rosidl_runtime_c__type_description__Field__Sequence__fini() + * on the array, + * and frees the memory of the array. + * \param[in,out] array The initialized array pointer. + */ +ROSIDL_GENERATOR_C_PUBLIC +void +rosidl_runtime_c__type_description__Field__Sequence__destroy(rosidl_runtime_c__type_description__Field__Sequence * array); + +/// Check for msg/Field message array equality. +/** + * \param[in] lhs The message array on the left hand size of the equality operator. + * \param[in] rhs The message array on the right hand size of the equality operator. + * \return true if message arrays are equal in size and content, otherwise false. + */ +ROSIDL_GENERATOR_C_PUBLIC +bool +rosidl_runtime_c__type_description__Field__Sequence__are_equal(const rosidl_runtime_c__type_description__Field__Sequence * lhs, const rosidl_runtime_c__type_description__Field__Sequence * rhs); + +/// Copy an array of msg/Field messages. +/** + * This functions performs a deep copy, as opposed to the shallow copy that + * plain assignment yields. + * + * \param[in] input The source array pointer. + * \param[out] output The target array pointer, which must + * have been initialized before calling this function. + * \return true if successful, or false if either pointer + * is null or memory allocation fails. + */ +ROSIDL_GENERATOR_C_PUBLIC +bool +rosidl_runtime_c__type_description__Field__Sequence__copy( + const rosidl_runtime_c__type_description__Field__Sequence * input, + rosidl_runtime_c__type_description__Field__Sequence * output); + +#ifdef __cplusplus +} +#endif + +#endif // ROSIDL_RUNTIME_C__TYPE_DESCRIPTION__FIELD__FUNCTIONS_H_ diff --git a/ports/espressif/microros-ext/include/rosidl_runtime_c/rosidl_runtime_c/type_description/field__struct.h b/ports/espressif/microros-ext/include/rosidl_runtime_c/rosidl_runtime_c/type_description/field__struct.h new file mode 100644 index 0000000000000..418468f3b1f4e --- /dev/null +++ b/ports/espressif/microros-ext/include/rosidl_runtime_c/rosidl_runtime_c/type_description/field__struct.h @@ -0,0 +1,56 @@ +// DO NOT EDIT MANUALLY - this copied file managed by copy_type_description_generated_sources.bash +// generated from rosidl_generator_c/resource/idl__struct.h.em +// with input from type_description_interfaces:msg/Field.idl +// generated code does not contain a copyright notice + +#ifndef ROSIDL_RUNTIME_C__TYPE_DESCRIPTION__FIELD__STRUCT_H_ +#define ROSIDL_RUNTIME_C__TYPE_DESCRIPTION__FIELD__STRUCT_H_ + +#ifdef __cplusplus +extern "C" +{ +#endif + +#include +#include +#include + +// Constants defined in the message + +// Include directives for member types +// Member 'name' +// Member 'default_value' +#include "rosidl_runtime_c/string.h" +// Member 'type' +#include "rosidl_runtime_c/type_description/field_type__struct.h" + +/// Struct defined in msg/Field in the package type_description_interfaces. +/** + * Represents a single field in a type. + */ +typedef struct rosidl_runtime_c__type_description__Field +{ + /// Name of the field. + rosidl_runtime_c__String name; + /// Type of the field, including details about the type like length, nested name, etc. + rosidl_runtime_c__type_description__FieldType type; + /// Literal default value of the field as a string, as it appeared in the original + /// message description file, whether that be .msg/.srv/.action or .idl. + rosidl_runtime_c__String default_value; +} rosidl_runtime_c__type_description__Field; + +// Struct for a sequence of rosidl_runtime_c__type_description__Field. +typedef struct rosidl_runtime_c__type_description__Field__Sequence +{ + rosidl_runtime_c__type_description__Field * data; + /// The number of valid items in data + size_t size; + /// The number of allocated items in data + size_t capacity; +} rosidl_runtime_c__type_description__Field__Sequence; + +#ifdef __cplusplus +} +#endif + +#endif // ROSIDL_RUNTIME_C__TYPE_DESCRIPTION__FIELD__STRUCT_H_ diff --git a/ports/espressif/microros-ext/include/rosidl_runtime_c/rosidl_runtime_c/type_description/field_type__functions.h b/ports/espressif/microros-ext/include/rosidl_runtime_c/rosidl_runtime_c/type_description/field_type__functions.h new file mode 100644 index 0000000000000..8b05af417a693 --- /dev/null +++ b/ports/espressif/microros-ext/include/rosidl_runtime_c/rosidl_runtime_c/type_description/field_type__functions.h @@ -0,0 +1,205 @@ +// DO NOT EDIT MANUALLY - this copied file managed by copy_type_description_generated_sources.bash +// generated from rosidl_generator_c/resource/idl__functions.h.em +// with input from type_description_interfaces:msg/FieldType.idl +// generated code does not contain a copyright notice + +#ifndef ROSIDL_RUNTIME_C__TYPE_DESCRIPTION__FIELD_TYPE__FUNCTIONS_H_ +#define ROSIDL_RUNTIME_C__TYPE_DESCRIPTION__FIELD_TYPE__FUNCTIONS_H_ + +#ifdef __cplusplus +extern "C" +{ +#endif + +#include +#include + +#include "rosidl_runtime_c/action_type_support_struct.h" +#include "rosidl_runtime_c/message_type_support_struct.h" +#include "rosidl_runtime_c/service_type_support_struct.h" +#include "rosidl_runtime_c/type_hash.h" +#include "rosidl_runtime_c/visibility_control.h" + +#include "rosidl_runtime_c/type_description/field_type__struct.h" + +/// Initialize msg/FieldType message. +/** + * If the init function is called twice for the same message without + * calling fini inbetween previously allocated memory will be leaked. + * \param[in,out] msg The previously allocated message pointer. + * Fields without a default value will not be initialized by this function. + * You might want to call memset(msg, 0, sizeof( + * rosidl_runtime_c__type_description__FieldType + * )) before or use + * rosidl_runtime_c__type_description__FieldType__create() + * to allocate and initialize the message. + * \return true if initialization was successful, otherwise false + */ +ROSIDL_GENERATOR_C_PUBLIC +bool +rosidl_runtime_c__type_description__FieldType__init(rosidl_runtime_c__type_description__FieldType * msg); + +/// Finalize msg/FieldType message. +/** + * \param[in,out] msg The allocated message pointer. + */ +ROSIDL_GENERATOR_C_PUBLIC +void +rosidl_runtime_c__type_description__FieldType__fini(rosidl_runtime_c__type_description__FieldType * msg); + +/// Create msg/FieldType message. +/** + * It allocates the memory for the message, sets the memory to zero, and + * calls + * rosidl_runtime_c__type_description__FieldType__init(). + * \return The pointer to the initialized message if successful, + * otherwise NULL + */ +ROSIDL_GENERATOR_C_PUBLIC +rosidl_runtime_c__type_description__FieldType * +rosidl_runtime_c__type_description__FieldType__create(); + +/// Destroy msg/FieldType message. +/** + * It calls + * rosidl_runtime_c__type_description__FieldType__fini() + * and frees the memory of the message. + * \param[in,out] msg The allocated message pointer. + */ +ROSIDL_GENERATOR_C_PUBLIC +void +rosidl_runtime_c__type_description__FieldType__destroy(rosidl_runtime_c__type_description__FieldType * msg); + +/// Check for msg/FieldType message equality. +/** + * \param[in] lhs The message on the left hand size of the equality operator. + * \param[in] rhs The message on the right hand size of the equality operator. + * \return true if messages are equal, otherwise false. + */ +ROSIDL_GENERATOR_C_PUBLIC +bool +rosidl_runtime_c__type_description__FieldType__are_equal(const rosidl_runtime_c__type_description__FieldType * lhs, const rosidl_runtime_c__type_description__FieldType * rhs); + +/// Copy a msg/FieldType message. +/** + * This functions performs a deep copy, as opposed to the shallow copy that + * plain assignment yields. + * + * \param[in] input The source message pointer. + * \param[out] output The target message pointer, which must + * have been initialized before calling this function. + * \return true if successful, or false if either pointer is null + * or memory allocation fails. + */ +ROSIDL_GENERATOR_C_PUBLIC +bool +rosidl_runtime_c__type_description__FieldType__copy( + const rosidl_runtime_c__type_description__FieldType * input, + rosidl_runtime_c__type_description__FieldType * output); + +/// Retrieve pointer to the hash of the description of this type. +ROSIDL_GENERATOR_C_PUBLIC +const rosidl_type_hash_t * +rosidl_runtime_c__type_description__FieldType__get_type_hash( + const rosidl_message_type_support_t * type_support); + +/// Retrieve pointer to the description of this type. +ROSIDL_GENERATOR_C_PUBLIC +const rosidl_runtime_c__type_description__TypeDescription * +rosidl_runtime_c__type_description__FieldType__get_type_description( + const rosidl_message_type_support_t * type_support); + +/// Retrieve pointer to the single raw source text that defined this type. +ROSIDL_GENERATOR_C_PUBLIC +const rosidl_runtime_c__type_description__TypeSource * +rosidl_runtime_c__type_description__FieldType__get_individual_type_description_source( + const rosidl_message_type_support_t * type_support); + +/// Retrieve pointer to the recursive raw sources that defined the description of this type. +ROSIDL_GENERATOR_C_PUBLIC +const rosidl_runtime_c__type_description__TypeSource__Sequence * +rosidl_runtime_c__type_description__FieldType__get_type_description_sources( + const rosidl_message_type_support_t * type_support); + +/// Initialize array of msg/FieldType messages. +/** + * It allocates the memory for the number of elements and calls + * rosidl_runtime_c__type_description__FieldType__init() + * for each element of the array. + * \param[in,out] array The allocated array pointer. + * \param[in] size The size / capacity of the array. + * \return true if initialization was successful, otherwise false + * If the array pointer is valid and the size is zero it is guaranteed + # to return true. + */ +ROSIDL_GENERATOR_C_PUBLIC +bool +rosidl_runtime_c__type_description__FieldType__Sequence__init(rosidl_runtime_c__type_description__FieldType__Sequence * array, size_t size); + +/// Finalize array of msg/FieldType messages. +/** + * It calls + * rosidl_runtime_c__type_description__FieldType__fini() + * for each element of the array and frees the memory for the number of + * elements. + * \param[in,out] array The initialized array pointer. + */ +ROSIDL_GENERATOR_C_PUBLIC +void +rosidl_runtime_c__type_description__FieldType__Sequence__fini(rosidl_runtime_c__type_description__FieldType__Sequence * array); + +/// Create array of msg/FieldType messages. +/** + * It allocates the memory for the array and calls + * rosidl_runtime_c__type_description__FieldType__Sequence__init(). + * \param[in] size The size / capacity of the array. + * \return The pointer to the initialized array if successful, otherwise NULL + */ +ROSIDL_GENERATOR_C_PUBLIC +rosidl_runtime_c__type_description__FieldType__Sequence * +rosidl_runtime_c__type_description__FieldType__Sequence__create(size_t size); + +/// Destroy array of msg/FieldType messages. +/** + * It calls + * rosidl_runtime_c__type_description__FieldType__Sequence__fini() + * on the array, + * and frees the memory of the array. + * \param[in,out] array The initialized array pointer. + */ +ROSIDL_GENERATOR_C_PUBLIC +void +rosidl_runtime_c__type_description__FieldType__Sequence__destroy(rosidl_runtime_c__type_description__FieldType__Sequence * array); + +/// Check for msg/FieldType message array equality. +/** + * \param[in] lhs The message array on the left hand size of the equality operator. + * \param[in] rhs The message array on the right hand size of the equality operator. + * \return true if message arrays are equal in size and content, otherwise false. + */ +ROSIDL_GENERATOR_C_PUBLIC +bool +rosidl_runtime_c__type_description__FieldType__Sequence__are_equal(const rosidl_runtime_c__type_description__FieldType__Sequence * lhs, const rosidl_runtime_c__type_description__FieldType__Sequence * rhs); + +/// Copy an array of msg/FieldType messages. +/** + * This functions performs a deep copy, as opposed to the shallow copy that + * plain assignment yields. + * + * \param[in] input The source array pointer. + * \param[out] output The target array pointer, which must + * have been initialized before calling this function. + * \return true if successful, or false if either pointer + * is null or memory allocation fails. + */ +ROSIDL_GENERATOR_C_PUBLIC +bool +rosidl_runtime_c__type_description__FieldType__Sequence__copy( + const rosidl_runtime_c__type_description__FieldType__Sequence * input, + rosidl_runtime_c__type_description__FieldType__Sequence * output); + +#ifdef __cplusplus +} +#endif + +#endif // ROSIDL_RUNTIME_C__TYPE_DESCRIPTION__FIELD_TYPE__FUNCTIONS_H_ diff --git a/ports/espressif/microros-ext/include/rosidl_runtime_c/rosidl_runtime_c/type_description/field_type__struct.h b/ports/espressif/microros-ext/include/rosidl_runtime_c/rosidl_runtime_c/type_description/field_type__struct.h new file mode 100644 index 0000000000000..012340fb4ce5c --- /dev/null +++ b/ports/espressif/microros-ext/include/rosidl_runtime_c/rosidl_runtime_c/type_description/field_type__struct.h @@ -0,0 +1,660 @@ +// DO NOT EDIT MANUALLY - this copied file managed by copy_type_description_generated_sources.bash +// generated from rosidl_generator_c/resource/idl__struct.h.em +// with input from type_description_interfaces:msg/FieldType.idl +// generated code does not contain a copyright notice + +#ifndef ROSIDL_RUNTIME_C__TYPE_DESCRIPTION__FIELD_TYPE__STRUCT_H_ +#define ROSIDL_RUNTIME_C__TYPE_DESCRIPTION__FIELD_TYPE__STRUCT_H_ + +#ifdef __cplusplus +extern "C" +{ +#endif + +#include +#include +#include + +// Constants defined in the message + +/// Constant 'FIELD_TYPE_NOT_SET'. +/** + * A constant for each type supported according to: + * http://design.ros2.org/articles/legacy_interface_definition.html + * and: + * http://design.ros2.org/articles/idl_interface_definition.html + * Order is loosely coupled to the order of appearance in the IDL 4.2 spec: + * https://www.omg.org/spec/IDL/4.2 + * Layout of constants across the 0-255 decimal values in the uint8: + * + * - 000 : Reserved for "not set" + * - 001-048: Primitive types, strings, and reserved space for future primitive types + * - 049-096: Fixed sized array of primitive and string types + * - 097-144: Bounded Sequences of primitive and string types + * - 145-192: Unbounded Sequences of primitive and string types + * - 193-255: Reserved space for future array/sequence-like types + */ +enum +{ + rosidl_runtime_c__type_description__FieldType__FIELD_TYPE_NOT_SET = 0 +}; + +/// Constant 'FIELD_TYPE_NESTED_TYPE'. +/** + * Nested type defined in other .msg/.idl files. + */ +enum +{ + rosidl_runtime_c__type_description__FieldType__FIELD_TYPE_NESTED_TYPE = 1 +}; + +/// Constant 'FIELD_TYPE_INT8'. +/** + * Integer Types + */ +enum +{ + rosidl_runtime_c__type_description__FieldType__FIELD_TYPE_INT8 = 2 +}; + +/// Constant 'FIELD_TYPE_UINT8'. +enum +{ + rosidl_runtime_c__type_description__FieldType__FIELD_TYPE_UINT8 = 3 +}; + +/// Constant 'FIELD_TYPE_INT16'. +enum +{ + rosidl_runtime_c__type_description__FieldType__FIELD_TYPE_INT16 = 4 +}; + +/// Constant 'FIELD_TYPE_UINT16'. +enum +{ + rosidl_runtime_c__type_description__FieldType__FIELD_TYPE_UINT16 = 5 +}; + +/// Constant 'FIELD_TYPE_INT32'. +enum +{ + rosidl_runtime_c__type_description__FieldType__FIELD_TYPE_INT32 = 6 +}; + +/// Constant 'FIELD_TYPE_UINT32'. +enum +{ + rosidl_runtime_c__type_description__FieldType__FIELD_TYPE_UINT32 = 7 +}; + +/// Constant 'FIELD_TYPE_INT64'. +enum +{ + rosidl_runtime_c__type_description__FieldType__FIELD_TYPE_INT64 = 8 +}; + +/// Constant 'FIELD_TYPE_UINT64'. +enum +{ + rosidl_runtime_c__type_description__FieldType__FIELD_TYPE_UINT64 = 9 +}; + +/// Constant 'FIELD_TYPE_FLOAT'. +/** + * Floating-Point Types + */ +enum +{ + rosidl_runtime_c__type_description__FieldType__FIELD_TYPE_FLOAT = 10 +}; + +/// Constant 'FIELD_TYPE_DOUBLE'. +enum +{ + rosidl_runtime_c__type_description__FieldType__FIELD_TYPE_DOUBLE = 11 +}; + +/// Constant 'FIELD_TYPE_LONG_DOUBLE'. +enum +{ + rosidl_runtime_c__type_description__FieldType__FIELD_TYPE_LONG_DOUBLE = 12 +}; + +/// Constant 'FIELD_TYPE_CHAR'. +/** + * Char and WChar Types + */ +enum +{ + rosidl_runtime_c__type_description__FieldType__FIELD_TYPE_CHAR = 13 +}; + +/// Constant 'FIELD_TYPE_WCHAR'. +enum +{ + rosidl_runtime_c__type_description__FieldType__FIELD_TYPE_WCHAR = 14 +}; + +/// Constant 'FIELD_TYPE_BOOLEAN'. +/** + * Boolean Type + */ +enum +{ + rosidl_runtime_c__type_description__FieldType__FIELD_TYPE_BOOLEAN = 15 +}; + +/// Constant 'FIELD_TYPE_BYTE'. +/** + * Byte/Octet Type + */ +enum +{ + rosidl_runtime_c__type_description__FieldType__FIELD_TYPE_BYTE = 16 +}; + +/// Constant 'FIELD_TYPE_STRING'. +/** + * String Types + */ +enum +{ + rosidl_runtime_c__type_description__FieldType__FIELD_TYPE_STRING = 17 +}; + +/// Constant 'FIELD_TYPE_WSTRING'. +enum +{ + rosidl_runtime_c__type_description__FieldType__FIELD_TYPE_WSTRING = 18 +}; + +/// Constant 'FIELD_TYPE_FIXED_STRING'. +/** + * Fixed String Types + */ +enum +{ + rosidl_runtime_c__type_description__FieldType__FIELD_TYPE_FIXED_STRING = 19 +}; + +/// Constant 'FIELD_TYPE_FIXED_WSTRING'. +enum +{ + rosidl_runtime_c__type_description__FieldType__FIELD_TYPE_FIXED_WSTRING = 20 +}; + +/// Constant 'FIELD_TYPE_BOUNDED_STRING'. +/** + * Bounded String Types + */ +enum +{ + rosidl_runtime_c__type_description__FieldType__FIELD_TYPE_BOUNDED_STRING = 21 +}; + +/// Constant 'FIELD_TYPE_BOUNDED_WSTRING'. +enum +{ + rosidl_runtime_c__type_description__FieldType__FIELD_TYPE_BOUNDED_WSTRING = 22 +}; + +/// Constant 'FIELD_TYPE_NESTED_TYPE_ARRAY'. +/** + * Fixed Sized Array Types + */ +enum +{ + rosidl_runtime_c__type_description__FieldType__FIELD_TYPE_NESTED_TYPE_ARRAY = 49 +}; + +/// Constant 'FIELD_TYPE_INT8_ARRAY'. +enum +{ + rosidl_runtime_c__type_description__FieldType__FIELD_TYPE_INT8_ARRAY = 50 +}; + +/// Constant 'FIELD_TYPE_UINT8_ARRAY'. +enum +{ + rosidl_runtime_c__type_description__FieldType__FIELD_TYPE_UINT8_ARRAY = 51 +}; + +/// Constant 'FIELD_TYPE_INT16_ARRAY'. +enum +{ + rosidl_runtime_c__type_description__FieldType__FIELD_TYPE_INT16_ARRAY = 52 +}; + +/// Constant 'FIELD_TYPE_UINT16_ARRAY'. +enum +{ + rosidl_runtime_c__type_description__FieldType__FIELD_TYPE_UINT16_ARRAY = 53 +}; + +/// Constant 'FIELD_TYPE_INT32_ARRAY'. +enum +{ + rosidl_runtime_c__type_description__FieldType__FIELD_TYPE_INT32_ARRAY = 54 +}; + +/// Constant 'FIELD_TYPE_UINT32_ARRAY'. +enum +{ + rosidl_runtime_c__type_description__FieldType__FIELD_TYPE_UINT32_ARRAY = 55 +}; + +/// Constant 'FIELD_TYPE_INT64_ARRAY'. +enum +{ + rosidl_runtime_c__type_description__FieldType__FIELD_TYPE_INT64_ARRAY = 56 +}; + +/// Constant 'FIELD_TYPE_UINT64_ARRAY'. +enum +{ + rosidl_runtime_c__type_description__FieldType__FIELD_TYPE_UINT64_ARRAY = 57 +}; + +/// Constant 'FIELD_TYPE_FLOAT_ARRAY'. +enum +{ + rosidl_runtime_c__type_description__FieldType__FIELD_TYPE_FLOAT_ARRAY = 58 +}; + +/// Constant 'FIELD_TYPE_DOUBLE_ARRAY'. +enum +{ + rosidl_runtime_c__type_description__FieldType__FIELD_TYPE_DOUBLE_ARRAY = 59 +}; + +/// Constant 'FIELD_TYPE_LONG_DOUBLE_ARRAY'. +enum +{ + rosidl_runtime_c__type_description__FieldType__FIELD_TYPE_LONG_DOUBLE_ARRAY = 60 +}; + +/// Constant 'FIELD_TYPE_CHAR_ARRAY'. +enum +{ + rosidl_runtime_c__type_description__FieldType__FIELD_TYPE_CHAR_ARRAY = 61 +}; + +/// Constant 'FIELD_TYPE_WCHAR_ARRAY'. +enum +{ + rosidl_runtime_c__type_description__FieldType__FIELD_TYPE_WCHAR_ARRAY = 62 +}; + +/// Constant 'FIELD_TYPE_BOOLEAN_ARRAY'. +enum +{ + rosidl_runtime_c__type_description__FieldType__FIELD_TYPE_BOOLEAN_ARRAY = 63 +}; + +/// Constant 'FIELD_TYPE_BYTE_ARRAY'. +enum +{ + rosidl_runtime_c__type_description__FieldType__FIELD_TYPE_BYTE_ARRAY = 64 +}; + +/// Constant 'FIELD_TYPE_STRING_ARRAY'. +enum +{ + rosidl_runtime_c__type_description__FieldType__FIELD_TYPE_STRING_ARRAY = 65 +}; + +/// Constant 'FIELD_TYPE_WSTRING_ARRAY'. +enum +{ + rosidl_runtime_c__type_description__FieldType__FIELD_TYPE_WSTRING_ARRAY = 66 +}; + +/// Constant 'FIELD_TYPE_FIXED_STRING_ARRAY'. +enum +{ + rosidl_runtime_c__type_description__FieldType__FIELD_TYPE_FIXED_STRING_ARRAY = 67 +}; + +/// Constant 'FIELD_TYPE_FIXED_WSTRING_ARRAY'. +enum +{ + rosidl_runtime_c__type_description__FieldType__FIELD_TYPE_FIXED_WSTRING_ARRAY = 68 +}; + +/// Constant 'FIELD_TYPE_BOUNDED_STRING_ARRAY'. +enum +{ + rosidl_runtime_c__type_description__FieldType__FIELD_TYPE_BOUNDED_STRING_ARRAY = 69 +}; + +/// Constant 'FIELD_TYPE_BOUNDED_WSTRING_ARRAY'. +enum +{ + rosidl_runtime_c__type_description__FieldType__FIELD_TYPE_BOUNDED_WSTRING_ARRAY = 70 +}; + +/// Constant 'FIELD_TYPE_NESTED_TYPE_BOUNDED_SEQUENCE'. +/** + * Bounded Sequence Types + */ +enum +{ + rosidl_runtime_c__type_description__FieldType__FIELD_TYPE_NESTED_TYPE_BOUNDED_SEQUENCE = 97 +}; + +/// Constant 'FIELD_TYPE_INT8_BOUNDED_SEQUENCE'. +enum +{ + rosidl_runtime_c__type_description__FieldType__FIELD_TYPE_INT8_BOUNDED_SEQUENCE = 98 +}; + +/// Constant 'FIELD_TYPE_UINT8_BOUNDED_SEQUENCE'. +enum +{ + rosidl_runtime_c__type_description__FieldType__FIELD_TYPE_UINT8_BOUNDED_SEQUENCE = 99 +}; + +/// Constant 'FIELD_TYPE_INT16_BOUNDED_SEQUENCE'. +enum +{ + rosidl_runtime_c__type_description__FieldType__FIELD_TYPE_INT16_BOUNDED_SEQUENCE = 100 +}; + +/// Constant 'FIELD_TYPE_UINT16_BOUNDED_SEQUENCE'. +enum +{ + rosidl_runtime_c__type_description__FieldType__FIELD_TYPE_UINT16_BOUNDED_SEQUENCE = 101 +}; + +/// Constant 'FIELD_TYPE_INT32_BOUNDED_SEQUENCE'. +enum +{ + rosidl_runtime_c__type_description__FieldType__FIELD_TYPE_INT32_BOUNDED_SEQUENCE = 102 +}; + +/// Constant 'FIELD_TYPE_UINT32_BOUNDED_SEQUENCE'. +enum +{ + rosidl_runtime_c__type_description__FieldType__FIELD_TYPE_UINT32_BOUNDED_SEQUENCE = 103 +}; + +/// Constant 'FIELD_TYPE_INT64_BOUNDED_SEQUENCE'. +enum +{ + rosidl_runtime_c__type_description__FieldType__FIELD_TYPE_INT64_BOUNDED_SEQUENCE = 104 +}; + +/// Constant 'FIELD_TYPE_UINT64_BOUNDED_SEQUENCE'. +enum +{ + rosidl_runtime_c__type_description__FieldType__FIELD_TYPE_UINT64_BOUNDED_SEQUENCE = 105 +}; + +/// Constant 'FIELD_TYPE_FLOAT_BOUNDED_SEQUENCE'. +enum +{ + rosidl_runtime_c__type_description__FieldType__FIELD_TYPE_FLOAT_BOUNDED_SEQUENCE = 106 +}; + +/// Constant 'FIELD_TYPE_DOUBLE_BOUNDED_SEQUENCE'. +enum +{ + rosidl_runtime_c__type_description__FieldType__FIELD_TYPE_DOUBLE_BOUNDED_SEQUENCE = 107 +}; + +/// Constant 'FIELD_TYPE_LONG_DOUBLE_BOUNDED_SEQUENCE'. +enum +{ + rosidl_runtime_c__type_description__FieldType__FIELD_TYPE_LONG_DOUBLE_BOUNDED_SEQUENCE = 108 +}; + +/// Constant 'FIELD_TYPE_CHAR_BOUNDED_SEQUENCE'. +enum +{ + rosidl_runtime_c__type_description__FieldType__FIELD_TYPE_CHAR_BOUNDED_SEQUENCE = 109 +}; + +/// Constant 'FIELD_TYPE_WCHAR_BOUNDED_SEQUENCE'. +enum +{ + rosidl_runtime_c__type_description__FieldType__FIELD_TYPE_WCHAR_BOUNDED_SEQUENCE = 110 +}; + +/// Constant 'FIELD_TYPE_BOOLEAN_BOUNDED_SEQUENCE'. +enum +{ + rosidl_runtime_c__type_description__FieldType__FIELD_TYPE_BOOLEAN_BOUNDED_SEQUENCE = 111 +}; + +/// Constant 'FIELD_TYPE_BYTE_BOUNDED_SEQUENCE'. +enum +{ + rosidl_runtime_c__type_description__FieldType__FIELD_TYPE_BYTE_BOUNDED_SEQUENCE = 112 +}; + +/// Constant 'FIELD_TYPE_STRING_BOUNDED_SEQUENCE'. +enum +{ + rosidl_runtime_c__type_description__FieldType__FIELD_TYPE_STRING_BOUNDED_SEQUENCE = 113 +}; + +/// Constant 'FIELD_TYPE_WSTRING_BOUNDED_SEQUENCE'. +enum +{ + rosidl_runtime_c__type_description__FieldType__FIELD_TYPE_WSTRING_BOUNDED_SEQUENCE = 114 +}; + +/// Constant 'FIELD_TYPE_FIXED_STRING_BOUNDED_SEQUENCE'. +enum +{ + rosidl_runtime_c__type_description__FieldType__FIELD_TYPE_FIXED_STRING_BOUNDED_SEQUENCE = 115 +}; + +/// Constant 'FIELD_TYPE_FIXED_WSTRING_BOUNDED_SEQUENCE'. +enum +{ + rosidl_runtime_c__type_description__FieldType__FIELD_TYPE_FIXED_WSTRING_BOUNDED_SEQUENCE = 116 +}; + +/// Constant 'FIELD_TYPE_BOUNDED_STRING_BOUNDED_SEQUENCE'. +enum +{ + rosidl_runtime_c__type_description__FieldType__FIELD_TYPE_BOUNDED_STRING_BOUNDED_SEQUENCE = 117 +}; + +/// Constant 'FIELD_TYPE_BOUNDED_WSTRING_BOUNDED_SEQUENCE'. +enum +{ + rosidl_runtime_c__type_description__FieldType__FIELD_TYPE_BOUNDED_WSTRING_BOUNDED_SEQUENCE = 118 +}; + +/// Constant 'FIELD_TYPE_NESTED_TYPE_UNBOUNDED_SEQUENCE'. +/** + * Unbounded Sequence Types + */ +enum +{ + rosidl_runtime_c__type_description__FieldType__FIELD_TYPE_NESTED_TYPE_UNBOUNDED_SEQUENCE = 145 +}; + +/// Constant 'FIELD_TYPE_INT8_UNBOUNDED_SEQUENCE'. +enum +{ + rosidl_runtime_c__type_description__FieldType__FIELD_TYPE_INT8_UNBOUNDED_SEQUENCE = 146 +}; + +/// Constant 'FIELD_TYPE_UINT8_UNBOUNDED_SEQUENCE'. +enum +{ + rosidl_runtime_c__type_description__FieldType__FIELD_TYPE_UINT8_UNBOUNDED_SEQUENCE = 147 +}; + +/// Constant 'FIELD_TYPE_INT16_UNBOUNDED_SEQUENCE'. +enum +{ + rosidl_runtime_c__type_description__FieldType__FIELD_TYPE_INT16_UNBOUNDED_SEQUENCE = 148 +}; + +/// Constant 'FIELD_TYPE_UINT16_UNBOUNDED_SEQUENCE'. +enum +{ + rosidl_runtime_c__type_description__FieldType__FIELD_TYPE_UINT16_UNBOUNDED_SEQUENCE = 149 +}; + +/// Constant 'FIELD_TYPE_INT32_UNBOUNDED_SEQUENCE'. +enum +{ + rosidl_runtime_c__type_description__FieldType__FIELD_TYPE_INT32_UNBOUNDED_SEQUENCE = 150 +}; + +/// Constant 'FIELD_TYPE_UINT32_UNBOUNDED_SEQUENCE'. +enum +{ + rosidl_runtime_c__type_description__FieldType__FIELD_TYPE_UINT32_UNBOUNDED_SEQUENCE = 151 +}; + +/// Constant 'FIELD_TYPE_INT64_UNBOUNDED_SEQUENCE'. +enum +{ + rosidl_runtime_c__type_description__FieldType__FIELD_TYPE_INT64_UNBOUNDED_SEQUENCE = 152 +}; + +/// Constant 'FIELD_TYPE_UINT64_UNBOUNDED_SEQUENCE'. +enum +{ + rosidl_runtime_c__type_description__FieldType__FIELD_TYPE_UINT64_UNBOUNDED_SEQUENCE = 153 +}; + +/// Constant 'FIELD_TYPE_FLOAT_UNBOUNDED_SEQUENCE'. +enum +{ + rosidl_runtime_c__type_description__FieldType__FIELD_TYPE_FLOAT_UNBOUNDED_SEQUENCE = 154 +}; + +/// Constant 'FIELD_TYPE_DOUBLE_UNBOUNDED_SEQUENCE'. +enum +{ + rosidl_runtime_c__type_description__FieldType__FIELD_TYPE_DOUBLE_UNBOUNDED_SEQUENCE = 155 +}; + +/// Constant 'FIELD_TYPE_LONG_DOUBLE_UNBOUNDED_SEQUENCE'. +enum +{ + rosidl_runtime_c__type_description__FieldType__FIELD_TYPE_LONG_DOUBLE_UNBOUNDED_SEQUENCE = 156 +}; + +/// Constant 'FIELD_TYPE_CHAR_UNBOUNDED_SEQUENCE'. +enum +{ + rosidl_runtime_c__type_description__FieldType__FIELD_TYPE_CHAR_UNBOUNDED_SEQUENCE = 157 +}; + +/// Constant 'FIELD_TYPE_WCHAR_UNBOUNDED_SEQUENCE'. +enum +{ + rosidl_runtime_c__type_description__FieldType__FIELD_TYPE_WCHAR_UNBOUNDED_SEQUENCE = 158 +}; + +/// Constant 'FIELD_TYPE_BOOLEAN_UNBOUNDED_SEQUENCE'. +enum +{ + rosidl_runtime_c__type_description__FieldType__FIELD_TYPE_BOOLEAN_UNBOUNDED_SEQUENCE = 159 +}; + +/// Constant 'FIELD_TYPE_BYTE_UNBOUNDED_SEQUENCE'. +enum +{ + rosidl_runtime_c__type_description__FieldType__FIELD_TYPE_BYTE_UNBOUNDED_SEQUENCE = 160 +}; + +/// Constant 'FIELD_TYPE_STRING_UNBOUNDED_SEQUENCE'. +enum +{ + rosidl_runtime_c__type_description__FieldType__FIELD_TYPE_STRING_UNBOUNDED_SEQUENCE = 161 +}; + +/// Constant 'FIELD_TYPE_WSTRING_UNBOUNDED_SEQUENCE'. +enum +{ + rosidl_runtime_c__type_description__FieldType__FIELD_TYPE_WSTRING_UNBOUNDED_SEQUENCE = 162 +}; + +/// Constant 'FIELD_TYPE_FIXED_STRING_UNBOUNDED_SEQUENCE'. +enum +{ + rosidl_runtime_c__type_description__FieldType__FIELD_TYPE_FIXED_STRING_UNBOUNDED_SEQUENCE = 163 +}; + +/// Constant 'FIELD_TYPE_FIXED_WSTRING_UNBOUNDED_SEQUENCE'. +enum +{ + rosidl_runtime_c__type_description__FieldType__FIELD_TYPE_FIXED_WSTRING_UNBOUNDED_SEQUENCE = 164 +}; + +/// Constant 'FIELD_TYPE_BOUNDED_STRING_UNBOUNDED_SEQUENCE'. +enum +{ + rosidl_runtime_c__type_description__FieldType__FIELD_TYPE_BOUNDED_STRING_UNBOUNDED_SEQUENCE = 165 +}; + +/// Constant 'FIELD_TYPE_BOUNDED_WSTRING_UNBOUNDED_SEQUENCE'. +enum +{ + rosidl_runtime_c__type_description__FieldType__FIELD_TYPE_BOUNDED_WSTRING_UNBOUNDED_SEQUENCE = 166 +}; + +// Include directives for member types +// Member 'nested_type_name' +#include "rosidl_runtime_c/string.h" + +// constants for array fields with an upper bound +// nested_type_name +enum +{ + rosidl_runtime_c__type_description__FieldType__nested_type_name__MAX_STRING_SIZE = 255 +}; + +/// Struct defined in msg/FieldType in the package type_description_interfaces. +/** + * Represents the type of a field and related meta-data. + */ +typedef struct rosidl_runtime_c__type_description__FieldType +{ + /// Identifying number for the type of the field, using one of the above constants. + uint8_t type_id; + /// Only used when the type is an array or a bounded sequence. + /// In the case of an array, this is the fixed capacity of the array. + /// In the case of a bounded sequence, this is the maximum capacity of the sequence. + /// In all other cases this field is unused. + uint64_t capacity; + /// Only used when the type is a fixed or bounded string/wstring, or a array/sequence of those. + /// In the case of a fixed string/wstring, it is the fixed length of the string. + /// In the case of a bounded string/wstring, it is the maximum capacity of the string. + /// In the case of an array/sequence of fixed string/wstring, it is the fixed length of the strings. + /// In the case of an array/sequence of bounded string/wstring, it is the maximum capacity of the strings. + /// It is not currently possible to have different string capacities per element in the array/sequence. + uint64_t string_capacity; + /// Only used when the type is a nested type or array/sequence of nested types. + /// This is limited to 255 characters. + /// TODO(wjwwood): this 255 character limit was chosen due to this being the limit + /// for DDSI-RTPS based middlewares, which is the most commonly used right now. + /// We lack a ROS 2 specific limit in our design documents, but we should update + /// this and/or link to the design doc when that is available. + rosidl_runtime_c__String nested_type_name; +} rosidl_runtime_c__type_description__FieldType; + +// Struct for a sequence of rosidl_runtime_c__type_description__FieldType. +typedef struct rosidl_runtime_c__type_description__FieldType__Sequence +{ + rosidl_runtime_c__type_description__FieldType * data; + /// The number of valid items in data + size_t size; + /// The number of allocated items in data + size_t capacity; +} rosidl_runtime_c__type_description__FieldType__Sequence; + +#ifdef __cplusplus +} +#endif + +#endif // ROSIDL_RUNTIME_C__TYPE_DESCRIPTION__FIELD_TYPE__STRUCT_H_ diff --git a/ports/espressif/microros-ext/include/rosidl_runtime_c/rosidl_runtime_c/type_description/individual_type_description__functions.h b/ports/espressif/microros-ext/include/rosidl_runtime_c/rosidl_runtime_c/type_description/individual_type_description__functions.h new file mode 100644 index 0000000000000..eb297b611df31 --- /dev/null +++ b/ports/espressif/microros-ext/include/rosidl_runtime_c/rosidl_runtime_c/type_description/individual_type_description__functions.h @@ -0,0 +1,205 @@ +// DO NOT EDIT MANUALLY - this copied file managed by copy_type_description_generated_sources.bash +// generated from rosidl_generator_c/resource/idl__functions.h.em +// with input from type_description_interfaces:msg/IndividualTypeDescription.idl +// generated code does not contain a copyright notice + +#ifndef ROSIDL_RUNTIME_C__TYPE_DESCRIPTION__INDIVIDUAL_TYPE_DESCRIPTION__FUNCTIONS_H_ +#define ROSIDL_RUNTIME_C__TYPE_DESCRIPTION__INDIVIDUAL_TYPE_DESCRIPTION__FUNCTIONS_H_ + +#ifdef __cplusplus +extern "C" +{ +#endif + +#include +#include + +#include "rosidl_runtime_c/action_type_support_struct.h" +#include "rosidl_runtime_c/message_type_support_struct.h" +#include "rosidl_runtime_c/service_type_support_struct.h" +#include "rosidl_runtime_c/type_hash.h" +#include "rosidl_runtime_c/visibility_control.h" + +#include "rosidl_runtime_c/type_description/individual_type_description__struct.h" + +/// Initialize msg/IndividualTypeDescription message. +/** + * If the init function is called twice for the same message without + * calling fini inbetween previously allocated memory will be leaked. + * \param[in,out] msg The previously allocated message pointer. + * Fields without a default value will not be initialized by this function. + * You might want to call memset(msg, 0, sizeof( + * rosidl_runtime_c__type_description__IndividualTypeDescription + * )) before or use + * rosidl_runtime_c__type_description__IndividualTypeDescription__create() + * to allocate and initialize the message. + * \return true if initialization was successful, otherwise false + */ +ROSIDL_GENERATOR_C_PUBLIC +bool +rosidl_runtime_c__type_description__IndividualTypeDescription__init(rosidl_runtime_c__type_description__IndividualTypeDescription * msg); + +/// Finalize msg/IndividualTypeDescription message. +/** + * \param[in,out] msg The allocated message pointer. + */ +ROSIDL_GENERATOR_C_PUBLIC +void +rosidl_runtime_c__type_description__IndividualTypeDescription__fini(rosidl_runtime_c__type_description__IndividualTypeDescription * msg); + +/// Create msg/IndividualTypeDescription message. +/** + * It allocates the memory for the message, sets the memory to zero, and + * calls + * rosidl_runtime_c__type_description__IndividualTypeDescription__init(). + * \return The pointer to the initialized message if successful, + * otherwise NULL + */ +ROSIDL_GENERATOR_C_PUBLIC +rosidl_runtime_c__type_description__IndividualTypeDescription * +rosidl_runtime_c__type_description__IndividualTypeDescription__create(); + +/// Destroy msg/IndividualTypeDescription message. +/** + * It calls + * rosidl_runtime_c__type_description__IndividualTypeDescription__fini() + * and frees the memory of the message. + * \param[in,out] msg The allocated message pointer. + */ +ROSIDL_GENERATOR_C_PUBLIC +void +rosidl_runtime_c__type_description__IndividualTypeDescription__destroy(rosidl_runtime_c__type_description__IndividualTypeDescription * msg); + +/// Check for msg/IndividualTypeDescription message equality. +/** + * \param[in] lhs The message on the left hand size of the equality operator. + * \param[in] rhs The message on the right hand size of the equality operator. + * \return true if messages are equal, otherwise false. + */ +ROSIDL_GENERATOR_C_PUBLIC +bool +rosidl_runtime_c__type_description__IndividualTypeDescription__are_equal(const rosidl_runtime_c__type_description__IndividualTypeDescription * lhs, const rosidl_runtime_c__type_description__IndividualTypeDescription * rhs); + +/// Copy a msg/IndividualTypeDescription message. +/** + * This functions performs a deep copy, as opposed to the shallow copy that + * plain assignment yields. + * + * \param[in] input The source message pointer. + * \param[out] output The target message pointer, which must + * have been initialized before calling this function. + * \return true if successful, or false if either pointer is null + * or memory allocation fails. + */ +ROSIDL_GENERATOR_C_PUBLIC +bool +rosidl_runtime_c__type_description__IndividualTypeDescription__copy( + const rosidl_runtime_c__type_description__IndividualTypeDescription * input, + rosidl_runtime_c__type_description__IndividualTypeDescription * output); + +/// Retrieve pointer to the hash of the description of this type. +ROSIDL_GENERATOR_C_PUBLIC +const rosidl_type_hash_t * +rosidl_runtime_c__type_description__IndividualTypeDescription__get_type_hash( + const rosidl_message_type_support_t * type_support); + +/// Retrieve pointer to the description of this type. +ROSIDL_GENERATOR_C_PUBLIC +const rosidl_runtime_c__type_description__TypeDescription * +rosidl_runtime_c__type_description__IndividualTypeDescription__get_type_description( + const rosidl_message_type_support_t * type_support); + +/// Retrieve pointer to the single raw source text that defined this type. +ROSIDL_GENERATOR_C_PUBLIC +const rosidl_runtime_c__type_description__TypeSource * +rosidl_runtime_c__type_description__IndividualTypeDescription__get_individual_type_description_source( + const rosidl_message_type_support_t * type_support); + +/// Retrieve pointer to the recursive raw sources that defined the description of this type. +ROSIDL_GENERATOR_C_PUBLIC +const rosidl_runtime_c__type_description__TypeSource__Sequence * +rosidl_runtime_c__type_description__IndividualTypeDescription__get_type_description_sources( + const rosidl_message_type_support_t * type_support); + +/// Initialize array of msg/IndividualTypeDescription messages. +/** + * It allocates the memory for the number of elements and calls + * rosidl_runtime_c__type_description__IndividualTypeDescription__init() + * for each element of the array. + * \param[in,out] array The allocated array pointer. + * \param[in] size The size / capacity of the array. + * \return true if initialization was successful, otherwise false + * If the array pointer is valid and the size is zero it is guaranteed + # to return true. + */ +ROSIDL_GENERATOR_C_PUBLIC +bool +rosidl_runtime_c__type_description__IndividualTypeDescription__Sequence__init(rosidl_runtime_c__type_description__IndividualTypeDescription__Sequence * array, size_t size); + +/// Finalize array of msg/IndividualTypeDescription messages. +/** + * It calls + * rosidl_runtime_c__type_description__IndividualTypeDescription__fini() + * for each element of the array and frees the memory for the number of + * elements. + * \param[in,out] array The initialized array pointer. + */ +ROSIDL_GENERATOR_C_PUBLIC +void +rosidl_runtime_c__type_description__IndividualTypeDescription__Sequence__fini(rosidl_runtime_c__type_description__IndividualTypeDescription__Sequence * array); + +/// Create array of msg/IndividualTypeDescription messages. +/** + * It allocates the memory for the array and calls + * rosidl_runtime_c__type_description__IndividualTypeDescription__Sequence__init(). + * \param[in] size The size / capacity of the array. + * \return The pointer to the initialized array if successful, otherwise NULL + */ +ROSIDL_GENERATOR_C_PUBLIC +rosidl_runtime_c__type_description__IndividualTypeDescription__Sequence * +rosidl_runtime_c__type_description__IndividualTypeDescription__Sequence__create(size_t size); + +/// Destroy array of msg/IndividualTypeDescription messages. +/** + * It calls + * rosidl_runtime_c__type_description__IndividualTypeDescription__Sequence__fini() + * on the array, + * and frees the memory of the array. + * \param[in,out] array The initialized array pointer. + */ +ROSIDL_GENERATOR_C_PUBLIC +void +rosidl_runtime_c__type_description__IndividualTypeDescription__Sequence__destroy(rosidl_runtime_c__type_description__IndividualTypeDescription__Sequence * array); + +/// Check for msg/IndividualTypeDescription message array equality. +/** + * \param[in] lhs The message array on the left hand size of the equality operator. + * \param[in] rhs The message array on the right hand size of the equality operator. + * \return true if message arrays are equal in size and content, otherwise false. + */ +ROSIDL_GENERATOR_C_PUBLIC +bool +rosidl_runtime_c__type_description__IndividualTypeDescription__Sequence__are_equal(const rosidl_runtime_c__type_description__IndividualTypeDescription__Sequence * lhs, const rosidl_runtime_c__type_description__IndividualTypeDescription__Sequence * rhs); + +/// Copy an array of msg/IndividualTypeDescription messages. +/** + * This functions performs a deep copy, as opposed to the shallow copy that + * plain assignment yields. + * + * \param[in] input The source array pointer. + * \param[out] output The target array pointer, which must + * have been initialized before calling this function. + * \return true if successful, or false if either pointer + * is null or memory allocation fails. + */ +ROSIDL_GENERATOR_C_PUBLIC +bool +rosidl_runtime_c__type_description__IndividualTypeDescription__Sequence__copy( + const rosidl_runtime_c__type_description__IndividualTypeDescription__Sequence * input, + rosidl_runtime_c__type_description__IndividualTypeDescription__Sequence * output); + +#ifdef __cplusplus +} +#endif + +#endif // ROSIDL_RUNTIME_C__TYPE_DESCRIPTION__INDIVIDUAL_TYPE_DESCRIPTION__FUNCTIONS_H_ diff --git a/ports/espressif/microros-ext/include/rosidl_runtime_c/rosidl_runtime_c/type_description/individual_type_description__struct.h b/ports/espressif/microros-ext/include/rosidl_runtime_c/rosidl_runtime_c/type_description/individual_type_description__struct.h new file mode 100644 index 0000000000000..247f22e01d784 --- /dev/null +++ b/ports/espressif/microros-ext/include/rosidl_runtime_c/rosidl_runtime_c/type_description/individual_type_description__struct.h @@ -0,0 +1,64 @@ +// DO NOT EDIT MANUALLY - this copied file managed by copy_type_description_generated_sources.bash +// generated from rosidl_generator_c/resource/idl__struct.h.em +// with input from type_description_interfaces:msg/IndividualTypeDescription.idl +// generated code does not contain a copyright notice + +#ifndef ROSIDL_RUNTIME_C__TYPE_DESCRIPTION__INDIVIDUAL_TYPE_DESCRIPTION__STRUCT_H_ +#define ROSIDL_RUNTIME_C__TYPE_DESCRIPTION__INDIVIDUAL_TYPE_DESCRIPTION__STRUCT_H_ + +#ifdef __cplusplus +extern "C" +{ +#endif + +#include +#include +#include + +// Constants defined in the message + +// Include directives for member types +// Member 'type_name' +#include "rosidl_runtime_c/string.h" +// Member 'fields' +#include "rosidl_runtime_c/type_description/field__struct.h" + +// constants for array fields with an upper bound +// type_name +enum +{ + rosidl_runtime_c__type_description__IndividualTypeDescription__type_name__MAX_STRING_SIZE = 255 +}; + +/// Struct defined in msg/IndividualTypeDescription in the package type_description_interfaces. +/** + * Represents a single type, without the types it references, if any. + */ +typedef struct rosidl_runtime_c__type_description__IndividualTypeDescription +{ + /// Name of the type. + /// This is limited to 255 characters. + /// TODO(wjwwood): this 255 character limit was chosen due to this being the limit + /// for DDSI-RTPS based middlewares, which is the most commonly used right now. + /// We lack a ROS 2 specific limit in our design documents, but we should update + /// this and/or link to the design doc when that is available. + rosidl_runtime_c__String type_name; + /// Fields of the type. + rosidl_runtime_c__type_description__Field__Sequence fields; +} rosidl_runtime_c__type_description__IndividualTypeDescription; + +// Struct for a sequence of rosidl_runtime_c__type_description__IndividualTypeDescription. +typedef struct rosidl_runtime_c__type_description__IndividualTypeDescription__Sequence +{ + rosidl_runtime_c__type_description__IndividualTypeDescription * data; + /// The number of valid items in data + size_t size; + /// The number of allocated items in data + size_t capacity; +} rosidl_runtime_c__type_description__IndividualTypeDescription__Sequence; + +#ifdef __cplusplus +} +#endif + +#endif // ROSIDL_RUNTIME_C__TYPE_DESCRIPTION__INDIVIDUAL_TYPE_DESCRIPTION__STRUCT_H_ diff --git a/ports/espressif/microros-ext/include/rosidl_runtime_c/rosidl_runtime_c/type_description/key_value__functions.h b/ports/espressif/microros-ext/include/rosidl_runtime_c/rosidl_runtime_c/type_description/key_value__functions.h new file mode 100644 index 0000000000000..61503b9d2cd90 --- /dev/null +++ b/ports/espressif/microros-ext/include/rosidl_runtime_c/rosidl_runtime_c/type_description/key_value__functions.h @@ -0,0 +1,205 @@ +// DO NOT EDIT MANUALLY - this copied file managed by copy_type_description_generated_sources.bash +// generated from rosidl_generator_c/resource/idl__functions.h.em +// with input from type_description_interfaces:msg/KeyValue.idl +// generated code does not contain a copyright notice + +#ifndef ROSIDL_RUNTIME_C__TYPE_DESCRIPTION__KEY_VALUE__FUNCTIONS_H_ +#define ROSIDL_RUNTIME_C__TYPE_DESCRIPTION__KEY_VALUE__FUNCTIONS_H_ + +#ifdef __cplusplus +extern "C" +{ +#endif + +#include +#include + +#include "rosidl_runtime_c/action_type_support_struct.h" +#include "rosidl_runtime_c/message_type_support_struct.h" +#include "rosidl_runtime_c/service_type_support_struct.h" +#include "rosidl_runtime_c/type_hash.h" +#include "rosidl_runtime_c/visibility_control.h" + +#include "rosidl_runtime_c/type_description/key_value__struct.h" + +/// Initialize msg/KeyValue message. +/** + * If the init function is called twice for the same message without + * calling fini inbetween previously allocated memory will be leaked. + * \param[in,out] msg The previously allocated message pointer. + * Fields without a default value will not be initialized by this function. + * You might want to call memset(msg, 0, sizeof( + * rosidl_runtime_c__type_description__KeyValue + * )) before or use + * rosidl_runtime_c__type_description__KeyValue__create() + * to allocate and initialize the message. + * \return true if initialization was successful, otherwise false + */ +ROSIDL_GENERATOR_C_PUBLIC +bool +rosidl_runtime_c__type_description__KeyValue__init(rosidl_runtime_c__type_description__KeyValue * msg); + +/// Finalize msg/KeyValue message. +/** + * \param[in,out] msg The allocated message pointer. + */ +ROSIDL_GENERATOR_C_PUBLIC +void +rosidl_runtime_c__type_description__KeyValue__fini(rosidl_runtime_c__type_description__KeyValue * msg); + +/// Create msg/KeyValue message. +/** + * It allocates the memory for the message, sets the memory to zero, and + * calls + * rosidl_runtime_c__type_description__KeyValue__init(). + * \return The pointer to the initialized message if successful, + * otherwise NULL + */ +ROSIDL_GENERATOR_C_PUBLIC +rosidl_runtime_c__type_description__KeyValue * +rosidl_runtime_c__type_description__KeyValue__create(); + +/// Destroy msg/KeyValue message. +/** + * It calls + * rosidl_runtime_c__type_description__KeyValue__fini() + * and frees the memory of the message. + * \param[in,out] msg The allocated message pointer. + */ +ROSIDL_GENERATOR_C_PUBLIC +void +rosidl_runtime_c__type_description__KeyValue__destroy(rosidl_runtime_c__type_description__KeyValue * msg); + +/// Check for msg/KeyValue message equality. +/** + * \param[in] lhs The message on the left hand size of the equality operator. + * \param[in] rhs The message on the right hand size of the equality operator. + * \return true if messages are equal, otherwise false. + */ +ROSIDL_GENERATOR_C_PUBLIC +bool +rosidl_runtime_c__type_description__KeyValue__are_equal(const rosidl_runtime_c__type_description__KeyValue * lhs, const rosidl_runtime_c__type_description__KeyValue * rhs); + +/// Copy a msg/KeyValue message. +/** + * This functions performs a deep copy, as opposed to the shallow copy that + * plain assignment yields. + * + * \param[in] input The source message pointer. + * \param[out] output The target message pointer, which must + * have been initialized before calling this function. + * \return true if successful, or false if either pointer is null + * or memory allocation fails. + */ +ROSIDL_GENERATOR_C_PUBLIC +bool +rosidl_runtime_c__type_description__KeyValue__copy( + const rosidl_runtime_c__type_description__KeyValue * input, + rosidl_runtime_c__type_description__KeyValue * output); + +/// Retrieve pointer to the hash of the description of this type. +ROSIDL_GENERATOR_C_PUBLIC +const rosidl_type_hash_t * +rosidl_runtime_c__type_description__KeyValue__get_type_hash( + const rosidl_message_type_support_t * type_support); + +/// Retrieve pointer to the description of this type. +ROSIDL_GENERATOR_C_PUBLIC +const rosidl_runtime_c__type_description__TypeDescription * +rosidl_runtime_c__type_description__KeyValue__get_type_description( + const rosidl_message_type_support_t * type_support); + +/// Retrieve pointer to the single raw source text that defined this type. +ROSIDL_GENERATOR_C_PUBLIC +const rosidl_runtime_c__type_description__TypeSource * +rosidl_runtime_c__type_description__KeyValue__get_individual_type_description_source( + const rosidl_message_type_support_t * type_support); + +/// Retrieve pointer to the recursive raw sources that defined the description of this type. +ROSIDL_GENERATOR_C_PUBLIC +const rosidl_runtime_c__type_description__TypeSource__Sequence * +rosidl_runtime_c__type_description__KeyValue__get_type_description_sources( + const rosidl_message_type_support_t * type_support); + +/// Initialize array of msg/KeyValue messages. +/** + * It allocates the memory for the number of elements and calls + * rosidl_runtime_c__type_description__KeyValue__init() + * for each element of the array. + * \param[in,out] array The allocated array pointer. + * \param[in] size The size / capacity of the array. + * \return true if initialization was successful, otherwise false + * If the array pointer is valid and the size is zero it is guaranteed + # to return true. + */ +ROSIDL_GENERATOR_C_PUBLIC +bool +rosidl_runtime_c__type_description__KeyValue__Sequence__init(rosidl_runtime_c__type_description__KeyValue__Sequence * array, size_t size); + +/// Finalize array of msg/KeyValue messages. +/** + * It calls + * rosidl_runtime_c__type_description__KeyValue__fini() + * for each element of the array and frees the memory for the number of + * elements. + * \param[in,out] array The initialized array pointer. + */ +ROSIDL_GENERATOR_C_PUBLIC +void +rosidl_runtime_c__type_description__KeyValue__Sequence__fini(rosidl_runtime_c__type_description__KeyValue__Sequence * array); + +/// Create array of msg/KeyValue messages. +/** + * It allocates the memory for the array and calls + * rosidl_runtime_c__type_description__KeyValue__Sequence__init(). + * \param[in] size The size / capacity of the array. + * \return The pointer to the initialized array if successful, otherwise NULL + */ +ROSIDL_GENERATOR_C_PUBLIC +rosidl_runtime_c__type_description__KeyValue__Sequence * +rosidl_runtime_c__type_description__KeyValue__Sequence__create(size_t size); + +/// Destroy array of msg/KeyValue messages. +/** + * It calls + * rosidl_runtime_c__type_description__KeyValue__Sequence__fini() + * on the array, + * and frees the memory of the array. + * \param[in,out] array The initialized array pointer. + */ +ROSIDL_GENERATOR_C_PUBLIC +void +rosidl_runtime_c__type_description__KeyValue__Sequence__destroy(rosidl_runtime_c__type_description__KeyValue__Sequence * array); + +/// Check for msg/KeyValue message array equality. +/** + * \param[in] lhs The message array on the left hand size of the equality operator. + * \param[in] rhs The message array on the right hand size of the equality operator. + * \return true if message arrays are equal in size and content, otherwise false. + */ +ROSIDL_GENERATOR_C_PUBLIC +bool +rosidl_runtime_c__type_description__KeyValue__Sequence__are_equal(const rosidl_runtime_c__type_description__KeyValue__Sequence * lhs, const rosidl_runtime_c__type_description__KeyValue__Sequence * rhs); + +/// Copy an array of msg/KeyValue messages. +/** + * This functions performs a deep copy, as opposed to the shallow copy that + * plain assignment yields. + * + * \param[in] input The source array pointer. + * \param[out] output The target array pointer, which must + * have been initialized before calling this function. + * \return true if successful, or false if either pointer + * is null or memory allocation fails. + */ +ROSIDL_GENERATOR_C_PUBLIC +bool +rosidl_runtime_c__type_description__KeyValue__Sequence__copy( + const rosidl_runtime_c__type_description__KeyValue__Sequence * input, + rosidl_runtime_c__type_description__KeyValue__Sequence * output); + +#ifdef __cplusplus +} +#endif + +#endif // ROSIDL_RUNTIME_C__TYPE_DESCRIPTION__KEY_VALUE__FUNCTIONS_H_ diff --git a/ports/espressif/microros-ext/include/rosidl_runtime_c/rosidl_runtime_c/type_description/key_value__struct.h b/ports/espressif/microros-ext/include/rosidl_runtime_c/rosidl_runtime_c/type_description/key_value__struct.h new file mode 100644 index 0000000000000..7ce5dc83dbe28 --- /dev/null +++ b/ports/espressif/microros-ext/include/rosidl_runtime_c/rosidl_runtime_c/type_description/key_value__struct.h @@ -0,0 +1,49 @@ +// DO NOT EDIT MANUALLY - this copied file managed by copy_type_description_generated_sources.bash +// generated from rosidl_generator_c/resource/idl__struct.h.em +// with input from type_description_interfaces:msg/KeyValue.idl +// generated code does not contain a copyright notice + +#ifndef ROSIDL_RUNTIME_C__TYPE_DESCRIPTION__KEY_VALUE__STRUCT_H_ +#define ROSIDL_RUNTIME_C__TYPE_DESCRIPTION__KEY_VALUE__STRUCT_H_ + +#ifdef __cplusplus +extern "C" +{ +#endif + +#include +#include +#include + +// Constants defined in the message + +// Include directives for member types +// Member 'key' +// Member 'value' +#include "rosidl_runtime_c/string.h" + +/// Struct defined in msg/KeyValue in the package type_description_interfaces. +/** + * Represents an arbitrary key-value pair for application-specific information. + */ +typedef struct rosidl_runtime_c__type_description__KeyValue +{ + rosidl_runtime_c__String key; + rosidl_runtime_c__String value; +} rosidl_runtime_c__type_description__KeyValue; + +// Struct for a sequence of rosidl_runtime_c__type_description__KeyValue. +typedef struct rosidl_runtime_c__type_description__KeyValue__Sequence +{ + rosidl_runtime_c__type_description__KeyValue * data; + /// The number of valid items in data + size_t size; + /// The number of allocated items in data + size_t capacity; +} rosidl_runtime_c__type_description__KeyValue__Sequence; + +#ifdef __cplusplus +} +#endif + +#endif // ROSIDL_RUNTIME_C__TYPE_DESCRIPTION__KEY_VALUE__STRUCT_H_ diff --git a/ports/espressif/microros-ext/include/rosidl_runtime_c/rosidl_runtime_c/type_description/type_description__functions.h b/ports/espressif/microros-ext/include/rosidl_runtime_c/rosidl_runtime_c/type_description/type_description__functions.h new file mode 100644 index 0000000000000..384a0ab102639 --- /dev/null +++ b/ports/espressif/microros-ext/include/rosidl_runtime_c/rosidl_runtime_c/type_description/type_description__functions.h @@ -0,0 +1,205 @@ +// DO NOT EDIT MANUALLY - this copied file managed by copy_type_description_generated_sources.bash +// generated from rosidl_generator_c/resource/idl__functions.h.em +// with input from type_description_interfaces:msg/TypeDescription.idl +// generated code does not contain a copyright notice + +#ifndef ROSIDL_RUNTIME_C__TYPE_DESCRIPTION__TYPE_DESCRIPTION__FUNCTIONS_H_ +#define ROSIDL_RUNTIME_C__TYPE_DESCRIPTION__TYPE_DESCRIPTION__FUNCTIONS_H_ + +#ifdef __cplusplus +extern "C" +{ +#endif + +#include +#include + +#include "rosidl_runtime_c/action_type_support_struct.h" +#include "rosidl_runtime_c/message_type_support_struct.h" +#include "rosidl_runtime_c/service_type_support_struct.h" +#include "rosidl_runtime_c/type_hash.h" +#include "rosidl_runtime_c/visibility_control.h" + +#include "rosidl_runtime_c/type_description/type_description__struct.h" + +/// Initialize msg/TypeDescription message. +/** + * If the init function is called twice for the same message without + * calling fini inbetween previously allocated memory will be leaked. + * \param[in,out] msg The previously allocated message pointer. + * Fields without a default value will not be initialized by this function. + * You might want to call memset(msg, 0, sizeof( + * rosidl_runtime_c__type_description__TypeDescription + * )) before or use + * rosidl_runtime_c__type_description__TypeDescription__create() + * to allocate and initialize the message. + * \return true if initialization was successful, otherwise false + */ +ROSIDL_GENERATOR_C_PUBLIC +bool +rosidl_runtime_c__type_description__TypeDescription__init(rosidl_runtime_c__type_description__TypeDescription * msg); + +/// Finalize msg/TypeDescription message. +/** + * \param[in,out] msg The allocated message pointer. + */ +ROSIDL_GENERATOR_C_PUBLIC +void +rosidl_runtime_c__type_description__TypeDescription__fini(rosidl_runtime_c__type_description__TypeDescription * msg); + +/// Create msg/TypeDescription message. +/** + * It allocates the memory for the message, sets the memory to zero, and + * calls + * rosidl_runtime_c__type_description__TypeDescription__init(). + * \return The pointer to the initialized message if successful, + * otherwise NULL + */ +ROSIDL_GENERATOR_C_PUBLIC +rosidl_runtime_c__type_description__TypeDescription * +rosidl_runtime_c__type_description__TypeDescription__create(); + +/// Destroy msg/TypeDescription message. +/** + * It calls + * rosidl_runtime_c__type_description__TypeDescription__fini() + * and frees the memory of the message. + * \param[in,out] msg The allocated message pointer. + */ +ROSIDL_GENERATOR_C_PUBLIC +void +rosidl_runtime_c__type_description__TypeDescription__destroy(rosidl_runtime_c__type_description__TypeDescription * msg); + +/// Check for msg/TypeDescription message equality. +/** + * \param[in] lhs The message on the left hand size of the equality operator. + * \param[in] rhs The message on the right hand size of the equality operator. + * \return true if messages are equal, otherwise false. + */ +ROSIDL_GENERATOR_C_PUBLIC +bool +rosidl_runtime_c__type_description__TypeDescription__are_equal(const rosidl_runtime_c__type_description__TypeDescription * lhs, const rosidl_runtime_c__type_description__TypeDescription * rhs); + +/// Copy a msg/TypeDescription message. +/** + * This functions performs a deep copy, as opposed to the shallow copy that + * plain assignment yields. + * + * \param[in] input The source message pointer. + * \param[out] output The target message pointer, which must + * have been initialized before calling this function. + * \return true if successful, or false if either pointer is null + * or memory allocation fails. + */ +ROSIDL_GENERATOR_C_PUBLIC +bool +rosidl_runtime_c__type_description__TypeDescription__copy( + const rosidl_runtime_c__type_description__TypeDescription * input, + rosidl_runtime_c__type_description__TypeDescription * output); + +/// Retrieve pointer to the hash of the description of this type. +ROSIDL_GENERATOR_C_PUBLIC +const rosidl_type_hash_t * +rosidl_runtime_c__type_description__TypeDescription__get_type_hash( + const rosidl_message_type_support_t * type_support); + +/// Retrieve pointer to the description of this type. +ROSIDL_GENERATOR_C_PUBLIC +const rosidl_runtime_c__type_description__TypeDescription * +rosidl_runtime_c__type_description__TypeDescription__get_type_description( + const rosidl_message_type_support_t * type_support); + +/// Retrieve pointer to the single raw source text that defined this type. +ROSIDL_GENERATOR_C_PUBLIC +const rosidl_runtime_c__type_description__TypeSource * +rosidl_runtime_c__type_description__TypeDescription__get_individual_type_description_source( + const rosidl_message_type_support_t * type_support); + +/// Retrieve pointer to the recursive raw sources that defined the description of this type. +ROSIDL_GENERATOR_C_PUBLIC +const rosidl_runtime_c__type_description__TypeSource__Sequence * +rosidl_runtime_c__type_description__TypeDescription__get_type_description_sources( + const rosidl_message_type_support_t * type_support); + +/// Initialize array of msg/TypeDescription messages. +/** + * It allocates the memory for the number of elements and calls + * rosidl_runtime_c__type_description__TypeDescription__init() + * for each element of the array. + * \param[in,out] array The allocated array pointer. + * \param[in] size The size / capacity of the array. + * \return true if initialization was successful, otherwise false + * If the array pointer is valid and the size is zero it is guaranteed + # to return true. + */ +ROSIDL_GENERATOR_C_PUBLIC +bool +rosidl_runtime_c__type_description__TypeDescription__Sequence__init(rosidl_runtime_c__type_description__TypeDescription__Sequence * array, size_t size); + +/// Finalize array of msg/TypeDescription messages. +/** + * It calls + * rosidl_runtime_c__type_description__TypeDescription__fini() + * for each element of the array and frees the memory for the number of + * elements. + * \param[in,out] array The initialized array pointer. + */ +ROSIDL_GENERATOR_C_PUBLIC +void +rosidl_runtime_c__type_description__TypeDescription__Sequence__fini(rosidl_runtime_c__type_description__TypeDescription__Sequence * array); + +/// Create array of msg/TypeDescription messages. +/** + * It allocates the memory for the array and calls + * rosidl_runtime_c__type_description__TypeDescription__Sequence__init(). + * \param[in] size The size / capacity of the array. + * \return The pointer to the initialized array if successful, otherwise NULL + */ +ROSIDL_GENERATOR_C_PUBLIC +rosidl_runtime_c__type_description__TypeDescription__Sequence * +rosidl_runtime_c__type_description__TypeDescription__Sequence__create(size_t size); + +/// Destroy array of msg/TypeDescription messages. +/** + * It calls + * rosidl_runtime_c__type_description__TypeDescription__Sequence__fini() + * on the array, + * and frees the memory of the array. + * \param[in,out] array The initialized array pointer. + */ +ROSIDL_GENERATOR_C_PUBLIC +void +rosidl_runtime_c__type_description__TypeDescription__Sequence__destroy(rosidl_runtime_c__type_description__TypeDescription__Sequence * array); + +/// Check for msg/TypeDescription message array equality. +/** + * \param[in] lhs The message array on the left hand size of the equality operator. + * \param[in] rhs The message array on the right hand size of the equality operator. + * \return true if message arrays are equal in size and content, otherwise false. + */ +ROSIDL_GENERATOR_C_PUBLIC +bool +rosidl_runtime_c__type_description__TypeDescription__Sequence__are_equal(const rosidl_runtime_c__type_description__TypeDescription__Sequence * lhs, const rosidl_runtime_c__type_description__TypeDescription__Sequence * rhs); + +/// Copy an array of msg/TypeDescription messages. +/** + * This functions performs a deep copy, as opposed to the shallow copy that + * plain assignment yields. + * + * \param[in] input The source array pointer. + * \param[out] output The target array pointer, which must + * have been initialized before calling this function. + * \return true if successful, or false if either pointer + * is null or memory allocation fails. + */ +ROSIDL_GENERATOR_C_PUBLIC +bool +rosidl_runtime_c__type_description__TypeDescription__Sequence__copy( + const rosidl_runtime_c__type_description__TypeDescription__Sequence * input, + rosidl_runtime_c__type_description__TypeDescription__Sequence * output); + +#ifdef __cplusplus +} +#endif + +#endif // ROSIDL_RUNTIME_C__TYPE_DESCRIPTION__TYPE_DESCRIPTION__FUNCTIONS_H_ diff --git a/ports/espressif/microros-ext/include/rosidl_runtime_c/rosidl_runtime_c/type_description/type_description__struct.h b/ports/espressif/microros-ext/include/rosidl_runtime_c/rosidl_runtime_c/type_description/type_description__struct.h new file mode 100644 index 0000000000000..49c72939af5bb --- /dev/null +++ b/ports/espressif/microros-ext/include/rosidl_runtime_c/rosidl_runtime_c/type_description/type_description__struct.h @@ -0,0 +1,51 @@ +// DO NOT EDIT MANUALLY - this copied file managed by copy_type_description_generated_sources.bash +// generated from rosidl_generator_c/resource/idl__struct.h.em +// with input from type_description_interfaces:msg/TypeDescription.idl +// generated code does not contain a copyright notice + +#ifndef ROSIDL_RUNTIME_C__TYPE_DESCRIPTION__TYPE_DESCRIPTION__STRUCT_H_ +#define ROSIDL_RUNTIME_C__TYPE_DESCRIPTION__TYPE_DESCRIPTION__STRUCT_H_ + +#ifdef __cplusplus +extern "C" +{ +#endif + +#include +#include +#include + +// Constants defined in the message + +// Include directives for member types +// Member 'type_description' +// Member 'referenced_type_descriptions' +#include "rosidl_runtime_c/type_description/individual_type_description__struct.h" + +/// Struct defined in msg/TypeDescription in the package type_description_interfaces. +/** + * Represents a complete type description, including the type itself as well as the types it references. + */ +typedef struct rosidl_runtime_c__type_description__TypeDescription +{ + /// Description of the type. + rosidl_runtime_c__type_description__IndividualTypeDescription type_description; + /// Descriptions of all referenced types, recursively. + rosidl_runtime_c__type_description__IndividualTypeDescription__Sequence referenced_type_descriptions; +} rosidl_runtime_c__type_description__TypeDescription; + +// Struct for a sequence of rosidl_runtime_c__type_description__TypeDescription. +typedef struct rosidl_runtime_c__type_description__TypeDescription__Sequence +{ + rosidl_runtime_c__type_description__TypeDescription * data; + /// The number of valid items in data + size_t size; + /// The number of allocated items in data + size_t capacity; +} rosidl_runtime_c__type_description__TypeDescription__Sequence; + +#ifdef __cplusplus +} +#endif + +#endif // ROSIDL_RUNTIME_C__TYPE_DESCRIPTION__TYPE_DESCRIPTION__STRUCT_H_ diff --git a/ports/espressif/microros-ext/include/rosidl_runtime_c/rosidl_runtime_c/type_description/type_source__functions.h b/ports/espressif/microros-ext/include/rosidl_runtime_c/rosidl_runtime_c/type_description/type_source__functions.h new file mode 100644 index 0000000000000..49fcfffe82cfc --- /dev/null +++ b/ports/espressif/microros-ext/include/rosidl_runtime_c/rosidl_runtime_c/type_description/type_source__functions.h @@ -0,0 +1,205 @@ +// DO NOT EDIT MANUALLY - this copied file managed by copy_type_description_generated_sources.bash +// generated from rosidl_generator_c/resource/idl__functions.h.em +// with input from type_description_interfaces:msg/TypeSource.idl +// generated code does not contain a copyright notice + +#ifndef ROSIDL_RUNTIME_C__TYPE_DESCRIPTION__TYPE_SOURCE__FUNCTIONS_H_ +#define ROSIDL_RUNTIME_C__TYPE_DESCRIPTION__TYPE_SOURCE__FUNCTIONS_H_ + +#ifdef __cplusplus +extern "C" +{ +#endif + +#include +#include + +#include "rosidl_runtime_c/action_type_support_struct.h" +#include "rosidl_runtime_c/message_type_support_struct.h" +#include "rosidl_runtime_c/service_type_support_struct.h" +#include "rosidl_runtime_c/type_hash.h" +#include "rosidl_runtime_c/visibility_control.h" + +#include "rosidl_runtime_c/type_description/type_source__struct.h" + +/// Initialize msg/TypeSource message. +/** + * If the init function is called twice for the same message without + * calling fini inbetween previously allocated memory will be leaked. + * \param[in,out] msg The previously allocated message pointer. + * Fields without a default value will not be initialized by this function. + * You might want to call memset(msg, 0, sizeof( + * rosidl_runtime_c__type_description__TypeSource + * )) before or use + * rosidl_runtime_c__type_description__TypeSource__create() + * to allocate and initialize the message. + * \return true if initialization was successful, otherwise false + */ +ROSIDL_GENERATOR_C_PUBLIC +bool +rosidl_runtime_c__type_description__TypeSource__init(rosidl_runtime_c__type_description__TypeSource * msg); + +/// Finalize msg/TypeSource message. +/** + * \param[in,out] msg The allocated message pointer. + */ +ROSIDL_GENERATOR_C_PUBLIC +void +rosidl_runtime_c__type_description__TypeSource__fini(rosidl_runtime_c__type_description__TypeSource * msg); + +/// Create msg/TypeSource message. +/** + * It allocates the memory for the message, sets the memory to zero, and + * calls + * rosidl_runtime_c__type_description__TypeSource__init(). + * \return The pointer to the initialized message if successful, + * otherwise NULL + */ +ROSIDL_GENERATOR_C_PUBLIC +rosidl_runtime_c__type_description__TypeSource * +rosidl_runtime_c__type_description__TypeSource__create(); + +/// Destroy msg/TypeSource message. +/** + * It calls + * rosidl_runtime_c__type_description__TypeSource__fini() + * and frees the memory of the message. + * \param[in,out] msg The allocated message pointer. + */ +ROSIDL_GENERATOR_C_PUBLIC +void +rosidl_runtime_c__type_description__TypeSource__destroy(rosidl_runtime_c__type_description__TypeSource * msg); + +/// Check for msg/TypeSource message equality. +/** + * \param[in] lhs The message on the left hand size of the equality operator. + * \param[in] rhs The message on the right hand size of the equality operator. + * \return true if messages are equal, otherwise false. + */ +ROSIDL_GENERATOR_C_PUBLIC +bool +rosidl_runtime_c__type_description__TypeSource__are_equal(const rosidl_runtime_c__type_description__TypeSource * lhs, const rosidl_runtime_c__type_description__TypeSource * rhs); + +/// Copy a msg/TypeSource message. +/** + * This functions performs a deep copy, as opposed to the shallow copy that + * plain assignment yields. + * + * \param[in] input The source message pointer. + * \param[out] output The target message pointer, which must + * have been initialized before calling this function. + * \return true if successful, or false if either pointer is null + * or memory allocation fails. + */ +ROSIDL_GENERATOR_C_PUBLIC +bool +rosidl_runtime_c__type_description__TypeSource__copy( + const rosidl_runtime_c__type_description__TypeSource * input, + rosidl_runtime_c__type_description__TypeSource * output); + +/// Retrieve pointer to the hash of the description of this type. +ROSIDL_GENERATOR_C_PUBLIC +const rosidl_type_hash_t * +rosidl_runtime_c__type_description__TypeSource__get_type_hash( + const rosidl_message_type_support_t * type_support); + +/// Retrieve pointer to the description of this type. +ROSIDL_GENERATOR_C_PUBLIC +const rosidl_runtime_c__type_description__TypeDescription * +rosidl_runtime_c__type_description__TypeSource__get_type_description( + const rosidl_message_type_support_t * type_support); + +/// Retrieve pointer to the single raw source text that defined this type. +ROSIDL_GENERATOR_C_PUBLIC +const rosidl_runtime_c__type_description__TypeSource * +rosidl_runtime_c__type_description__TypeSource__get_individual_type_description_source( + const rosidl_message_type_support_t * type_support); + +/// Retrieve pointer to the recursive raw sources that defined the description of this type. +ROSIDL_GENERATOR_C_PUBLIC +const rosidl_runtime_c__type_description__TypeSource__Sequence * +rosidl_runtime_c__type_description__TypeSource__get_type_description_sources( + const rosidl_message_type_support_t * type_support); + +/// Initialize array of msg/TypeSource messages. +/** + * It allocates the memory for the number of elements and calls + * rosidl_runtime_c__type_description__TypeSource__init() + * for each element of the array. + * \param[in,out] array The allocated array pointer. + * \param[in] size The size / capacity of the array. + * \return true if initialization was successful, otherwise false + * If the array pointer is valid and the size is zero it is guaranteed + # to return true. + */ +ROSIDL_GENERATOR_C_PUBLIC +bool +rosidl_runtime_c__type_description__TypeSource__Sequence__init(rosidl_runtime_c__type_description__TypeSource__Sequence * array, size_t size); + +/// Finalize array of msg/TypeSource messages. +/** + * It calls + * rosidl_runtime_c__type_description__TypeSource__fini() + * for each element of the array and frees the memory for the number of + * elements. + * \param[in,out] array The initialized array pointer. + */ +ROSIDL_GENERATOR_C_PUBLIC +void +rosidl_runtime_c__type_description__TypeSource__Sequence__fini(rosidl_runtime_c__type_description__TypeSource__Sequence * array); + +/// Create array of msg/TypeSource messages. +/** + * It allocates the memory for the array and calls + * rosidl_runtime_c__type_description__TypeSource__Sequence__init(). + * \param[in] size The size / capacity of the array. + * \return The pointer to the initialized array if successful, otherwise NULL + */ +ROSIDL_GENERATOR_C_PUBLIC +rosidl_runtime_c__type_description__TypeSource__Sequence * +rosidl_runtime_c__type_description__TypeSource__Sequence__create(size_t size); + +/// Destroy array of msg/TypeSource messages. +/** + * It calls + * rosidl_runtime_c__type_description__TypeSource__Sequence__fini() + * on the array, + * and frees the memory of the array. + * \param[in,out] array The initialized array pointer. + */ +ROSIDL_GENERATOR_C_PUBLIC +void +rosidl_runtime_c__type_description__TypeSource__Sequence__destroy(rosidl_runtime_c__type_description__TypeSource__Sequence * array); + +/// Check for msg/TypeSource message array equality. +/** + * \param[in] lhs The message array on the left hand size of the equality operator. + * \param[in] rhs The message array on the right hand size of the equality operator. + * \return true if message arrays are equal in size and content, otherwise false. + */ +ROSIDL_GENERATOR_C_PUBLIC +bool +rosidl_runtime_c__type_description__TypeSource__Sequence__are_equal(const rosidl_runtime_c__type_description__TypeSource__Sequence * lhs, const rosidl_runtime_c__type_description__TypeSource__Sequence * rhs); + +/// Copy an array of msg/TypeSource messages. +/** + * This functions performs a deep copy, as opposed to the shallow copy that + * plain assignment yields. + * + * \param[in] input The source array pointer. + * \param[out] output The target array pointer, which must + * have been initialized before calling this function. + * \return true if successful, or false if either pointer + * is null or memory allocation fails. + */ +ROSIDL_GENERATOR_C_PUBLIC +bool +rosidl_runtime_c__type_description__TypeSource__Sequence__copy( + const rosidl_runtime_c__type_description__TypeSource__Sequence * input, + rosidl_runtime_c__type_description__TypeSource__Sequence * output); + +#ifdef __cplusplus +} +#endif + +#endif // ROSIDL_RUNTIME_C__TYPE_DESCRIPTION__TYPE_SOURCE__FUNCTIONS_H_ diff --git a/ports/espressif/microros-ext/include/rosidl_runtime_c/rosidl_runtime_c/type_description/type_source__struct.h b/ports/espressif/microros-ext/include/rosidl_runtime_c/rosidl_runtime_c/type_description/type_source__struct.h new file mode 100644 index 0000000000000..d1e2bc585b972 --- /dev/null +++ b/ports/espressif/microros-ext/include/rosidl_runtime_c/rosidl_runtime_c/type_description/type_source__struct.h @@ -0,0 +1,60 @@ +// DO NOT EDIT MANUALLY - this copied file managed by copy_type_description_generated_sources.bash +// generated from rosidl_generator_c/resource/idl__struct.h.em +// with input from type_description_interfaces:msg/TypeSource.idl +// generated code does not contain a copyright notice + +#ifndef ROSIDL_RUNTIME_C__TYPE_DESCRIPTION__TYPE_SOURCE__STRUCT_H_ +#define ROSIDL_RUNTIME_C__TYPE_DESCRIPTION__TYPE_SOURCE__STRUCT_H_ + +#ifdef __cplusplus +extern "C" +{ +#endif + +#include +#include +#include + +// Constants defined in the message + +// Include directives for member types +// Member 'type_name' +// Member 'encoding' +// Member 'raw_file_contents' +#include "rosidl_runtime_c/string.h" + +/// Struct defined in msg/TypeSource in the package type_description_interfaces. +/** + * Represents the original source of a ROS 2 interface definition. + */ +typedef struct rosidl_runtime_c__type_description__TypeSource +{ + /// ROS interface type name, in PACKAGE/NAMESPACE/TYPENAME format. + rosidl_runtime_c__String type_name; + /// The type of the original source file, typically matching the file extension. + /// Well-known encodings: "idl", "msg", "srv", "action", "dynamic", "implicit". + /// "dynamic" specifies a type created programmatically by a user, thus having no source. + /// "implicit" specifies a type created automatically as a subtype of a + /// complex type (service or action) - such as the request message for a service. + /// Implicit types will have no contents, the full source will be available on the parent srv/action. + rosidl_runtime_c__String encoding; + /// Dumped contents of the interface definition source file. + /// If `encoding` is "dynamic" or "implicit", this field will be empty. + rosidl_runtime_c__String raw_file_contents; +} rosidl_runtime_c__type_description__TypeSource; + +// Struct for a sequence of rosidl_runtime_c__type_description__TypeSource. +typedef struct rosidl_runtime_c__type_description__TypeSource__Sequence +{ + rosidl_runtime_c__type_description__TypeSource * data; + /// The number of valid items in data + size_t size; + /// The number of allocated items in data + size_t capacity; +} rosidl_runtime_c__type_description__TypeSource__Sequence; + +#ifdef __cplusplus +} +#endif + +#endif // ROSIDL_RUNTIME_C__TYPE_DESCRIPTION__TYPE_SOURCE__STRUCT_H_ diff --git a/ports/espressif/microros-ext/include/rosidl_runtime_c/rosidl_runtime_c/type_description_utils.h b/ports/espressif/microros-ext/include/rosidl_runtime_c/rosidl_runtime_c/type_description_utils.h new file mode 100644 index 0000000000000..b190a9330edd2 --- /dev/null +++ b/ports/espressif/microros-ext/include/rosidl_runtime_c/rosidl_runtime_c/type_description_utils.h @@ -0,0 +1,656 @@ +// 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. + +/** + * \file Utilities for manipulating type_description_interfaces C message structs. + * + * Every instance of a non-message struct (e.g. hash map) borrows, whereas the message structs copy. + * Hence, lifetime should be managed by the message structs. + */ + +#ifndef ROSIDL_RUNTIME_C__TYPE_DESCRIPTION_UTILS_H_ +#define ROSIDL_RUNTIME_C__TYPE_DESCRIPTION_UTILS_H_ + +#include +#include +#include + +#include + +#include +#include + +#include "rosidl_runtime_c/type_description/field__functions.h" +#include "rosidl_runtime_c/type_description/field__struct.h" +#include "rosidl_runtime_c/type_description/individual_type_description__functions.h" +#include "rosidl_runtime_c/type_description/individual_type_description__struct.h" +#include "rosidl_runtime_c/type_description/type_description__functions.h" +#include "rosidl_runtime_c/type_description/type_description__struct.h" + +#ifdef __cplusplus +extern "C" +{ +#endif + +static const uint8_t ROSIDL_RUNTIME_C_TYPE_DESCRIPTION_UTILS_SEQUENCE_TYPE_ID_MASK = 48; + +// ================================================================================================= +// GET BY NAME +// ================================================================================================= + +/// Get the first Field, matching by name. +/** + * The `field` output arg must be passed in pointing to `NULL`. + * It will remain pointing to `NULL` if no matching `Field` is found. + * + * Ownership: + * - The output `Field` borrows the `fields` arg's `Field` element. It is not authorized to + * deallocate it and cannot outlive the owner it borrows from. + * + *
+ * Attribute | Adherence + * ------------------ | ------------- + * Allocates Memory | No + * Thread-Safe | No + * Uses Atomics | No + * Lock-Free | Yes + * + * \param[in] fields array of fields to search through + * \param[in] name field name of the field to look for + * \param[out] field the first field with field name that matches the name arg. + * Must point to `NULL`, outputs pointing to `NULL` if not found. + * \return #RCUTILS_RET_OK if successful, or + * \return #RCUTILS_RET_INVALID_ARGUMENT for invalid arguments, or + * \return #RCUTILS_RET_NOT_FOUND if no `Field` with a matching name is found, or + * \return #RCUTILS_RET_ERROR if an unknown error occurs. + */ +ROSIDL_GENERATOR_C_PUBLIC +rcutils_ret_t +rosidl_runtime_c_type_description_utils_find_field( + const rosidl_runtime_c__type_description__Field__Sequence * fields, + const char * name, + rosidl_runtime_c__type_description__Field ** field); + +/// Get the first referenced IndividualTypeDescription, matching by type name. +/** + * The `referenced_type` output arg must be passed in pointing `NULL`. + * It will remain pointing to `NULL` if no matching `IndividualTypeDescription` is found. + * + * Ownership: + * - The output `IndividualTypeDescription` borrows the `referenced_types` arg's + * `IndividualTypeDescription` element. + * It is not authorized to deallocate it and it cannot outlive the `referenced_types` it borrows + * from. + * + *
+ * Attribute | Adherence + * ------------------ | ------------- + * Allocates Memory | No + * Thread-Safe | No + * Uses Atomics | No + * Lock-Free | Yes + * + * \param[in] referenced_types array of referenced individual type descriptions to search through + * \param[in] type_name name of the referenced referenced individual type description to look for + * \param[out] referenced_type the first individual type description with type name that matches the + * type_name arg. Must point to `NULL`, outputs pointing to `NULL` if not found. + * \return #RCUTILS_RET_OK if successful, or + * \return #RCUTILS_RET_INVALID_ARGUMENT for invalid arguments, or + * \return #RCUTILS_RET_NOT_FOUND if no `IndividualTypeDescription` with matching name is found, or + * \return #RCUTILS_RET_ERROR if an unknown error occurs. + */ +ROSIDL_GENERATOR_C_PUBLIC +rcutils_ret_t +rosidl_runtime_c_type_description_utils_find_referenced_type_description( + const rosidl_runtime_c__type_description__IndividualTypeDescription__Sequence * referenced_types, + const char * type_name, + rosidl_runtime_c__type_description__IndividualTypeDescription ** referenced_type); + + +// ================================================================================================= +// HASH MAPS +// ================================================================================================= + +/// Construct a hash map of an `IndividualTypeDescription`'s `Field` objects, keyed by field name. +/** + * NOTE: The `hash_map` output arg must be passed in pointing to `NULL`. + * + * Ownership: + * - The caller assumes ownership of the output `rcutils_hash_map_t` and must free it and its + * elements, but NOT finalize its values. + * - The output `rcutils_hash_map_t` has values that borrows the `individual_description` arg's + * `Field` objects. It is not authorized to deallocate them and it cannot outlive the owner it + * borrows from. + * - Finalizing the `rcutils_hash_map_t` should not result in the map's values getting finalized. + * + *
+ * Attribute | Adherence + * ------------------ | ------------- + * Allocates Memory | Yes + * Thread-Safe | No + * Uses Atomics | No + * Lock-Free | Yes + * + * \param[in] individual_description the individual type description to get the fields from + * \param[in] allocator the allocator to use through out the lifetime of the hash_map + * \param[out] hash_map `rcutils_hash_map_t` to be initialized, containing `Field` objects keyed by + * their field names. Must point to `NULL`, outputs pointing to `NULL` if error. + * \return #RCUTILS_RET_OK if successful, or + * \return #RCUTILS_RET_BAD_ALLOC if memory allocation fails, or + * \return #RCUTILS_RET_INVALID_ARGUMENT for invalid arguments, or + * \return #RCUTILS_RET_ERROR if an unknown error occurs. + */ +ROSIDL_GENERATOR_C_PUBLIC +rcutils_ret_t +rosidl_runtime_c_type_description_utils_get_field_map( + const rosidl_runtime_c__type_description__IndividualTypeDescription * individual_description, + const rcutils_allocator_t * allocator, + rcutils_hash_map_t ** hash_map); + +/// Construct a hash map of an `IndividualTypeDescription__Sequence`'s `IndividualTypeDescription` +/// objects, keyed by type name. +/** + * The `hash_map` output arg must be passed in pointing to `NULL`. + * Furthermore, if the input `referenced_types` sequence has types with identical names but + * differing structures, this function will return `RCUTILS_RET_INVALID_ARGUMENT` and fail. + * + * Ownership: + * - The caller assumes ownership of the output `rcutils_hash_map_t` and must free it and its + * elements, but NOT finalize its values. + * - The output `rcutils_hash_map_t` has values that borrows the `referenced_types` arg's + * `IndividualTypeDescription` elements. It is not authorized to deallocate them and it cannot + * outlive the `referenced_types` it borrows from. + * - Finalizing the output `rcutils_hash_map_t` should not result in its values getting finalized. + * + *
+ * Attribute | Adherence + * ------------------ | ------------- + * Allocates Memory | Yes + * Thread-Safe | No + * Uses Atomics | No + * Lock-Free | Yes + * + * \param[in] referenced_types the referenced individual type descriptions to get the referenced + * types from + * \param[in] allocator the allocator to use through out the lifetime of the hash_map + * \param[out] hash_map `rcutils_hash_map_t` to be initialized, containing + * `IndividualTypeDescription` objects keyed by their type names. + * Must point to `NULL`, outputs pointing to `NULL` if error. + * \return #RCUTILS_RET_OK if successful, or + * \return #RCUTILS_RET_BAD_ALLOC if memory allocation fails, or + * \return #RCUTILS_RET_INVALID_ARGUMENT for invalid arguments, or + * \return #RCUTILS_RET_ERROR if an unknown error occurs. + */ +ROSIDL_GENERATOR_C_PUBLIC +rcutils_ret_t +rosidl_runtime_c_type_description_utils_get_referenced_type_description_map( + const rosidl_runtime_c__type_description__IndividualTypeDescription__Sequence * referenced_types, + const rcutils_allocator_t * allocator, + rcutils_hash_map_t ** hash_map); + + +// ================================================================================================= +// DESCRIPTION VALIDITY +// ================================================================================================= + +/// Return a map of only the referenced type descriptions that are recursively necessary. +/** + * The `seen_map` output arg must be passed in pointing to `NULL`. + * It's a parameter so it can be passed into subsequent recursive calls to traverse nested types. + * + * A referenced type description is recursively necessary if it is either: + * - Needed by a field of the main IndividualTypeDescription + * - Needed by a field of any prior necessary referenced type descriptions (hence recursive) + * + * For more clarity, an unnecessary referenced type description will not be + * referenced when parsing a TypeDescription, and hence can be excluded. + * + * Ownership: + * - The caller assumes ownership of the output `rcutils_hash_map_t` and must free it and its + * elements, but NOT finalize its values. + * - The output `rcutils_hash_map_t` has values that borrows the `referenced_types_map` arg's + * `IndividualTypeDescription` values. It is not authorized to deallocate them and it cannot + * outlive owner it borrows from. + * - Finalizing the output `rcutils_hash_map_t` should not result in its values getting finalized. + * + * Procedure: + * 1. Create seen map + * 2. [Iterate through fields]: + * 3. If field is not nested type or field's nested type is seen in the seen map: + * - Continue + * 4. If nested type is missing in referenced types or nested type name is empty: + * - Throw error + * 5. Else: + * - Add to seen map + * - Recurse on referenced type + * 6. Output seen map + * + *
+ * Attribute | Adherence + * ------------------ | ------------- + * Allocates Memory | Yes + * Thread-Safe | No + * Uses Atomics | No + * Lock-Free | Yes + * + * \param[in] main_type_description the main individual type description to check the fields of + * \param[in] referenced_types_map a map of referenced `IndividualTypeDescription` objects from the + * main individual type description's parent `TypeDescription` object, keyed by their type names. + * \param[in] allocator the allocator to use through out the lifetime of the hash_map. + * \param[in,out] seen_map `rcutils_hash_map_t` of seen necessary `IndividualTypeDescription` + * objects keyed by their type names. Used in recursive calls. Must point to + * `NULL` for user's top level call, outputs pointing to `NULL` if error. + * \return #RCUTILS_RET_OK if successful, or + * \return #RCUTILS_RET_INVALID_ARGUMENT for invalid arguments, or + * \return #RCUTILS_RET_BAD_ALLOC if memory allocation fails, or + * \return #RCUTILS_RET_NOT_FOUND if passed referenced types are missing necessary types, or + * \return #RCUTILS_RET_ERROR if an unknown error occurs. + */ +ROSIDL_GENERATOR_C_PUBLIC +rcutils_ret_t +rosidl_runtime_c_type_description_utils_get_necessary_referenced_type_descriptions_map( + const rosidl_runtime_c__type_description__IndividualTypeDescription * main_type_description, + const rcutils_hash_map_t * referenced_types_map, + const rcutils_allocator_t * allocator, + rcutils_hash_map_t ** seen_map); + +/// Deep copy a map of individual type descriptions into a new IndividualTypeDescription__Sequence. +/** + * The `sequence` output arg must be passed in pointing to `NULL`. + * + * This method also validates that each IndividualTypeDescription in the map has a type name that + * matches the key it was indexed by. + * + * Ownership: + * - The caller assumes ownership of the output `IndividualTypeDescription__Sequence` and must free + * it. + * - The output `IndividualTypeDescription__Sequence` deep copies the values from the `hash_map` arg + * and so has a separate lifetime from the `hash_map`. + * + *
+ * Attribute | Adherence + * ------------------ | ------------- + * Allocates Memory | Yes + * Thread-Safe | No + * Uses Atomics | No + * Lock-Free | Yes + * + * \param[in] hash_map the referenced type descriptions map to convert (via deep copy) to a sequence + * \param[out] sequence the `IndividualTypeDescription__Sequence` containing copies of the + * `IndividualTypeDescription` objects stored in the values of the input `hash_map` arg. + * Must point to `NULL`, outputs pointing to `NULL` if error. + * \param[in] sort sorts the referenced type descriptions if true, best effort + * \return #RCUTILS_RET_OK if successful, or + * \return #RCUTILS_RET_INVALID_ARGUMENT for invalid arguments, or + * \return #RCUTILS_RET_BAD_ALLOC if memory allocation fails, or + * \return #RCUTILS_RET_ERROR if an unknown error occurs. + */ +ROSIDL_GENERATOR_C_PUBLIC +rcutils_ret_t +rosidl_runtime_c_type_description_utils_copy_init_sequence_from_referenced_type_descriptions_map( + const rcutils_hash_map_t * hash_map, + rosidl_runtime_c__type_description__IndividualTypeDescription__Sequence ** sequence, + bool sort); + +/// Helper comparison function for the sorting function +ROSIDL_GENERATOR_C_PUBLIC +int +rosidl_runtime_c_type_description_utils_referenced_type_description_sequence_sort_compare( + const void * lhs, const void * rhs); + +ROSIDL_GENERATOR_C_PUBLIC +rcutils_ret_t +rosidl_runtime_c_type_description_utils_sort_referenced_type_descriptions_in_place( + rosidl_runtime_c__type_description__IndividualTypeDescription__Sequence * sequence); + +/// Remove unnecessary referenced type descriptions from a sequence of referenced types. +/** + * IndividualTypeDescription elements are COPY ASSIGNED in-place, and the original sequence is + * shrunken afterwards. + * + * DOES NOT SORT AFTER PRUNING! Call sort separately. + */ +ROSIDL_GENERATOR_C_PUBLIC +rcutils_ret_t +rosidl_runtime_c_type_description_utils_prune_referenced_type_descriptions_in_place( + const rosidl_runtime_c__type_description__IndividualTypeDescription * main_type_description, + rosidl_runtime_c__type_description__IndividualTypeDescription__Sequence * referenced_types); + +/// Check if field is valid +/** + * A field is valid if: + * - Its name is not empty + * - Note this does not check for valid chars/double underscores + * - Its field type: + * - Is set + * - Has a non-empty nested type name if nested + */ +ROSIDL_GENERATOR_C_PUBLIC +rcutils_ret_t +rosidl_runtime_c_type_description_utils_field_is_valid( + const rosidl_runtime_c__type_description__Field * field); + +/// Check if individual type description is valid +/** + * An individual type description is valid if: + * - Its type name is not empty + * - Note this does not check for valid chars etc. + * - All of its fields are valid + * - It does not have duplicate fields + */ +ROSIDL_GENERATOR_C_PUBLIC +rcutils_ret_t +rosidl_runtime_c_type_description_utils_individual_type_description_is_valid( + const rosidl_runtime_c__type_description__IndividualTypeDescription * description); + +/// Check if type description is valid +/** + * An type description is valid if: + * - Its main individual type description is valid + * - Its referenced type descriptions are: + * - Not duplicated + * - Not missing necessary type descriptions + * - Have no unnecessary type descriptions + * - Individually valid + * - Sorted + */ +ROSIDL_GENERATOR_C_PUBLIC +rcutils_ret_t +rosidl_runtime_c_type_description_utils_type_description_is_valid( + const rosidl_runtime_c__type_description__TypeDescription * description); + +/// This is on a best effort basis, it won't work if the fields of the main or necessary referenced +/// types are invalid. It prunes then sorts. +ROSIDL_GENERATOR_C_PUBLIC +rcutils_ret_t +rosidl_runtime_c_type_description_utils_coerce_to_valid_type_description_in_place( + rosidl_runtime_c__type_description__TypeDescription * type_description); + + +// ================================================================================================= +// DESCRIPTION CONSTRUCTION +// ================================================================================================= + +/// Construct a new populated `Field` object. +/** + * NOTE: The `field` output arg must be passed in pointing to `NULL`. + * + * Ownership: + * - The caller assumes ownership of the output `Field` and must free it and its members. + * - The char * members are copied. + * + *
+ * Attribute | Adherence + * ------------------ | ------------- + * Allocates Memory | Yes + * Thread-Safe | No + * Uses Atomics | No + * Lock-Free | Yes + * + * \param[in] name the name of the field + * \param[in] name_length the string length of `name` (not counting the null terminator) + * \param[in] type_id the type id of the field (follows the type_description_interfaces definition) + * \param[in] capacity capacity of the field (if it is an array or sequence) + * \param[in] string_capacity capacity of string elements (if the field is an array or sequence of + * strings) + * \param[in] nested_type_name the nested type name of the field (if it is a nested type) + * \param[in] nested_type_name_length the string length of `nested_type_name` (not counting the null + * terminator) + * \param[in] default_value literal default value of the field as a string, as it appeared in the + * original message definition + * \param[in] default_value_length the string length of `default_value` (not counting the null + * terminator) + * \param[out] field `Field` to be initialized. Must point to `NULL`, outputs pointing to `NULL` if + * error. + * \return #RCUTILS_RET_OK if successful, or + * \return #RCUTILS_RET_BAD_ALLOC if memory allocation fails, or + * \return #RCUTILS_RET_INVALID_ARGUMENT for invalid arguments, or + * \return #RCUTILS_RET_ERROR if an unknown error occurs. + */ +ROSIDL_GENERATOR_C_PUBLIC +rcutils_ret_t +rosidl_runtime_c_type_description_utils_create_field( + const char * name, size_t name_length, + uint8_t type_id, uint64_t capacity, uint64_t string_capacity, + const char * nested_type_name, size_t nested_type_name_length, + const char * default_value, size_t default_value_length, + rosidl_runtime_c__type_description__Field ** field); + +/// Construct a new populated `IndividualTypeDescription` object, with fields sequence of size 0. +/** + * NOTE: The `individual_description` output arg must be passed in pointing to `NULL`. + * + * Ownership: + * - The caller assumes ownership of the output `IndividualTypeDescription` and must free it and its + * members. + * - The char * members are copied. + * + *
+ * Attribute | Adherence + * ------------------ | ------------- + * Allocates Memory | Yes + * Thread-Safe | No + * Uses Atomics | No + * Lock-Free | Yes + * + * \param[in] type_name the name of the individual type description + * \param[in] type_name_length the string length of `type_name` (not counting the null terminator) + * \param[out] individual_description `IndividualTypeDescription` to be initialized. Must point to + * `NULL`, outputs pointing to `NULL` if error. + * \return #RCUTILS_RET_OK if successful, or + * \return #RCUTILS_RET_BAD_ALLOC if memory allocation fails, or + * \return #RCUTILS_RET_INVALID_ARGUMENT for invalid arguments, or + * \return #RCUTILS_RET_ERROR if an unknown error occurs. + */ +ROSIDL_GENERATOR_C_PUBLIC +rcutils_ret_t +rosidl_runtime_c_type_description_utils_create_individual_type_description( + const char * type_name, size_t type_name_length, + rosidl_runtime_c__type_description__IndividualTypeDescription ** individual_description); + +/// Construct a new populated `TypeDescription` object, with fields and referenced types sequences +/// of size 0. +/** + * NOTE: The `description` output arg must be passed in pointing to `NULL`. + * + * Ownership: + * - The caller assumes ownership of the output `TypeDescription` and must free it and its + * members. + * - The char * members are copied. + * + *
+ * Attribute | Adherence + * ------------------ | ------------- + * Allocates Memory | Yes + * Thread-Safe | No + * Uses Atomics | No + * Lock-Free | Yes + * + * \param[in] type_name the name of the type description's main individual type + * \param[in] type_name_length the string length of `type_name` (not counting the null terminator) + * \param[out] type_description `TypeDescription` to be initialized. Must point to `NULL`, + * outputs pointing to `NULL` if error. + * \return #RCUTILS_RET_OK if successful, or + * \return #RCUTILS_RET_BAD_ALLOC if memory allocation fails, or + * \return #RCUTILS_RET_INVALID_ARGUMENT for invalid arguments, or + * \return #RCUTILS_RET_ERROR if an unknown error occurs. + */ +ROSIDL_GENERATOR_C_PUBLIC +rcutils_ret_t +rosidl_runtime_c_type_description_utils_create_type_description( + const char * type_name, size_t type_name_length, + rosidl_runtime_c__type_description__TypeDescription ** type_description); + +/// Append a `Field` to an `IndividualTypeDescription`, extending the sequence. +/** + * + * Ownership: + * - A deep-copy of the `field` is appended to `individual_type_description` on success, the + * `individual_type_description` is then responsible for freeing the copied `field`. + * - The ownership of the input `field` is not transferred, it must still be freed. + * + *
+ * Attribute | Adherence + * ------------------ | ------------- + * Allocates Memory | Yes + * Thread-Safe | No + * Uses Atomics | No + * Lock-Free | Yes + * + * \param[in,out] individual_type_description the individual type description to append to, noop on + * failure + * \param[in,out] field the field to append + * \return #RCUTILS_RET_OK if successful, or + * \return #RCUTILS_RET_BAD_ALLOC if memory allocation fails, or + * \return #RCUTILS_RET_INVALID_ARGUMENT for invalid arguments, or + * \return #RCUTILS_RET_ERROR if an unknown error occurs. + */ +ROSIDL_GENERATOR_C_PUBLIC +rcutils_ret_t +rosidl_runtime_c_type_description_utils_append_field( + rosidl_runtime_c__type_description__IndividualTypeDescription * individual_type_description, + rosidl_runtime_c__type_description__Field * field); + +/// Append a referenced `IndividualTypeDescription` to a `TypeDescription`, extending it. +/** + * + * Ownership: + * - A deep-copy of the `referenced_type_description` is appended to `type_description` on success, + * the `type_description` is then responsible for freeing the copied + * `referenced_type_description`. + * - The ownership of the input `referenced_type_description` is not transferred, it must still be + * freed. + * + *
+ * Attribute | Adherence + * ------------------ | ------------- + * Allocates Memory | Yes + * Thread-Safe | No + * Uses Atomics | No + * Lock-Free | Yes + * + * \param[in,out] type_description the type description to append to, noop on failure + * \param[in,out] individual_type_description the individual type description to append + * \param[in] sort sorts the referenced type descriptions if true, best effort + * \return #RCUTILS_RET_OK if successful, or + * \return #RCUTILS_RET_BAD_ALLOC if memory allocation fails, or + * \return #RCUTILS_RET_INVALID_ARGUMENT for invalid arguments, or + * \return #RCUTILS_RET_ERROR if an unknown error occurs. + */ +ROSIDL_GENERATOR_C_PUBLIC +rcutils_ret_t +rosidl_runtime_c_type_description_utils_append_referenced_individual_type_description( + rosidl_runtime_c__type_description__TypeDescription * type_description, + rosidl_runtime_c__type_description__IndividualTypeDescription * referenced_type_description, + bool sort); + +/// Append a referenced `TypeDescription` to a `TypeDescription`, extending it with recursive types. +/** + * + * Ownership: + * - A deep-copy of the `type_description_to_append` object's main individual type description is + * appended to `type_description` on success, the `type_description` is then responsible for + * freeing the copied individual type descriptions. + * - Deep-copies of the `type_description_to_append` object's referenced individual type + * descriptions are appended to `type_description` on success, the `type_description` is then + * responsible for freeing the copied individual type descriptions (or the remaining ones if + * they are pruned). + * - The ownership of the input `type_description` is not transferred, it must still be + * freed. + * + *
+ * Attribute | Adherence + * ------------------ | ------------- + * Allocates Memory | Yes + * Thread-Safe | No + * Uses Atomics | No + * Lock-Free | Yes + * + * \param[in,out] type_description the type description to append to, noop on failure + * \param[in,out] type_description the type description to append + * \param[in] coerce_to_valid coerces input type_description to valid before output if true + * (pruning and sorting), best effort + * \return #RCUTILS_RET_OK if successful, or + * \return #RCUTILS_RET_BAD_ALLOC if memory allocation fails, or + * \return #RCUTILS_RET_INVALID_ARGUMENT for invalid arguments, or + * \return #RCUTILS_RET_ERROR if an unknown error occurs. + */ +// This adds the type description's main description as a referenced type, and all necessary +// referenced types. Then it prunes and sorts the resulting referenced types sequence. +ROSIDL_GENERATOR_C_PUBLIC +rcutils_ret_t +rosidl_runtime_c_type_description_utils_append_referenced_type_description( + rosidl_runtime_c__type_description__TypeDescription * type_description, + rosidl_runtime_c__type_description__TypeDescription * type_description_to_append, + bool coerce_to_valid); + +// Create a type description from a referenced description, then validate if coerce_to_valid is true +// This is done by copy!! This allocates memory and the caller is responsible for deallocating the +// output +ROSIDL_GENERATOR_C_PUBLIC +rcutils_ret_t +rosidl_runtime_c_type_description_utils_get_referenced_type_description_as_type_description( + const rosidl_runtime_c__type_description__IndividualTypeDescription__Sequence * + referenced_descriptions, + const rosidl_runtime_c__type_description__IndividualTypeDescription * referenced_description, + rosidl_runtime_c__type_description__TypeDescription ** output_description, + bool coerce_to_valid); + +// Create a type description from a referenced description, then validate if coerce_to_valid is true +// This is done by copy!! This allocates memory and the caller is responsible for deallocating the +// output +ROSIDL_GENERATOR_C_PUBLIC +rcutils_ret_t +rosidl_runtime_c_type_description_utils_get_referenced_type_description_as_type_description( + const rosidl_runtime_c__type_description__IndividualTypeDescription__Sequence * + referenced_descriptions, + const rosidl_runtime_c__type_description__IndividualTypeDescription * referenced_description, + rosidl_runtime_c__type_description__TypeDescription ** output_description, + bool coerce_to_valid); + +/// In-place replace substrings in an individual description's type name and nested names in fields +/** + * This means the `IndividualTypeDescription`'s' type_name will get replaced and all references + * to any nested_type_names in the description's fields. + * + * NOTE(methylDragon): This method is pretty inefficient because it doesn't do checking and will + * re-copy all names. + */ +ROSIDL_GENERATOR_C_PUBLIC +rcutils_ret_t +rosidl_runtime_c_type_description_utils_repl_individual_type_description_type_names_in_place( + rosidl_runtime_c__type_description__IndividualTypeDescription * individual_type_description, + const char * from, + const char * to); + +/// In-place replace substrings across all type names (and references to those names) +/** + * This means all `IndividualTypeDescription` type_names will get replaced, in the main description + * and referenced type descriptions, and also all references to those names (nested_type_name.) + * + * NOTE(methylDragon): This method is pretty inefficient because it doesn't do checking and will + * re-copy all names. + */ +ROSIDL_GENERATOR_C_PUBLIC +rcutils_ret_t +rosidl_runtime_c_type_description_utils_repl_all_type_description_type_names_in_place( + rosidl_runtime_c__type_description__TypeDescription * type_description, + const char * from, + const char * to); + +#ifdef __cplusplus +} +#endif + +#endif // ROSIDL_RUNTIME_C__TYPE_DESCRIPTION_UTILS_H_ diff --git a/ports/espressif/microros-ext/include/rosidl_runtime_c/rosidl_runtime_c/type_hash.h b/ports/espressif/microros-ext/include/rosidl_runtime_c/rosidl_runtime_c/type_hash.h new file mode 100644 index 0000000000000..dfe4c516e63df --- /dev/null +++ b/ports/espressif/microros-ext/include/rosidl_runtime_c/rosidl_runtime_c/type_hash.h @@ -0,0 +1,86 @@ +// 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. + +#ifndef ROSIDL_RUNTIME_C__TYPE_HASH_H_ +#define ROSIDL_RUNTIME_C__TYPE_HASH_H_ + +#include + +#include "rcutils/allocator.h" +#include "rcutils/sha256.h" + +#include "rosidl_runtime_c/visibility_control.h" + +#define ROSIDL_TYPE_HASH_VERSION_UNSET 0 +#define ROSIDL_TYPE_HASH_SIZE RCUTILS_SHA256_BLOCK_SIZE + +#ifdef __cplusplus +extern "C" +{ +#endif + +/// A ROS 2 interface type hash per REP-2011 RIHS standard. +typedef struct rosidl_type_hash_s +{ + uint8_t version; + uint8_t value[ROSIDL_TYPE_HASH_SIZE]; +} rosidl_type_hash_t; + +/// Get a new zero-initialized type hash structure. +/** + * Note that the version equals ROSIDL_TYPE_HASH_VERSION_UNSET. + */ +ROSIDL_GENERATOR_C_PUBLIC +rosidl_type_hash_t +rosidl_get_zero_initialized_type_hash(void); + +/// Convert type hash to a standardized string representation. +/** + * Follows format RIHS{version}_{value}. + * + * \param[in] type_hash Type hash to convert to string + * \param[in] allocator Allocator to use for allocating string space + * \param[out] output_string Handle to a pointer that will be set + * to the newly allocated null-terminated string representation. + * \return RCUTILS_RET_INVALID_ARGUMENT if any pointer arguments are null or allocator invalid + * \return RCUTILS_RET_BAD_ALLOC if space could not be allocated for resulting string + * \return RCUTILS_RET_OK otherwise + */ +ROSIDL_GENERATOR_C_PUBLIC +rcutils_ret_t +rosidl_stringify_type_hash( + const rosidl_type_hash_t * type_hash, + rcutils_allocator_t allocator, + char ** output_string); + +/// Parse a stringified type hash to a struct. +/** + * \param[in] type_hash_string Null-terminated string with the hash representation + * \param[out] hash_out Preallocated structure to be filled with parsed hash information. + * hash_out->version will be 0 if no version could be parsed, + * but if a version could be determined this field will be set even if an error is returned + * \return RCTUILS_RET_INVALID_ARGUMENT on any null pointer argumunts, or malformed hash string. + * \return RCUTILS_RET_OK otherwise + */ +ROSIDL_GENERATOR_C_PUBLIC +rcutils_ret_t +rosidl_parse_type_hash_string( + const char * type_hash_string, + rosidl_type_hash_t * hash_out); + +#ifdef __cplusplus +} +#endif + +#endif // ROSIDL_RUNTIME_C__TYPE_HASH_H_ diff --git a/ports/espressif/microros-ext/include/rosidl_runtime_c/rosidl_runtime_c/u16string.h b/ports/espressif/microros-ext/include/rosidl_runtime_c/rosidl_runtime_c/u16string.h new file mode 100644 index 0000000000000..6e1172a3b8b30 --- /dev/null +++ b/ports/espressif/microros-ext/include/rosidl_runtime_c/rosidl_runtime_c/u16string.h @@ -0,0 +1,35 @@ +// Copyright 2015-2018 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. + +#ifndef ROSIDL_RUNTIME_C__U16STRING_H_ +#define ROSIDL_RUNTIME_C__U16STRING_H_ + +#include + +#include "rosidl_runtime_c/primitives_sequence.h" + +/// An array of 16-bit characters terminated by a null character. +typedef struct rosidl_runtime_c__U16String +{ + /// The pointer to the first character, the sequence ends with a null character. + uint_least16_t * data; // using uint_least16_t to match a C++ std::u16string + /// The length of the u16string (excluding the null character). + size_t size; + /// The capacity represents the number of allocated characters (including the null character). + size_t capacity; +} rosidl_runtime_c__U16String; + +ROSIDL_RUNTIME_C__PRIMITIVE_SEQUENCE(U16String, rosidl_runtime_c__U16String) + +#endif // ROSIDL_RUNTIME_C__U16STRING_H_ diff --git a/ports/espressif/microros-ext/include/rosidl_runtime_c/rosidl_runtime_c/u16string_functions.h b/ports/espressif/microros-ext/include/rosidl_runtime_c/rosidl_runtime_c/u16string_functions.h new file mode 100644 index 0000000000000..c89afabfc0a05 --- /dev/null +++ b/ports/espressif/microros-ext/include/rosidl_runtime_c/rosidl_runtime_c/u16string_functions.h @@ -0,0 +1,258 @@ +// Copyright 2015-2018 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. + +#ifndef ROSIDL_RUNTIME_C__U16STRING_FUNCTIONS_H_ +#define ROSIDL_RUNTIME_C__U16STRING_FUNCTIONS_H_ + +#include + +#include "rosidl_runtime_c/u16string.h" +#include "rosidl_runtime_c/visibility_control.h" + +#ifdef __cplusplus +extern "C" +{ +#endif + +/// Initialize a rosidl_runtime_c__U16String structure. +/* The contents of rosidl_runtime_c__U16String are initialized to a single null character. + * The string initially has size 0 and capacity 1. + * Size represents the size of the contents of the string, while capacity represents the overall + * storage of the string (counting the null terminator). + * All strings must be null-terminated. + * The rosidl_runtime_c__U16String structure should be deallocated using the given function + * rosidl_runtime_c__U16String__fini() when it is no longer needed. + * Calling this function with an already initialized U16 string sequence structure will leak + * memory. + * + * \param[inout] str a pointer to a U16 string structure + * \return true if successful, false if the passed string pointer is null + * or the memory allocation failed + */ +ROSIDL_GENERATOR_C_PUBLIC +bool +rosidl_runtime_c__U16String__init(rosidl_runtime_c__U16String * str); + +/// Deallocate the memory of the rosidl_runtime_c__U16String structure. +/* +* Calling the function with an already deallocated sequence is a no-op. +* +* \param[inout] str a pointer to a U16 string structure to be finalized +*/ +ROSIDL_GENERATOR_C_PUBLIC +void +rosidl_runtime_c__U16String__fini(rosidl_runtime_c__U16String * str); + +/// Check for rosidl_runtime_c__U16String structure equality. +/** + * \param[in] lhs a pointer to the left hand side of the equality operator. + * \param[in] lhs a pointer to the right hand side of the equality operator. + * \return true if rosidl_runtime_c__U16String structures are equal + * in size and content, otherwise false. + */ +ROSIDL_GENERATOR_C_PUBLIC +bool +rosidl_runtime_c__U16String__are_equal( + const rosidl_runtime_c__U16String * lhs, + const rosidl_runtime_c__U16String * rhs); + +/// Copy rosidl_runtime_c__U16String structure content. +/** + * This functions performs a deep copy, as opposed to the shallow copy that + * plain assignment yields. + * + * \param[in] input a pointer to a rosidl_runtime_c__U16String structure + * to copy from. + * \param[out] output a pointer to an initialized rosidl_runtime_c__U16String + * structure to copy into. + * \return true if successful, false if either pointer is null or memory + * allocation fails. + */ +ROSIDL_GENERATOR_C_PUBLIC +bool +rosidl_runtime_c__U16String__copy( + const rosidl_runtime_c__U16String * input, + rosidl_runtime_c__U16String * output); + +/// Assign the uint16_t value of n characters to the rosidl_runtime_c__U16String structure. +/* + * This function returns `false` if memory cannot be allocated, + * if the input uint16_t pointer is null or if the size is higher than SIZE_MAX. + * In both cases no error message is set. + * + * \param[inout] str a pointer to a U16 string structure + * \param[in] value points to a sequence of 16 bit chars + * \param[in] n size of the value string + * \return true if successful, false if the passed string pointer is null + * or if the passed value pointer is null or if the size is higher than SIZE_MAX + * or if the memory reallocation failed. + */ +ROSIDL_GENERATOR_C_PUBLIC +bool +rosidl_runtime_c__U16String__assignn( + rosidl_runtime_c__U16String * str, const uint16_t * value, size_t n); + +/// Assign the c string pointer value of n characters to the rosidl_runtime_c__U16String structure. +/* + * This function is identical to rosidl_runtime_c__U16String__assignn() except the type of the + * value is c string pointer + * + * \see rosidl_runtime_c__U16String__assignn() + * + * \param[inout] str a pointer to a U16 string structure + * \param[in] value points to a sequence of 16 bit chars + * \param[in] n size of the value string + * \return true if successful, false if the passed string pointer is null + * or if the passed value pointer is null or if the size is higher than SIZE_MAX + * or if the memory reallocation failed. + */ +ROSIDL_GENERATOR_C_PUBLIC +bool +rosidl_runtime_c__U16String__assignn_from_char( + rosidl_runtime_c__U16String * str, const char * value, size_t n); + +/// Assign the uint16_t pointer to the rosidl_runtime_c__U16String structure. +/* + * This function is identical to rosidl_runtime_c__U16String__assignn() except the length of the + * uint16_t does not have to be given. + * rosidl_runtime_c__U16String__len() is being used to determine the length of the passed string. + * + * \see rosidl_runtime_c__U16String__assignn() + * + * \param[inout] str a pointer to a rosidl_runtime_c__U16String structure + * \param[in] value points to a sequence of 16 bit chars + * \return true if successful, false if the passed string pointer is null + * or if the passed value pointer is null or if the size is higher than SIZE_MAX + * or if the memory reallocation failed. + */ +ROSIDL_GENERATOR_C_PUBLIC +bool +rosidl_runtime_c__U16String__assign( + rosidl_runtime_c__U16String * str, const uint16_t * value); + +/// Get the length of the uint16_t pointer. +/* + * This function returns the length of the input value pointer. + * + * \param[in] value points to a sequence of 16 bit chars for which the first null char is + * determined + * \return the size of the input value pointer or zero if the pointer is NULL + */ +ROSIDL_GENERATOR_C_PUBLIC +size_t +rosidl_runtime_c__U16String__len(const uint16_t * value); + +/// Resize the uint16_t pointer. +/* + * This function resize the input value pointer. + * + * \param[in] n the new size of the internal buffer + * \return true if successful, false if the passed string pointer is null + * or if the size is higher than SIZE_MAX or if the memory reallocation failed. + */ +ROSIDL_GENERATOR_C_PUBLIC +bool +rosidl_runtime_c__U16String__resize( + rosidl_runtime_c__U16String * str, size_t n); + +/// Initialize a U16 string sequence structure. +/* + * The rosidl_runtime_c__U16String__Sequence is initialized to the size passed to the function. + * The U16 string sequence structure should be deallocated using the given + * function rosidl_runtime_c__U16String__Sequence__fini() when it is no longer needed. + * Calling this function with an already initialized U16 string sequence structure will leak + * memory. + * + * \param[inout] sequence a pointer to a U16 string sequence structure + * \param[in] size represents the size of the U16 string + * \return true if successful, false if the passed string pointer is null + * or the memory allocation failed + */ +ROSIDL_GENERATOR_C_PUBLIC +bool +rosidl_runtime_c__U16String__Sequence__init( + rosidl_runtime_c__U16String__Sequence * sequence, size_t size); + +/// Deallocate the memory of the string sequence structure. +/* + * Calling the function with an already deallocated sequence is a no-op. + * + * \param[inout] sequence a pointer to a U16 string to be finalized + */ +ROSIDL_GENERATOR_C_PUBLIC +void +rosidl_runtime_c__U16String__Sequence__fini( + rosidl_runtime_c__U16String__Sequence * sequence); + +/// Check for rosidl_runtime_c__U16String__Sequence structure equality. +/** + * \param[in] lhs a pointer to the left hand side of the equality operator. + * \param[in] lhs a pointer to the right hand side of the equality operator. + * \return true if rosidl_runtime_c__U16String__Sequence structures are equal + * in size and content, otherwise false. + */ +ROSIDL_GENERATOR_C_PUBLIC +bool +rosidl_runtime_c__U16String__Sequence__are_equal( + const rosidl_runtime_c__U16String__Sequence * lhs, + const rosidl_runtime_c__U16String__Sequence * rhs); + +/// Copy a U16 string sequence content. +/** + * This functions performs a deep copy, as opposed to the shallow copy + * that plain assignment yields. + * + * \param[in] input a pointer to a rosidl_runtime_c__String__Sequence + * structure to copy from. + * \param[out] output a pointer to an initialized rosidl_runtime_c__String__Sequence + * structure to copy into. + * \return true if successful, false if either pointer is null or memory + * allocation fails. + */ +ROSIDL_GENERATOR_C_PUBLIC +bool +rosidl_runtime_c__U16String__Sequence__copy( + const rosidl_runtime_c__U16String__Sequence * input, + rosidl_runtime_c__U16String__Sequence * output); + +/// Create a U16 string sequence structure with a specific size. +/* + * The U16 string sequence initially has size and capacity equal to the size + * argument. + * The U16 string sequence structure should be deallocated using the given + * function rosidl_runtime_c__U16String__Sequence__destroy() when it is no longer needed. + * + * \param[in] size of the desired U16 string + * \return a U16 string sequence if initialization was successfully, otherwise NULL. + */ +ROSIDL_GENERATOR_C_PUBLIC +rosidl_runtime_c__U16String__Sequence * +rosidl_runtime_c__U16String__Sequence__create(size_t size); + +/// Destroy a U16 string sequence structure. +/* + * Calling the function with an already deallocated sequence is a no-op. + * + * \param[inout] sequence a pointer to a U16 string sequence to be finalized + */ +ROSIDL_GENERATOR_C_PUBLIC +void +rosidl_runtime_c__U16String__Sequence__destroy( + rosidl_runtime_c__U16String__Sequence * sequence); + +#ifdef __cplusplus +} +#endif + +#endif // ROSIDL_RUNTIME_C__U16STRING_FUNCTIONS_H_ diff --git a/ports/espressif/microros-ext/include/rosidl_runtime_c/rosidl_runtime_c/visibility_control.h b/ports/espressif/microros-ext/include/rosidl_runtime_c/rosidl_runtime_c/visibility_control.h new file mode 100644 index 0000000000000..05c95bff0f06e --- /dev/null +++ b/ports/espressif/microros-ext/include/rosidl_runtime_c/rosidl_runtime_c/visibility_control.h @@ -0,0 +1,58 @@ +// Copyright 2015 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. + +#ifndef ROSIDL_RUNTIME_C__VISIBILITY_CONTROL_H_ +#define ROSIDL_RUNTIME_C__VISIBILITY_CONTROL_H_ + +#ifdef __cplusplus +extern "C" +{ +#endif + +// This logic was borrowed (then namespaced) from the examples on the gcc wiki: +// https://gcc.gnu.org/wiki/Visibility + +#if defined _WIN32 || defined __CYGWIN__ + #ifdef __GNUC__ + #define ROSIDL_GENERATOR_C_EXPORT __attribute__ ((dllexport)) + #define ROSIDL_GENERATOR_C_IMPORT __attribute__ ((dllimport)) + #else + #define ROSIDL_GENERATOR_C_EXPORT __declspec(dllexport) + #define ROSIDL_GENERATOR_C_IMPORT __declspec(dllimport) + #endif + #ifdef ROSIDL_GENERATOR_C_BUILDING_DLL + #define ROSIDL_GENERATOR_C_PUBLIC ROSIDL_GENERATOR_C_EXPORT + #else + #define ROSIDL_GENERATOR_C_PUBLIC ROSIDL_GENERATOR_C_IMPORT + #endif + #define ROSIDL_GENERATOR_C_PUBLIC_TYPE ROSIDL_GENERATOR_C_PUBLIC + #define ROSIDL_GENERATOR_C_LOCAL +#else + #define ROSIDL_GENERATOR_C_EXPORT __attribute__ ((visibility("default"))) + #define ROSIDL_GENERATOR_C_IMPORT + #if __GNUC__ >= 4 + #define ROSIDL_GENERATOR_C_PUBLIC __attribute__ ((visibility("default"))) + #define ROSIDL_GENERATOR_C_LOCAL __attribute__ ((visibility("hidden"))) + #else + #define ROSIDL_GENERATOR_C_PUBLIC + #define ROSIDL_GENERATOR_C_LOCAL + #endif + #define ROSIDL_GENERATOR_C_PUBLIC_TYPE +#endif + +#ifdef __cplusplus +} +#endif + +#endif // ROSIDL_RUNTIME_C__VISIBILITY_CONTROL_H_ diff --git a/ports/espressif/microros-ext/include/rosidl_typesupport_interface/rosidl_typesupport_interface/macros.h b/ports/espressif/microros-ext/include/rosidl_typesupport_interface/rosidl_typesupport_interface/macros.h new file mode 100644 index 0000000000000..de3fbef419ed6 --- /dev/null +++ b/ports/espressif/microros-ext/include/rosidl_typesupport_interface/rosidl_typesupport_interface/macros.h @@ -0,0 +1,62 @@ +// Copyright 2016 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. + +#ifndef ROSIDL_TYPESUPPORT_INTERFACE__MACROS_H_ +#define ROSIDL_TYPESUPPORT_INTERFACE__MACROS_H_ + +/// Declare the typesupport library name. +#define ROSIDL_TYPESUPPORT_INTERFACE__LIBRARY_NAME( \ + typesupport_name, package_name) \ + package_name ## __ ## typesupport_name + +/// Declare the typesupport symbol name. Note: this should not be called directly. +#define ROSIDL_TYPESUPPORT_INTERFACE__SYMBOL_NAME( \ + typesupport_name, function_name, package_name, interface_type, interface_name) \ + typesupport_name ## __ ## function_name ## __ ## \ + package_name ## __ ## interface_type ## __ ## interface_name + +/// Declare a typesupport symbol name for a rosidl message definition. +#define ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME( \ + typesupport_name, package_name, interface_type, message_name) \ + ROSIDL_TYPESUPPORT_INTERFACE__SYMBOL_NAME( \ + typesupport_name, get_message_type_support_handle, \ + package_name, interface_type, message_name) + +/// Declare a typesupport symbol name for a rosidl service definition. +#define ROSIDL_TYPESUPPORT_INTERFACE__SERVICE_SYMBOL_NAME( \ + typesupport_name, package_name, interface_type, service_name) \ + ROSIDL_TYPESUPPORT_INTERFACE__SYMBOL_NAME( \ + typesupport_name, get_service_type_support_handle, \ + package_name, interface_type, service_name) + +/// Declare a typesupport symbol name for a rosidl action definition. +#define ROSIDL_TYPESUPPORT_INTERFACE__ACTION_SYMBOL_NAME( \ + typesupport_name, package_name, interface_type, action_name) \ + ROSIDL_TYPESUPPORT_INTERFACE__SYMBOL_NAME( \ + typesupport_name, get_action_type_support_handle, \ + package_name, interface_type, action_name) + +#define ROSIDL_TYPESUPPORT_INTERFACE__SERVICE_CREATE_EVENT_MESSAGE_SYMBOL_NAME( \ + typesupport_name, package_name, interface_type, service_name) \ + ROSIDL_TYPESUPPORT_INTERFACE__SYMBOL_NAME( \ + typesupport_name, create_service_event_message, \ + package_name, interface_type, service_name) + +#define ROSIDL_TYPESUPPORT_INTERFACE__SERVICE_DESTROY_EVENT_MESSAGE_SYMBOL_NAME( \ + typesupport_name, package_name, interface_type, service_name) \ + ROSIDL_TYPESUPPORT_INTERFACE__SYMBOL_NAME( \ + typesupport_name, destroy_service_event_message, \ + package_name, interface_type, service_name) + +#endif // ROSIDL_TYPESUPPORT_INTERFACE__MACROS_H_ diff --git a/ports/espressif/microros-ext/include/tracetools/tracetools/config.h b/ports/espressif/microros-ext/include/tracetools/tracetools/config.h new file mode 100644 index 0000000000000..b2cd9771a8aa6 --- /dev/null +++ b/ports/espressif/microros-ext/include/tracetools/tracetools/config.h @@ -0,0 +1,21 @@ +// Copyright 2019 Robert Bosch GmbH +// +// 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. + +#ifndef TRACETOOLS__CONFIG_H_ +#define TRACETOOLS__CONFIG_H_ + +#define TRACETOOLS_DISABLED +#define TRACETOOLS_TRACEPOINTS_EXCLUDED + +#endif // TRACETOOLS__CONFIG_H_ diff --git a/ports/espressif/microros-ext/include/tracetools/tracetools/tracetools.h b/ports/espressif/microros-ext/include/tracetools/tracetools/tracetools.h new file mode 100644 index 0000000000000..8161a4eee2668 --- /dev/null +++ b/ports/espressif/microros-ext/include/tracetools/tracetools/tracetools.h @@ -0,0 +1,622 @@ +// Copyright 2019 Robert Bosch GmbH +// Copyright 2020 Christophe Bedard +// +// 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. + +/** \mainpage tracetools: tracing tools and instrumentation for ROS 2 + * + * `tracetools` provides utilities to instrument ROS. + * It provides two main headers: + * + * - tracetools/tracetools.h + * - instrumentation functions + * - tracetools/utils.hpp + * - utility functions + */ + +#ifndef TRACETOOLS__TRACETOOLS_H_ +#define TRACETOOLS__TRACETOOLS_H_ + +#include +#include +#include + +#include "tracetools/config.h" +#include "tracetools/visibility_control.hpp" + +#ifndef TRACETOOLS_DISABLED +/** + * This allows us to select between two versions of each macro + * to avoid the 'gnu-zero-variadic-macro-arguments' warning: + * 1. Only one macro argument for tracepoints without any arguments. + * 2. Up to 10 macro arguments for tracepoints with up to 9 arguments. + * We can easily support more than 10 macro arguments if needed. + */ +# define _GET_MACRO(_1, _2, _3, _4, _5, _6, _7, _8, _9, _10, NAME, ...) NAME + +# define _TRACEPOINT_NOARGS(event_name) \ + (ros_trace_ ## event_name)() +# define _TRACEPOINT_ARGS(event_name, ...) \ + (ros_trace_ ## event_name)(__VA_ARGS__) +# define _DO_TRACEPOINT_NOARGS(event_name) \ + (ros_trace_do_ ## event_name)() +# define _DO_TRACEPOINT_ARGS(event_name, ...) \ + (ros_trace_do_ ## event_name)(__VA_ARGS__) +# define _DECLARE_TRACEPOINT_NOARGS(event_name) \ + TRACETOOLS_PUBLIC void ros_trace_ ## event_name(); \ + TRACETOOLS_PUBLIC bool ros_trace_enabled_ ## event_name(); \ + TRACETOOLS_PUBLIC void ros_trace_do_ ## event_name(); +# define _DECLARE_TRACEPOINT_ARGS(event_name, ...) \ + TRACETOOLS_PUBLIC void ros_trace_ ## event_name(__VA_ARGS__); \ + TRACETOOLS_PUBLIC bool ros_trace_enabled_ ## event_name(); \ + TRACETOOLS_PUBLIC void ros_trace_do_ ## event_name(__VA_ARGS__); + +# define _GET_MACRO_TRACEPOINT(...) \ + _GET_MACRO( \ + __VA_ARGS__, \ + _TRACEPOINT_ARGS, _TRACEPOINT_ARGS, _TRACEPOINT_ARGS, _TRACEPOINT_ARGS, _TRACEPOINT_ARGS, \ + _TRACEPOINT_ARGS, _TRACEPOINT_ARGS, _TRACEPOINT_ARGS, _TRACEPOINT_ARGS, _TRACEPOINT_NOARGS, \ + shoud_not_be_called_without_any_arguments) +# define _GET_MACRO_DO_TRACEPOINT(...) \ + _GET_MACRO( \ + __VA_ARGS__, \ + _DO_TRACEPOINT_ARGS, _DO_TRACEPOINT_ARGS, _DO_TRACEPOINT_ARGS, _DO_TRACEPOINT_ARGS, \ + _DO_TRACEPOINT_ARGS, _DO_TRACEPOINT_ARGS, _DO_TRACEPOINT_ARGS, _DO_TRACEPOINT_ARGS, \ + _DO_TRACEPOINT_ARGS, _DO_TRACEPOINT_NOARGS, shoud_not_be_called_without_any_arguments) +# define _GET_MACRO_DECLARE_TRACEPOINT(...) \ + _GET_MACRO( \ + __VA_ARGS__, \ + _DECLARE_TRACEPOINT_ARGS, _DECLARE_TRACEPOINT_ARGS, _DECLARE_TRACEPOINT_ARGS, \ + _DECLARE_TRACEPOINT_ARGS, _DECLARE_TRACEPOINT_ARGS, _DECLARE_TRACEPOINT_ARGS, \ + _DECLARE_TRACEPOINT_ARGS, _DECLARE_TRACEPOINT_ARGS, _DECLARE_TRACEPOINT_ARGS, \ + _DECLARE_TRACEPOINT_NOARGS, shoud_not_be_called_without_any_arguments) + +/// Call a tracepoint. +/** + * The first argument is mandatory and should be the tracepoint event name. + * The other arguments should be the tracepoint arguments. + * This is the preferred method over calling the underlying function directly. + * + * This macro currently supports up to 9 tracepoint arguments after the event name. + */ +# define TRACEPOINT(...) \ + _GET_MACRO_TRACEPOINT(__VA_ARGS__)(__VA_ARGS__) +/// Check if a tracepoint is enabled at runtime. +/** + * This can be useful to only compute tracepoint arguments if the tracepoint is actually enabled at + * runtime. Combine this with `DO_TRACEPOINT()` instead of `TRACEPOINT()` to trigger a tracepoint + * after checking if it is enabled and computing its arguments. + * + * This is the preferred method over calling the underlying function directly. + */ +# define TRACEPOINT_ENABLED(event_name) \ + ros_trace_enabled_ ## event_name() +/// Call a tracepoint, without checking if it is enabled. +/** + * Combine this with `TRACEPOINT_ENABLED()` to check if a tracepoint is enabled before triggering + * it. + * + * The first argument is mandatory and should be the tracepoint event name. + * The other arguments should be the tracepoint arguments. + * This is the preferred method over calling the underlying function directly. + * + * This macro currently supports up to 9 tracepoint arguments after the event name. + */ +# define DO_TRACEPOINT(...) \ + _GET_MACRO_DO_TRACEPOINT(__VA_ARGS__)(__VA_ARGS__) +# define DECLARE_TRACEPOINT(...) \ + _GET_MACRO_DECLARE_TRACEPOINT(__VA_ARGS__)(__VA_ARGS__) +#else +# define TRACEPOINT(...) ((void) (0)) +# define TRACEPOINT_ENABLED(event_name) false +# define DO_TRACEPOINT(...) ((void) (0)) +# define DECLARE_TRACEPOINT(...) +#endif // TRACETOOLS_DISABLED + +#ifdef __cplusplus +extern "C" +{ +#endif + +/// Get tracing compilation status. +/** + * \return `true` if tracing is enabled, `false` otherwise + */ +TRACETOOLS_PUBLIC bool ros_trace_compile_status(); + +/// `rcl_init` +/** + * Initialisation for the whole process. + * Notes the `tracetools` version automatically. + * + * \param[in] context_handle pointer to the `rcl_context_t` handle + */ +DECLARE_TRACEPOINT( + rcl_init, + const void * context_handle) + +/// `rcl_node_init` +/** + * Node initialisation. + * Links a `rcl_node_t` handle to its `rmw_node_t` handle. + * + * \param[in] node_handle pointer to the node's `rcl_node_t` handle + * \param[in] rmw_handle pointer to the node's `rmw_node_t` handle + * \param[in] node_name node name + * \param[in] node_namespace node namespace + */ +DECLARE_TRACEPOINT( + rcl_node_init, + const void * node_handle, + const void * rmw_handle, + const char * node_name, + const char * node_namespace) + +/// `rmw_publisher_init` +/** + * RMW publisher initialisation. + * Links a `rmw_publisher_t` handle to its DDS/rmw GID. + * + * \param[in] rmw_publisher_handle pointer to the publisher's `rmw_publisher_t` handle + * \param[in] gid pointer to the publisher's DDS/rmw GID + */ +DECLARE_TRACEPOINT( + rmw_publisher_init, + const void * rmw_publisher_handle, + const uint8_t * gid) + +/// `rcl_publisher_init` +/** + * Publisher initialisation. + * Links a `rcl_publisher_t` handle to its `rcl_node_t` handle + * and its `rmw_publisher_t` handle, and links it to a topic name. + * + * \param[in] publisher_handle pointer to the publisher's `rcl_publisher_t` handle + * \param[in] node_handle pointer to the `rcl_node_t` handle of the node the publisher belongs to + * \param[in] rmw_publisher_handle pointer to the publisher's `rmw_publisher_t` handle + * \param[in] topic_name full topic name + * \param[in] queue_depth publisher history depth + */ +DECLARE_TRACEPOINT( + rcl_publisher_init, + const void * publisher_handle, + const void * node_handle, + const void * rmw_publisher_handle, + const char * topic_name, + const size_t queue_depth) + +/// `rclcpp_publish` +/** + * Message publication. + * Notes the pointer to the message being published at the `rclcpp` level. + * + * \param[in] publisher_handle not used, but kept for API/ABI stability + * \param[in] message pointer to the message being published + */ +DECLARE_TRACEPOINT( + rclcpp_publish, + const void * publisher_handle, + const void * message) + +/// `rclcpp_intra_publish` +/** + * Intra-process message publication. + * Notes the pointer to the message being published in intra process at the `rclcpp` level. + * + * \param[in] publisher_handle pointer to the publisher's `rcl_publisher_t` handle + * \param[in] message pointer to the message being published + */ +DECLARE_TRACEPOINT( + rclcpp_intra_publish, + const void * publisher_handle, + const void * message) + +/// `rcl_publish` +/** + * Message publication. + * Links a `rcl_publisher_t` handle to a pointer to + * a message being published at the `rcl` level. + * + * \param[in] publisher_handle pointer to the publisher's `rcl_publisher_t` handle + * \param[in] message pointer to the message being published + */ +DECLARE_TRACEPOINT( + rcl_publish, + const void * publisher_handle, + const void * message) + +/// `rmw_publish` +/** + * Message publication. + * Notes the pointer to the message being published at the `rmw` level. + * + * \param[in] message pointer to the message being published + */ +DECLARE_TRACEPOINT( + rmw_publish, + const void * message) + +/// `rmw_subscription_init` +/** + * RMW subscription initialisation. + * Links a `rmw_subscription_handle` handle to its DDS/rmw GID. + * + * \param[in] rmw_subscription_handle pointer to the publisher's `rmw_subscription_t` handle + * \param[in] gid pointer to the subscription's DDS/rmw GID + */ +DECLARE_TRACEPOINT( + rmw_subscription_init, + const void * rmw_subscription_handle, + const uint8_t * gid) + +/// `rcl_subscription_init` +/** + * Subscription initialisation. + * Links a `rcl_subscription_t` handle to its `rcl_node_t` handle + * and its `rmw_subscription_t` handle, and links it to a topic name. + * + * \param[in] subscription_handle pointer to the subscription's `rcl_subscription_t` handle + * \param[in] node_handle + * pointer to the `rcl_node_t` handle of the node the subscription belongs to + * \param[in] rmw_subscription_handle pointer to the subscription's `rmw_subscription_t` handle + * \param[in] topic_name full topic name + * \param[in] queue_depth subscription history depth + */ +DECLARE_TRACEPOINT( + rcl_subscription_init, + const void * subscription_handle, + const void * node_handle, + const void * rmw_subscription_handle, + const char * topic_name, + const size_t queue_depth) + +/// `rclcpp_subscription_init` +/** + * Subscription object initialisation. + * Links the `rclcpp::*Subscription*` object to a `rcl_subscription_t` handle. + * Needed since there could be more than 1 `rclcpp::*Subscription*` object + * for one `rcl` subscription (e.g. when using intra-process). + * + * \param[in] subscription_handle + * pointer to the `rcl_subscription_t` handle of the subscription this object belongs to + * \param[in] subscription pointer to this subscription object (e.g. `rclcpp::*Subscription*`) + */ +DECLARE_TRACEPOINT( + rclcpp_subscription_init, + const void * subscription_handle, + const void * subscription) + +/// `rclcpp_subscription_callback_added` +/** + * Link a subscription callback object to a subscription object. + * + * \param[in] subscription pointer to the subscription object this callback belongs to + * \param[in] callback pointer to this callback object (e.g. `rclcpp::AnySubscriptionCallback`) + */ +DECLARE_TRACEPOINT( + rclcpp_subscription_callback_added, + const void * subscription, + const void * callback) + +/// `rmw_take` +/** + * Message taking. + * Links a `rmw_subscription_t` handle to a pointer + * to a message being taken at the `rmw` level. + * + * \param[in] rmw_subscription_handle pointer to the subscription's `rmw_subscription_t` handle + * \param[in] message pointer to the message being taken + * \param[in] source_timestamp the source timestamp of the received message, + * or 0 (if no message or no info) + * \param[in] taken whether a message was taken + */ +DECLARE_TRACEPOINT( + rmw_take, + const void * rmw_subscription_handle, + const void * message, + int64_t source_timestamp, + const bool taken) + +/// `rcl_take` +/** + * Message taking. + * Notes the pointer to the message being taken at the `rcl` level. + * + * \param[in] message pointer to the message being taken + */ +DECLARE_TRACEPOINT( + rcl_take, + const void * message) + +/// `rclcpp_take` +/** + * Message taking. + * Notes the pointer to the message being taken at the `rclcpp` level. + * + * \param[in] message pointer to the message being taken + */ +DECLARE_TRACEPOINT( + rclcpp_take, + const void * message) + +/// `rcl_service_init` +/** + * Service initialisation. + * Links a `rcl_service_t` handle to its `rcl_node_t` handle + * and its `rmw_service_t` handle, and links it to a service name. + * + * \param[in] service_handle pointer to the service's `rcl_service_t` handle + * \param[in] node_handle pointer to the `rcl_node_t` handle of the node the service belongs to + * \param[in] rmw_service_handle pointer to the service's `rmw_service_t` handle + * \param[in] service_name full service name + */ +DECLARE_TRACEPOINT( + rcl_service_init, + const void * service_handle, + const void * node_handle, + const void * rmw_service_handle, + const char * service_name) + +/// `rclcpp_service_callback_added` +/** + * Link a service callback object to a service. + * + * \param[in] service_handle + * pointer to the `rcl_service_t` handle of the service this callback belongs to + * \param[in] callback pointer to this callback object (e.g. `rclcpp::AnyServiceCallback`) + */ +DECLARE_TRACEPOINT( + rclcpp_service_callback_added, + const void * service_handle, + const void * callback) + +/// `rcl_client_init` +/** + * Client initialisation. + * Links a `rcl_client_t` handle to its `rcl_node_t` handle + * and its `rmw_client_t` handle, and links it to a client name. + * + * \param[in] client_handle pointer to the client's `rcl_client_t` handle + * \param[in] node_handle pointer to the `rcl_node_t` handle of the node the client belongs to + * \param[in] rmw_client_handle pointer to the client's `rmw_client_t` handle + * \param[in] service_name full client name + */ +DECLARE_TRACEPOINT( + rcl_client_init, + const void * client_handle, + const void * node_handle, + const void * rmw_client_handle, + const char * service_name) + +/// `rcl_timer_init` +/** + * Timer initialisation. + * Notes the timer's period. + * + * \param[in] timer_handle pointer to the timer's `rcl_timer_t` handle + * \param[in] period period in nanoseconds + */ +DECLARE_TRACEPOINT( + rcl_timer_init, + const void * timer_handle, + int64_t period) + +/// `rclcpp_timer_callback_added` +/** + * Link a timer callback object to its `rcl_timer_t` handle. + * + * \param[in] timer_handle + * pointer to the `rcl_timer_t` handle of the timer this callback belongs to + * \param[in] callback pointer to the callback object (`std::function`) + */ +DECLARE_TRACEPOINT( + rclcpp_timer_callback_added, + const void * timer_handle, + const void * callback) + +/// `rclcpp_timer_link_node` +/** + * Link a timer to a node. + * + * \param[in] timer_handle pointer to the timer's `rcl_timer_t` handle + * \param[in] node_handle pointer to the `rcl_node_t` handle of the node the timer belongs to + */ +DECLARE_TRACEPOINT( + rclcpp_timer_link_node, + const void * timer_handle, + const void * node_handle) + +/// `rclcpp_callback_register` +/** + * Register a demangled function symbol with a callback. + * + * \param[in] callback pointer to the callback object + * (e.g. `rclcpp::AnySubscriptionCallback`, + * `rclcpp::AnyServiceCallback`, timer `std::function`, etc.) + * \param[in] function_symbol demangled symbol of the callback function/lambda, + * see \ref get_symbol() + */ +DECLARE_TRACEPOINT( + rclcpp_callback_register, + const void * callback, + const char * function_symbol) + +/// `callback_start` +/** + * Start of a callback. + * + * \param[in] callback pointer to this callback object + * (e.g. `rclcpp::AnySubscriptionCallback`, + * `rclcpp::AnyServiceCallback`, timer `std::function`, etc.) + * \param[in] is_intra_process whether this callback is done via intra-process or not + */ +DECLARE_TRACEPOINT( + callback_start, + const void * callback, + const bool is_intra_process) + +/// `callback_end` +/** + * End of a callback. + * + * \param[in] callback pointer to this callback object + * (e.g. `rclcpp::AnySubscriptionCallback`, + * `rclcpp::AnyServiceCallback`, timer `std::function`, etc.) + */ +DECLARE_TRACEPOINT( + callback_end, + const void * callback) + +/// `rcl_lifecycle_state_machine_init` +/** + * Lifecycle state machine initialisation. + * Links a `rcl_lifecycle_state_machine_t` handle to a `rcl_node_t` handle. + * + * \param[in] node_handle pointer to the node handle + * \param[in] state_machine pointer to the state machine + */ +DECLARE_TRACEPOINT( + rcl_lifecycle_state_machine_init, + const void * node_handle, + const void * state_machine) + +/// `rcl_lifecycle_transition` +/** + * Lifecycle transition between two states. + * + * \param[in] state_machine pointer to the state machine for the transition + * \param[in] start_label start state label + * \param[in] goal_label goal state label + */ +DECLARE_TRACEPOINT( + rcl_lifecycle_transition, + const void * state_machine, + const char * start_label, + const char * goal_label) + +/// `rclcpp_executor_get_next_ready` +/** + * Notes the start time of the executor phase that gets the next executable that's ready. + */ +DECLARE_TRACEPOINT( + rclcpp_executor_get_next_ready) + +/// `rclcpp_executor_wait_for_work` +/** + * Notes the start time of the executor phase that waits for work and notes the timeout value. + * + * \param[in] timeout the timeout value for the wait call + */ +DECLARE_TRACEPOINT( + rclcpp_executor_wait_for_work, + const int64_t timeout) + +/// `rclcpp_executor_execute` +/** + * Executable execution. + * Notes an executable being executed using its `rcl` handle, which can be a: + * * timer + * * subscription + * + * \param[in] handle pointer to the `rcl` handle of the executable being executed + */ +DECLARE_TRACEPOINT( + rclcpp_executor_execute, + const void * handle) + +/// `rclcpp_ipb_to_subscription` +/** + * Subscription intra-process buffer initialization. + * Notes the `IntraProcessBuffer` and the `SubscriptionIntraProcess` that owns it. + * + * \param[in] ipb pointer to the `IntraProcessBuffer` + * \param[in] subscription pointer to the `SubscriptionIntraProcess` + */ +DECLARE_TRACEPOINT( + rclcpp_ipb_to_subscription, + const void * ipb, + const void * subscription) + +/// `rclcpp_buffer_to_ipb` +/** + * Intra-process buffer initialization. + * Notes the `BufferImplementationBase` and the `IntraProcessBuffer` that owns it. + * + * \param[in] buffer the pointer to the `BufferImplementationBase` + * \param[in] ipb to pointer to the `IntraProcessBuffer` + */ +DECLARE_TRACEPOINT( + rclcpp_buffer_to_ipb, + const void * buffer, + const void * ipb) + +/// `rclcpp_construct_ring_buffer` +/** + * Ring buffer construction. + * Notes the buffer address and its capacity. + * + * \param[in] buffer pointer to the buffer + * \param[in] capacity buffer size + */ +DECLARE_TRACEPOINT( + rclcpp_construct_ring_buffer, + const void * buffer, + const uint64_t capacity) + +/// `rclcpp_ring_buffer_enqueue` +/** + * Notes buffer address, the index to write to, and the occurrence of the lost. + * + * \param[in] buffer pointer to the buffer + * \param[in] index the index to write to + * \param[in] size the size of the buffer after this operation + * \param[in] overwritten occurrence of the lost + */ +DECLARE_TRACEPOINT( + rclcpp_ring_buffer_enqueue, + const void * buffer, + const uint64_t index, + const uint64_t size, + const bool overwritten) + +/// `rclcpp_ring_buffer_dequeue` +/** + * Ring buffer dequeue. + * Notes buffer address, the index to read from, and the size of the buffer after this operation. + * + * \param[in] buffer pointer to the buffer + * \param[in] index the index to read from + * \param[in] size the size of the buffer after this operation + */ +DECLARE_TRACEPOINT( + rclcpp_ring_buffer_dequeue, + const void * buffer, + const uint64_t index, + const uint64_t size) + +/// `rclcpp_ring_buffer_clear` +/** + * Ring buffer clear. + * Notes the address of the cleared buffer. + * + * \param[in] buffer pointer to the buffer + */ +DECLARE_TRACEPOINT( + rclcpp_ring_buffer_clear, + const void * buffer) + +#ifdef __cplusplus +} +#endif + +#endif // TRACETOOLS__TRACETOOLS_H_ diff --git a/ports/espressif/microros-ext/include/tracetools/tracetools/utils.hpp b/ports/espressif/microros-ext/include/tracetools/tracetools/utils.hpp new file mode 100644 index 0000000000000..d5cd2a9f3d596 --- /dev/null +++ b/ports/espressif/microros-ext/include/tracetools/tracetools/utils.hpp @@ -0,0 +1,87 @@ +// Copyright 2019 Robert Bosch GmbH +// +// 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. + +#ifndef TRACETOOLS__UTILS_HPP_ +#define TRACETOOLS__UTILS_HPP_ + +#include +#include + +#include "tracetools/config.h" + +#ifndef TRACETOOLS_DISABLED + +namespace tracetools +{ + +namespace detail +{ + +/// Demangle symbol string. +/** + * \param[in] mangled the pointer to the mangled symbol string + * \return the demangled symbol, or nullptr if demangling failed. The caller is responsible for + * deallocating this memory using free. + */ +char * demangle_symbol(const char * mangled); + +/// Get demangled symbol string from function pointer. +/** + * \param[in] funcptr the function pointer + * \return the demangled symbol, or nullptr if the pointer could not be matched to a shared object + * or if demangling failed. The caller is responsible for deallocating this memory using free. + */ +char * get_symbol_funcptr(const void * funcptr); + +} // namespace detail + +/// Get demangled symbol from an std::function object. +/** + * \param[in] f the std::function object + * \return the symbol, or nullptr if the symbol could not be retrieved or if demangling failed. The + * caller is responsible for deallocating this memory using free. + */ +template +char * get_symbol(std::function f) +{ + typedef T (fnType)(U...); + fnType ** fnPointer = f.template target(); + // If we get an actual address + if (fnPointer != nullptr) { + void * funcptr = reinterpret_cast(*fnPointer); + return detail::get_symbol_funcptr(funcptr); + } + // Otherwise we have to go through target_type() + return detail::demangle_symbol(f.target_type().name()); +} + +/// Get demangled symbol from a function-related object. +/** + * Fallback meant for lambdas with captures. + * + * \param[in] l a generic object + * \return the symbol, or nullptr if demangling failed. The caller is responsible for deallocating + * this memory using free. + */ +template +char * get_symbol(L && l) +{ + return detail::demangle_symbol(typeid(l).name()); +} + +} // namespace tracetools + +#endif // TRACETOOLS_DISABLED + +#endif // TRACETOOLS__UTILS_HPP_ diff --git a/ports/espressif/microros-ext/include/tracetools/tracetools/visibility_control.hpp b/ports/espressif/microros-ext/include/tracetools/tracetools/visibility_control.hpp new file mode 100644 index 0000000000000..63a5a588623be --- /dev/null +++ b/ports/espressif/microros-ext/include/tracetools/tracetools/visibility_control.hpp @@ -0,0 +1,56 @@ +// Copyright 2015 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. + +/* This header must be included by all TRACETOOLS headers which declare symbols + * which are defined in the TRACETOOLS library. When not building the TRACETOOLS + * library, i.e. when using the headers in other package's code, the contents + * of this header change the visibility of certain symbols which the TRACETOOLS + * library cannot have, but the consuming code must have inorder to link. + */ + +#ifndef TRACETOOLS__VISIBILITY_CONTROL_HPP_ +#define TRACETOOLS__VISIBILITY_CONTROL_HPP_ + +// This logic was borrowed (then namespaced) from the examples on the gcc wiki: +// https://gcc.gnu.org/wiki/Visibility + +#if defined _WIN32 || defined __CYGWIN__ + #ifdef __GNUC__ + #define TRACETOOLS_EXPORT __attribute__ ((dllexport)) + #define TRACETOOLS_IMPORT __attribute__ ((dllimport)) + #else + #define TRACETOOLS_EXPORT __declspec(dllexport) + #define TRACETOOLS_IMPORT __declspec(dllimport) + #endif + #ifdef TRACETOOLS_BUILDING_DLL + #define TRACETOOLS_PUBLIC TRACETOOLS_EXPORT + #else + #define TRACETOOLS_PUBLIC TRACETOOLS_IMPORT + #endif + #define TRACETOOLS_PUBLIC_TYPE TRACETOOLS_PUBLIC + #define TRACETOOLS_LOCAL +#else + #define TRACETOOLS_EXPORT __attribute__ ((visibility("default"))) + #define TRACETOOLS_IMPORT + #if __GNUC__ >= 4 + #define TRACETOOLS_PUBLIC __attribute__ ((visibility("default"))) + #define TRACETOOLS_LOCAL __attribute__ ((visibility("hidden"))) + #else + #define TRACETOOLS_PUBLIC + #define TRACETOOLS_LOCAL + #endif + #define TRACETOOLS_PUBLIC_TYPE +#endif + +#endif // TRACETOOLS__VISIBILITY_CONTROL_HPP_ diff --git a/ports/espressif/microros-ext/include/ucdr/config.h b/ports/espressif/microros-ext/include/ucdr/config.h new file mode 100644 index 0000000000000..16300b1bfff96 --- /dev/null +++ b/ports/espressif/microros-ext/include/ucdr/config.h @@ -0,0 +1,27 @@ +// Copyright 2017 Proyectos y Sistemas de Mantenimiento SL (eProsima). +// +// 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. + +#ifndef _MICROCDR_CONFIG_H_ +#define _MICROCDR_CONFIG_H_ + +// Version defines +#define MICROCDR_VERSION_MAJOR 2 +#define MICROCDR_VERSION_MINOR 0 +#define MICROCDR_VERSION_MICRO 1 +#define MICROCDR_VERSION_STR "2.0.1" + +// ucdrEndianness defines +#define UCDR_MACHINE_ENDIANNESS UCDR_LITTLE_ENDIANNESS + +#endif // _MICROCDR_CONFIG_H_ diff --git a/ports/espressif/microros-ext/include/ucdr/microcdr.h b/ports/espressif/microros-ext/include/ucdr/microcdr.h new file mode 100644 index 0000000000000..a665fd5ffabc4 --- /dev/null +++ b/ports/espressif/microros-ext/include/ucdr/microcdr.h @@ -0,0 +1,219 @@ +// Copyright 2017 Proyectos y Sistemas de Mantenimiento SL (eProsima). +// +// 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. + +#ifndef _MICROCDR_MICRO_CDR_H_ +#define _MICROCDR_MICRO_CDR_H_ + +#ifdef __cplusplus +extern "C" { +#endif // ifdef __cplusplus + +#include +#include + +#include +#include +#include + +// ------------------------------------------------ +// Types +// ------------------------------------------------ + +struct ucdrBuffer; +typedef bool (* OnFullBuffer)( + struct ucdrBuffer* buffer, + void* args); + +typedef enum ucdrEndianness +{ + UCDR_BIG_ENDIANNESS = 0, + UCDR_LITTLE_ENDIANNESS = 1 + +} ucdrEndianness; + +typedef struct ucdrBuffer +{ + uint8_t* init; + uint8_t* final; + uint8_t* iterator; + + size_t origin; + size_t offset; + + ucdrEndianness endianness; + uint8_t last_data_size; + + bool error; + + OnFullBuffer on_full_buffer; + void* args; + +} ucdrBuffer; + +// ------------------------------------------------ +// Main functions +// ------------------------------------------------ + +UCDRDLLAPI void ucdr_init_buffer ( + ucdrBuffer* ub, + uint8_t* data, + size_t size); +UCDRDLLAPI void ucdr_init_buffer_origin ( + ucdrBuffer* ub, + uint8_t* data, + size_t size, + size_t origin); +UCDRDLLAPI void ucdr_init_buffer_origin_offset ( + ucdrBuffer* ub, + uint8_t* data, + size_t size, + size_t origin, + size_t offset); +UCDRDLLAPI void ucdr_init_buffer_origin_offset_endian ( + ucdrBuffer* ub, + uint8_t* data, + size_t size, + size_t origin, + size_t offset, + ucdrEndianness endianness); +UCDRDLLAPI void ucdr_copy_buffer ( + ucdrBuffer* ub_dest, + const ucdrBuffer* ub_source); +UCDRDLLAPI void ucdr_set_on_full_buffer_callback ( + ucdrBuffer* ub, + OnFullBuffer on_full_buffer, + void* args); + +UCDRDLLAPI void ucdr_reset_buffer ( + ucdrBuffer* ub); +UCDRDLLAPI void ucdr_reset_buffer_offset ( + ucdrBuffer* ub, + size_t offset); + +UCDRDLLAPI void ucdr_align_to ( + ucdrBuffer* ub, + size_t alignment); +UCDRDLLAPI size_t ucdr_alignment ( + size_t buffer_position, + size_t data_size); +UCDRDLLAPI size_t ucdr_buffer_alignment ( + const ucdrBuffer* ub, + size_t data_size); +UCDRDLLAPI void ucdr_advance_buffer ( + ucdrBuffer* ub, + size_t size); + +UCDRDLLAPI size_t ucdr_buffer_size ( + const ucdrBuffer* ub); +UCDRDLLAPI size_t ucdr_buffer_length ( + const ucdrBuffer* ub); +UCDRDLLAPI size_t ucdr_buffer_remaining ( + const ucdrBuffer* ub); +UCDRDLLAPI ucdrEndianness ucdr_buffer_endianness ( + const ucdrBuffer* ub); +UCDRDLLAPI bool ucdr_buffer_has_error ( + const ucdrBuffer* ub); + +// ------------------------------------------------------------------- +// PUBLIC DE-SERIALIZATION DECLARATIONS +// ------------------------------------------------------------------- + +#define UCDR_BASIC_TYPE_DECLARATIONS(SUFFIX, TYPE) \ + UCDRDLLAPI bool ucdr_serialize ## SUFFIX(ucdrBuffer * ub, TYPE value); \ + UCDRDLLAPI bool ucdr_serialize_endian ## SUFFIX(ucdrBuffer * ub, ucdrEndianness endianness, TYPE value); \ + UCDRDLLAPI bool ucdr_deserialize ## SUFFIX(ucdrBuffer * ub, TYPE * value); \ + UCDRDLLAPI bool ucdr_deserialize_endian ## SUFFIX(ucdrBuffer * ub, ucdrEndianness endianness, TYPE * value); \ + +#define UCDR_ARRAY_DECLARATIONS(SUFFIX, TYPE) \ + UCDRDLLAPI bool ucdr_serialize_array ## SUFFIX(ucdrBuffer * ub, const TYPE * array, size_t size); \ + UCDRDLLAPI bool ucdr_serialize_endian_array ## SUFFIX(ucdrBuffer * ub, ucdrEndianness endianness, \ + const TYPE * array, size_t size); \ + UCDRDLLAPI bool ucdr_deserialize_array ## SUFFIX(ucdrBuffer * ub, TYPE * array, size_t size); \ + UCDRDLLAPI bool ucdr_deserialize_endian_array ## SUFFIX(ucdrBuffer * ub, ucdrEndianness endianness, TYPE * array, \ + size_t size); \ + +#define UCDR_SEQUENCE_DECLARATIONS(SUFFIX, TYPE) \ + UCDRDLLAPI bool ucdr_serialize_sequence ## SUFFIX(ucdrBuffer * ub, const TYPE * array, uint32_t length); \ + UCDRDLLAPI bool ucdr_serialize_endian_sequence ## SUFFIX(ucdrBuffer * ub, ucdrEndianness endianness, \ + const TYPE * array, uint32_t length); \ + UCDRDLLAPI bool ucdr_deserialize_sequence ## SUFFIX(ucdrBuffer * ub, TYPE * array, size_t array_capacity, \ + uint32_t * length); \ + UCDRDLLAPI bool ucdr_deserialize_endian_sequence ## SUFFIX(ucdrBuffer * ub, ucdrEndianness endianness, TYPE * array, \ + size_t array_capacity, uint32_t * length); \ + +UCDRDLLAPI bool ucdr_serialize_string( + ucdrBuffer* ub, + const char* string); +UCDRDLLAPI bool ucdr_serialize_endian_string( + ucdrBuffer* ub, + ucdrEndianness endianness, + const char* string); +UCDRDLLAPI bool ucdr_deserialize_string( + ucdrBuffer* ub, + char* string, + size_t string_capacity); +UCDRDLLAPI bool ucdr_deserialize_endian_string( + ucdrBuffer* ub, + ucdrEndianness endianness, + char* string, + size_t string_capacity); + +// ------------------------------------------------------------------- +// VALID TYPES DECLARATIONS +// ------------------------------------------------------------------- + +UCDR_BASIC_TYPE_DECLARATIONS(_char, char) +UCDR_BASIC_TYPE_DECLARATIONS(_bool, bool) +UCDR_BASIC_TYPE_DECLARATIONS(_uint8_t, uint8_t) +UCDR_BASIC_TYPE_DECLARATIONS(_uint16_t, uint16_t) +UCDR_BASIC_TYPE_DECLARATIONS(_uint32_t, uint32_t) +UCDR_BASIC_TYPE_DECLARATIONS(_uint64_t, uint64_t) +UCDR_BASIC_TYPE_DECLARATIONS(_int8_t, int8_t) +UCDR_BASIC_TYPE_DECLARATIONS(_int16_t, int16_t) +UCDR_BASIC_TYPE_DECLARATIONS(_int32_t, int32_t) +UCDR_BASIC_TYPE_DECLARATIONS(_int64_t, int64_t) +UCDR_BASIC_TYPE_DECLARATIONS(_float, float) +UCDR_BASIC_TYPE_DECLARATIONS(_double, double) + +UCDR_ARRAY_DECLARATIONS(_char, char) +UCDR_ARRAY_DECLARATIONS(_bool, bool) +UCDR_ARRAY_DECLARATIONS(_uint8_t, uint8_t) +UCDR_ARRAY_DECLARATIONS(_uint16_t, uint16_t) +UCDR_ARRAY_DECLARATIONS(_uint32_t, uint32_t) +UCDR_ARRAY_DECLARATIONS(_uint64_t, uint64_t) +UCDR_ARRAY_DECLARATIONS(_int8_t, int8_t) +UCDR_ARRAY_DECLARATIONS(_int16_t, int16_t) +UCDR_ARRAY_DECLARATIONS(_int32_t, int32_t) +UCDR_ARRAY_DECLARATIONS(_int64_t, int64_t) +UCDR_ARRAY_DECLARATIONS(_float, float) +UCDR_ARRAY_DECLARATIONS(_double, double) + +UCDR_SEQUENCE_DECLARATIONS(_char, char) +UCDR_SEQUENCE_DECLARATIONS(_bool, bool) +UCDR_SEQUENCE_DECLARATIONS(_uint8_t, uint8_t) +UCDR_SEQUENCE_DECLARATIONS(_uint16_t, uint16_t) +UCDR_SEQUENCE_DECLARATIONS(_uint32_t, uint32_t) +UCDR_SEQUENCE_DECLARATIONS(_uint64_t, uint64_t) +UCDR_SEQUENCE_DECLARATIONS(_int8_t, int8_t) +UCDR_SEQUENCE_DECLARATIONS(_int16_t, int16_t) +UCDR_SEQUENCE_DECLARATIONS(_int32_t, int32_t) +UCDR_SEQUENCE_DECLARATIONS(_int64_t, int64_t) +UCDR_SEQUENCE_DECLARATIONS(_float, float) +UCDR_SEQUENCE_DECLARATIONS(_double, double) + +#ifdef __cplusplus +} +#endif // ifdef __cplusplus + +#endif //_MICROCDR_MICRO_CDR_H_ diff --git a/ports/espressif/microros-ext/include/ucdr/visibility.h b/ports/espressif/microros-ext/include/ucdr/visibility.h new file mode 100644 index 0000000000000..fb5fa6e6f6fbd --- /dev/null +++ b/ports/espressif/microros-ext/include/ucdr/visibility.h @@ -0,0 +1,33 @@ +// Copyright 2017 Proyectos y Sistemas de Mantenimiento SL (eProsima). +// +// 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. + + +#ifndef _MICROCDR_VISIBILITY_H_ +#define _MICROCDR_VISIBILITY_H_ + +#if defined(_WIN32) +#if defined(microcdr_SHARED) +#if defined(microcdr_EXPORTS) +#define UCDRDLLAPI __declspec( dllexport ) +#else +#define UCDRDLLAPI __declspec( dllimport ) +#endif // microcdr_EXPORTS +#else +#define UCDRDLLAPI +#endif // BUILDING_SHARED_LIBS +#else +#define UCDRDLLAPI +#endif // _WIN32 + +#endif // _MICROCDR_VISIBILITY_H_ diff --git a/ports/espressif/microros-ext/include/uxr/client/client.h b/ports/espressif/microros-ext/include/uxr/client/client.h new file mode 100644 index 0000000000000..e31d5439b4fa1 --- /dev/null +++ b/ports/espressif/microros-ext/include/uxr/client/client.h @@ -0,0 +1,34 @@ +// Copyright 2018 Proyectos y Sistemas de Mantenimiento SL (eProsima). +// +// 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. + +#ifndef _UXR_CLIENT_CLIENT_H_ +#define _UXR_CLIENT_CLIENT_H_ + +#include + +#ifdef UCLIENT_PROFILE_DISCOVERY +#include +#endif //UCLIENT_PROFILE_DISCOVERY + +#include +#include +#include +#include +#include +#include + +#include +#include + +#endif // _UXR_CLIENT_CLIENT_H_ diff --git a/ports/espressif/microros-ext/include/uxr/client/config.h b/ports/espressif/microros-ext/include/uxr/client/config.h new file mode 100644 index 0000000000000..27731f0563ecd --- /dev/null +++ b/ports/espressif/microros-ext/include/uxr/client/config.h @@ -0,0 +1,84 @@ +// Copyright 2017 Proyectos y Sistemas de Mantenimiento SL (eProsima). +// +// 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. + +#ifndef _UXR_CLIENT_CONFIG_H_ +#define _UXR_CLIENT_CONFIG_H_ + +#define UXR_CLIENT_VERSION_MAJOR 2 +#define UXR_CLIENT_VERSION_MINOR 4 +#define UXR_CLIENT_VERSION_MICRO 2 +#define UXR_CLIENT_VERSION_STR "2.4.2" + +#define UCLIENT_PROFILE_DISCOVERY + +#define UCLIENT_PROFILE_UDP +/* #undef UCLIENT_PROFILE_TCP */ +/* #undef UCLIENT_PROFILE_CAN */ +/* #undef UCLIENT_PROFILE_SERIAL */ +#define UCLIENT_PROFILE_CUSTOM_TRANSPORT +/* #undef UCLIENT_PROFILE_MULTITHREAD */ +/* #undef UCLIENT_PROFILE_SHARED_MEMORY */ +#define UCLIENT_PROFILE_STREAM_FRAMING + +/* #undef UCLIENT_PLATFORM_POSIX */ +#define UCLIENT_PLATFORM_POSIX_NOPOLL +/* #undef UCLIENT_PLATFORM_WINDOWS */ +/* #undef UCLIENT_PLATFORM_FREERTOS_PLUS_TCP */ +/* #undef UCLIENT_PLATFORM_RTEMS_BSD_NET */ +/* #undef UCLIENT_PLATFORM_ZEPHYR */ + +#define UXR_CONFIG_MAX_OUTPUT_BEST_EFFORT_STREAMS 1 +#define UXR_CONFIG_MAX_OUTPUT_RELIABLE_STREAMS 1 +#define UXR_CONFIG_MAX_INPUT_BEST_EFFORT_STREAMS 1 +#define UXR_CONFIG_MAX_INPUT_RELIABLE_STREAMS 1 + +#define UXR_CONFIG_MAX_SESSION_CONNECTION_ATTEMPTS 10 +#define UXR_CONFIG_MIN_SESSION_CONNECTION_INTERVAL 1000 +#define UXR_CONFIG_MIN_HEARTBEAT_TIME_INTERVAL 1 + +#ifdef UCLIENT_PROFILE_UDP +#define UXR_CONFIG_UDP_TRANSPORT_MTU 512 +#endif +#ifdef UCLIENT_PROFILE_TCP +#define UXR_CONFIG_TCP_TRANSPORT_MTU 512 +#endif +#ifdef UCLIENT_PROFILE_SERIAL +#define UXR_CONFIG_SERIAL_TRANSPORT_MTU 512 +#endif +#ifdef UCLIENT_PROFILE_CUSTOM_TRANSPORT +#define UXR_CONFIG_CUSTOM_TRANSPORT_MTU 512 +#endif + +#ifdef UCLIENT_PROFILE_SHARED_MEMORY +#define UXR_CONFIG_SHARED_MEMORY_MAX_ENTITIES 4 +#define UXR_CONFIG_SHARED_MEMORY_STATIC_MEM_SIZE 10 +#endif + +#define UCLIENT_TWEAK_XRCE_WRITE_LIMIT + +/* #undef UCLIENT_HARD_LIVELINESS_CHECK */ + +#ifdef UCLIENT_HARD_LIVELINESS_CHECK +#define UXR_CONFIG_HARD_LIVELINESS_CHECK_TIMEOUT_STR "10000" +#endif + + +// Version checks +#if UXR_CLIENT_VERSION_MAJOR >= 3 +#error UCLIENT_HARD_LIVELINESS_CHECK shall be included in session API +#error MTU must be included in CREATE_CLIENT_Payload properties +#error Reorder ObjectInfo https://github.com/eProsima/Micro-XRCE-DDS/issues/137 +#endif + +#endif // _UXR_CLIENT_CONFIG_H_ diff --git a/ports/espressif/microros-ext/include/uxr/client/core/communication/communication.h b/ports/espressif/microros-ext/include/uxr/client/core/communication/communication.h new file mode 100644 index 0000000000000..dbe94af12f10a --- /dev/null +++ b/ports/espressif/microros-ext/include/uxr/client/core/communication/communication.h @@ -0,0 +1,63 @@ +// Copyright 2018 Proyectos y Sistemas de Mantenimiento SL (eProsima). +// +// 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. + +#ifndef _UXR_CLIENT_CORE_COMMUNICATION_COMMUNICATION_H_ +#define _UXR_CLIENT_CORE_COMMUNICATION_COMMUNICATION_H_ + +#ifdef __cplusplus +extern "C" +{ +#endif // ifdef __cplusplus + +#include + +#include +#include +#include + +#ifdef UCLIENT_PROFILE_MULTITHREAD +#include +#endif // ifdef UCLIENT_PROFILE_MULTITHREAD + +typedef bool (* send_msg_func)( + void* instance, + const uint8_t* buf, + size_t len); +typedef bool (* recv_msg_func)( + void* instance, + uint8_t** buf, + size_t* len, + int timeout); +typedef uint8_t (* comm_error_func)( + void); + +typedef struct uxrCommunication +{ + void* instance; + send_msg_func send_msg; + recv_msg_func recv_msg; + comm_error_func comm_error; + uint16_t mtu; + +#ifdef UCLIENT_PROFILE_MULTITHREAD + uxrMutex mutex; +#endif // ifdef UCLIENT_PROFILE_MULTITHREAD + +} uxrCommunication; + +#ifdef __cplusplus +} +#endif // ifdef __cplusplus + +#endif //_UXR_CLIENT_CORE_COMMUNICATION_COMMUNICATION_H_ diff --git a/ports/espressif/microros-ext/include/uxr/client/core/session/common_create_entities.h b/ports/espressif/microros-ext/include/uxr/client/core/session/common_create_entities.h new file mode 100644 index 0000000000000..9e933847335da --- /dev/null +++ b/ports/espressif/microros-ext/include/uxr/client/core/session/common_create_entities.h @@ -0,0 +1,55 @@ +// Copyright 2019 Proyectos y Sistemas de Mantenimiento SL (eProsima). +// +// 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. + +/** + * @file + */ + +#ifndef UXR_CLIENT_CORE_SESSION_COMMON_CREATE_ENTITIES_H_ +#define UXR_CLIENT_CORE_SESSION_COMMON_CREATE_ENTITIES_H_ + +#ifdef __cplusplus +extern "C" +{ +#endif // ifdef __cplusplus + +#include + +/** \addtogroup create_common Create entities common profile + * These functions are enabled when either PROFILE_CREATE_ENTITIES_XML or PROFILE_CREATE_ENTITIES_REF are activated as CMake arguments. The declaration of these functions can be found in uxr/client/profile/session/common_create_entities.h. + * @{ + */ + +/** + * @brief Buffers into the stream identified by `stream_id` an XRCE DELETE submessage. + * The submessage will be sent when `uxr_flash_output_stream` or `uxr_run_session` function are called. + * As a result of the reception of this submessage, the Agent will delete an XRCE entity. + * @param session A uxrSession structure previously initialized. + * @param stream_id The output stream identifier where the CREATE submessage will be buffered. + * @param object_id The identifier of the XRCE entity. + * @return A `request_id` that identifies the request made by the Client. + * This could be used in the `uxr_run_session_until_one_status` or `uxr_run_session_until_all_status` functions. + */ +UXRDLLAPI uint16_t uxr_buffer_delete_entity( + uxrSession* session, + uxrStreamId stream_id, + uxrObjectId object_id); + +/** @}*/ + +#ifdef __cplusplus +} +#endif // ifdef __cplusplus + +#endif // UXR_CLIENT_CORE_SESSION_COMMON_CREATE_ENTITIES_H_ diff --git a/ports/espressif/microros-ext/include/uxr/client/core/session/create_entities_bin.h b/ports/espressif/microros-ext/include/uxr/client/core/session/create_entities_bin.h new file mode 100644 index 0000000000000..fc17728b2dfd2 --- /dev/null +++ b/ports/espressif/microros-ext/include/uxr/client/core/session/create_entities_bin.h @@ -0,0 +1,279 @@ +// Copyright 2018 Proyectos y Sistemas de Mantenimiento SL (eProsima). +// +// 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. + +#ifndef UXR_CLIENT_CORE_SESSION_CREATE_ENTITIES_BIN_H_ +#define UXR_CLIENT_CORE_SESSION_CREATE_ENTITIES_BIN_H_ + +#ifdef __cplusplus +extern "C" +{ +#endif // ifdef __cplusplus + +#include +#include + +//================================================================== +// PUBLIC +//================================================================== + +/** + * The enum that identifies the durability of the QoS of the DDS entity. + */ + +typedef enum uxrQoSDurability +{ + UXR_DURABILITY_TRANSIENT_LOCAL = 0, + UXR_DURABILITY_TRANSIENT, + UXR_DURABILITY_VOLATILE, + UXR_DURABILITY_PERSISTENT +} uxrQoSDurability; + +typedef enum uxrQoSReliability +{ + UXR_RELIABILITY_RELIABLE = 0, + UXR_RELIABILITY_BEST_EFFORT, +} uxrQoSReliability; + + +// uxrQosHistory +typedef enum uxrQoSHistory +{ + UXR_HISTORY_KEEP_LAST = 0, + UXR_HISTORY_KEEP_ALL +} uxrQoSHistory; + +typedef struct uxrQoS_t +{ + uxrQoSDurability durability; + uxrQoSReliability reliability; + uxrQoSHistory history; + uint16_t depth; +} uxrQoS_t; + +/** + * @brief Buffers into the stream identified by `stream_id` an XRCE CREATE submessage with an XRCE Participant payload. + * The submessage will be sent when `uxr_flash_output_streams` or `uxr_run_session` function are called. + * As a result of the reception of this submessage, the Agent will create an XRCE Participant according to + * the binary provided in the CREATE submessage. + * @param session A uxrSession structure previously initialized. + * @param stream_id The output stream identifier where the CREATE submessage will be buffered. + * @param object_id The identifier of the XRCE Participant. + * @param domain_id The identifier of the Domain to which the XRCE Participant belongs. + * @param participant_name The XRCE Participant name. Can be NULL. + * @param mode The set of flags that determines the entity creation mode. + * The Creation Mode Table describes the entities creation behaviour according to the + * `UXR_REUSE` and `UXR_REPLACE` flags. + * @return A `request_id` that identifies the request made by the Client. + * This could be used in the `uxr_run_session_until_one_status` or `uxr_run_session_until_all_status` functions. + */ +UXRDLLAPI uint16_t uxr_buffer_create_participant_bin( + uxrSession* session, + uxrStreamId stream_id, + uxrObjectId object_id, + uint16_t domain_id, + const char* participant_name, + uint8_t mode); +/** + * @brief Buffers into the stream identified by `stream_id` an XRCE CREATE submessage with an XRCE Topic payload. + * The submessage will be sent when `uxr_flash_output_streams` or `uxr_run_session` function are called. + * As a result of the reception of this submessage, the Agent will create an XRCE Topic according to + * the binary provided in the CREATE submessage. + * @param session A uxrSession structure previously initialized. + * @param stream_id The output stream identifier where the CREATE submessage will be buffered. + * @param object_id The identifier of the XRCE Topic. + * @param participant_id The identifier of the associated XRCE Participant. + * @param topic_name The XRCE Topic name. + * @param type_name The XRCE Topic type. + * @param mode The set of flags that determines the entity creation mode. + * The Creation Mode Table describes the entities creation behaviour according to the + * `UXR_REUSE` and `UXR_REPLACE` flags. + * @return A `request_id` that identifies the request made by the Client. + * This could be used in the `uxr_run_session_until_one_status` or `uxr_run_session_until_all_status` functions. + */ +UXRDLLAPI uint16_t uxr_buffer_create_topic_bin( + uxrSession* session, + uxrStreamId stream_id, + uxrObjectId object_id, + uxrObjectId participant_id, + const char* topic_name, + const char* type_name, + uint8_t mode); + +/** + * @brief Buffers into the stream identified by `stream_id` an XRCE CREATE submessage with an XRCE Subscriber payload. + * The submessage will be sent when `uxr_flash_output_streams` or `uxr_run_session` function are called. + * As a result of the reception of this submessage, the Agent will create an XRCE Publisher according to + * the binary provided in the CREATE submessage. + * @param session A uxrSession structure previously initialized. + * @param mode The set of flags that determines the entity creation mode. + * The Creation Mode Table describes the entities creation behaviour according to the + * `UXR_REUSE` and `UXR_REPLACE` flags. + * @return A `request_id` that identifies the request made by the Client. + * This could be used in the `uxr_run_session_until_one_status` or `uxr_run_session_until_all_status` functions. + */ +UXRDLLAPI uint16_t uxr_buffer_create_publisher_bin( + uxrSession* session, + uxrStreamId stream_id, + uxrObjectId object_id, + uxrObjectId participant_id, + uint8_t mode); + +/** + * @brief Buffers into the stream identified by `stream_id` an XRCE CREATE submessage with an XRCE Subscriber payload. + * The submessage will be sent when `uxr_flash_output_streams` or `uxr_run_session` function are called. + * As a result of the reception of this submessage, the Agent will create an XRCE Subscriber according to + * the binary provided in the CREATE submessage. + * @param session A uxrSession structure previously initialized. + * @param stream_id The output stream identifier where the CREATE submessage will be buffered. + * @param object_id The identifier of the XRCE Subscriber. + * @param participant_id The identifier of the associated XRCE Participant. + * @param mode The set of flags that determines the entity creation mode. + * The Creation Mode Table describes the entities creation behaviour according to the + * `UXR_REUSE` and `UXR_REPLACE` flags. + * @return A `request_id` that identifies the request made by the Client. + * This could be used in the `uxr_run_session_until_one_status` or `uxr_run_session_until_all_status` functions. + */ +UXRDLLAPI uint16_t uxr_buffer_create_subscriber_bin( + uxrSession* session, + uxrStreamId stream_id, + uxrObjectId object_id, + uxrObjectId participant_id, + uint8_t mode); + +/** + * @brief Buffers into the stream identified by `stream_id` an XRCE CREATE submessage with an XRCE DataWriter payload. + * The submessage will be sent when `uxr_flash_output_streams` or `uxr_run_session` function are called. + * As a result of the reception of this submessage, the Agent will create an XRCE DataWriter according to + * the binary provided in the CREATE submessage. + * @param session A uxrSession structure previously initialized. + * @param stream_id The output stream identifier where the CREATE submessage will be buffered. + * @param object_id The identifier of the XRCE DataWriter. + * @param publisher_id The identifier of the associated XRCE Publisher. + * @param topic_id The identifier of the associated XRCE Topic. + * @param qos QoS definition. + * @param mode The set of flags that determines the entity creation mode. + * The Creation Mode Table describes the entities creation behaviour according to the + * `UXR_REUSE` and `UXR_REPLACE` flags. + * @return A `request_id` that identifies the request made by the Client. + * This could be used in the `uxr_run_session_until_one_status` or `uxr_run_session_until_all_status` functions. + */ +UXRDLLAPI uint16_t uxr_buffer_create_datawriter_bin( + uxrSession* session, + uxrStreamId stream_id, + uxrObjectId object_id, + uxrObjectId publisher_id, + uxrObjectId topic_id, + uxrQoS_t qos, + uint8_t mode); + +/** + * @brief Buffers into the stream identified by `stream_id` an XRCE CREATE submessage with an XRCE DataReader payload. + * The submessage will be sent when `uxr_flash_output_streams` or `uxr_run_session` function are called. + * As a result of the reception of this submessage, the Agent will create an XRCE DataReader according to + * the binary provided in the CREATE submessage. + * @param session A uxrSession structure previously initialized. + * @param stream_id The output stream identifier where the CREATE submessage will be buffered. + * @param object_id The identifier of the XRCE DataReader. + * @param subscriber_id The identifier of the associated XRCE Subscriber. + * @param topic_id The identifier of the associated XRCE Topic. + * @param qos QoS definition. + * @param mode The set of flags that determines the entity creation mode. + * The Creation Mode Table describes the entities creation behaviour according to the + * `UXR_REUSE` and `UXR_REPLACE` flags. + * @return A `request_id` that identifies the request made by the Client. + * This could be used in the `uxr_run_session_until_one_status` or `uxr_run_session_until_all_status` functions. + */ +UXRDLLAPI uint16_t uxr_buffer_create_datareader_bin( + uxrSession* session, + uxrStreamId stream_id, + uxrObjectId object_id, + uxrObjectId subscriber_id, + uxrObjectId topic_id, + uxrQoS_t qos, + uint8_t mode); +/** + * @brief Buffers into the stream identified by `stream_id` an XRCE CREATE submessage with an XRCE Requester payload. + * The submessage will be sent when `uxr_flag_output_streams` or `uxr_run_session` functions are called. + * As a result of the reception of this submessage, the Agent will create an XRCE Requester according to + * the binary provided in the CREATE submessage. + * + * @param session A uxrSession structure previously initialized. + * @param stream_id The output stream identifier where the CREATE submessage will be buffered. + * @param object_id The identifier of the XRCE Requester. + * @param participant_id The identifier of the associated XRCE Participant. + * @param service_name Requester service name. + * @param request_type Requester request type. + * @param reply_type Requester reply type. + * @param request_topic_name Requester request topic name. + * @param reply_topic_name Requester reply topic name. + * @param qos QoS definition. + * @param mode The set of flags that determines the entitiy creation mode. + * the Creation Mode Table describes the entities creation behaviour according to the + * `UXR_REUSE` and `UXR_REPLACE` flags. + * @return A `request_id` that identifies the request made by the Client. + * This could be used in the `uxr_run_session_until_one_status` or `uxr_run_session_until_all_status` functions. + */ +UXRDLLAPI uint16_t uxr_buffer_create_requester_bin( + uxrSession* session, + uxrStreamId stream_id, + uxrObjectId object_id, + uxrObjectId participant_id, + const char* service_name, + const char* request_type, + const char* reply_type, + const char* request_topic_name, + const char* reply_topic_name, + uxrQoS_t qos, + uint8_t mode); + +/** + * @brief Buffers into the stream identified by `stream_id` an XRCE CREATE submessage with an XRCE Replier payload. + * The submessage will be sent when `uxr_flag_output_streams` or `uxr_run_session` functions are called. + * As a result of the reception of this submessage, the Agent will create an XRCE Replier according to + * the binary provided in the CREATE submessage. + * + * @param session A uxrSession structure previously initialized. + * @param stream_id The output stream identifier where the CREATE submessage will be buffered. + * @param object_id The identifier of the XRCE Requester. + * @param participant_id The identifier of the associated XRCE Participant. + * @param service_name Replier service name. + * @param request_type Replier request type. + * @param reply_type Replier reply type. + * @param request_topic_name Replier request topic name. + * @param reply_topic_name Replier reply topic name. + * @param qos QoS definition. + * @param mode The set of flags that determines the entitiy creation mode. + * the Creation Mode Table describes the entities creation behaviour according to the + * `UXR_REUSE` and `UXR_REPLACE` flags. + * @return A `request_id` that identifies the request made by the Client. + * This could be used in the `uxr_run_session_until_one_status` or `uxr_run_session_until_all_status` functions. + */ +UXRDLLAPI uint16_t uxr_buffer_create_replier_bin( + uxrSession* session, + uxrStreamId stream_id, + uxrObjectId object_id, + uxrObjectId participant_id, + const char* service_name, + const char* request_type, + const char* reply_type, + const char* request_topic_name, + const char* reply_topic_name, + uxrQoS_t qos, + uint8_t mode); + +#ifdef __cplusplus +} +#endif // ifdef __cplusplus + +#endif // UXR_CLIENT_CORE_SESSION_CREATE_ENTITIES_BIN_H_ diff --git a/ports/espressif/microros-ext/include/uxr/client/core/session/create_entities_ref.h b/ports/espressif/microros-ext/include/uxr/client/core/session/create_entities_ref.h new file mode 100644 index 0000000000000..4049e5d607bb8 --- /dev/null +++ b/ports/espressif/microros-ext/include/uxr/client/core/session/create_entities_ref.h @@ -0,0 +1,186 @@ +// Copyright 2019 Proyectos y Sistemas de Mantenimiento SL (eProsima). +// +// 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. + +/** + * @file + */ + +#ifndef UXR_CLIENT_CORE_SESSION_CREATE_ENTITIES_REF_H_ +#define UXR_CLIENT_CORE_SESSION_CREATE_ENTITIES_REF_H_ + +#ifdef __cplusplus +extern "C" +{ +#endif // ifdef __cplusplus + +#include + +/** \addtogroup create_ref Create entities by reference + * These functions are enabled when PROFILE_CREATE_ENTITIES_REF is activated as a CMake argument. The declaration of these functions can be found in uxr/client/profile/session/create_entities_ref.h. + * @{ + */ + +/** + * @brief Buffers into the stream identified by `stream_id` an XRCE CREATE submessage with an XRCE Participant payload. + * The submessage will be sent when `uxr_flash_output_streams` or `uxr_run_session` function are called. + * As a result of the reception of this submessage, the Agent will create an XRCE Participant according to + * the reference provided in the CREATE submessage. + * @param session A uxrSession structure previously initialized. + * @param stream_id The output stream identifier where the CREATE submessage will be buffered. + * @param object_id The identifier of the XRCE Participant. + * @param domain_id The identifier of the Domain to which the XRCE Participant belongs. + * @param ref The reference of the XRCE Participant. + * @param mode The set of flags that determines the entity creation mode. + * The Creation Mode Table describes the entities creation behaviour according to the + * `UXR_REUSE` and `UXR_REPLACE` flags. + * @return A `request_id` that identifies the request made by the Client. + * This could be used in the `uxr_run_session_until_one_status` or `uxr_run_session_until_all_status` functions. + */ +UXRDLLAPI uint16_t uxr_buffer_create_participant_ref( + uxrSession* session, + uxrStreamId stream_id, + uxrObjectId object_id, + uint16_t domain_id, + const char* ref, + uint8_t mode); + +/** + * @brief Buffers into the stream identified by `stream_id` an XRCE CREATE submessage with an XRCE Topic payload. + * The submessage will be sent when `uxr_flash_output_streams` or `uxr_run_session` function are called. + * As a result of the reception of this submessage, the Agent will create an XRCE Topic according to + * the reference provided in the CREATE submessage. + * @param session A uxrSession structure previously initialized. + * @param stream_id The output stream identifier where the CREATE submessage will be buffered. + * @param object_id The identifier of the XRCE Topic. + * @param participant_id The identifier of the associated XRCE Participant. + * @param ref The reference of the XRCE Topic. + * @param mode The set of flags that determines the entity creation mode. + * The Creation Mode Table describes the entities creation behaviour according to the + * `UXR_REUSE` and `UXR_REPLACE` flags. + * @return A `request_id` that identifies the request made by the Client. + * This could be used in the `uxr_run_session_until_one_status` or `uxr_run_session_until_all_status` functions. + */ +UXRDLLAPI uint16_t uxr_buffer_create_topic_ref( + uxrSession* session, + uxrStreamId stream_id, + uxrObjectId object_id, + uxrObjectId participant_id, + const char* ref, + uint8_t mode); + +/** + * @brief Buffers into the stream identified by `stream_id` an XRCE CREATE submessage with an XRCE DataWriter payload. + * The submessage will be sent when `uxr_flash_output_streams` or `uxr_run_session` function are called. + * As a result of the reception of this submessage, the Agent will create an XRCE DataWriter according to + * the reference provided in the CREATE submessage. + * @param session A uxrSession structure previously initialized. + * @param stream_id The output stream identifier where the CREATE submessage will be buffered. + * @param object_id The identifier of the XRCE DataWriter. + * @param publisher_id The identifier of the associated XRCE Publisher. + * @param ref The reference of the XRCE DataWriter. + * @param mode The set of flags that determines the entity creation mode. + * The Creation Mode Table describes the entities creation behaviour according to the + * `UXR_REUSE` and `UXR_REPLACE` flags. + * @return A `request_id` that identifies the request made by the Client. + * This could be used in the `uxr_run_session_until_one_status` or `uxr_run_session_until_all_status` functions. + */ +UXRDLLAPI uint16_t uxr_buffer_create_datawriter_ref( + uxrSession* session, + uxrStreamId stream_id, + uxrObjectId object_id, + uxrObjectId publisher_id, + const char* ref, + uint8_t mode); + +/** + * @brief Buffers into the stream identified by `stream_id` an XRCE CREATE submessage with an XRCE DataReader payload. + * The submessage will be sent when `uxr_flash_output_streams` or `uxr_run_session` function are called. + * As a result of the reception of this submessage, the Agent will create an XRCE DataReader according to + * the reference provided in the CREATE submessage. + * @param session A uxrSession structure previously initialized. + * @param stream_id The output stream identifier where the CREATE submessage will be buffered. + * @param object_id The identifier of the XRCE DataReader. + * @param subscriber_id The identifier of the associated XRCE Subscriber. + * @param ref The reference of the XRCE DataReader. + * @param mode The set of flags that determines the entity creation mode. + * The Creation Mode Table describes the entities creation behaviour according to the + * `UXR_REUSE` and `UXR_REPLACE` flags. + * @return A `request_id` that identifies the request made by the Client. + * This could be used in the `uxr_run_session_until_one_status` or `uxr_run_session_until_all_status` functions. + */ +UXRDLLAPI uint16_t uxr_buffer_create_datareader_ref( + uxrSession* session, + uxrStreamId stream_id, + uxrObjectId object_id, + uxrObjectId subscriber_id, + const char* ref, + uint8_t mode); + +/** + * @brief Buffers into the stream identified by `stream_id` an XRCE CREATE submessage with an XRCE Requester payload. + * The submessage will be sent when `uxr_flag_output_streams` or `uxr_run_session` functions are called. + * As a result of the reception of this submessage, the Agent will create an XRCE Requester according to + * the reference provided in the CREATE submessage. + * + * @param session A uxrSession structure previously initialized. + * @param stream_id The output stream identifier where the CREATE submessage will be buffered. + * @param object_id The identifier of the XRCE Requester. + * @param participant_id The identifier of the associated XRCE Participant. + * @param ref The reference of the XRCE Requester. + * @param mode The set of flags that determines the entitiy creation mode. + * the Creation Mode Table describes the entities creation behaviour according to the + * `UXR_REUSE` and `UXR_REPLACE` flags. + * @return A `request_id` that identifies the request made by the Client. + * This could be used in the `uxr_run_session_until_one_status` or `uxr_run_session_until_all_status` functions. + */ +UXRDLLAPI uint16_t uxr_buffer_create_requester_ref( + uxrSession* session, + uxrStreamId stream_id, + uxrObjectId object_id, + uxrObjectId participant_id, + const char* ref, + uint8_t mode); + +/** + * @brief Buffers into the stream identified by `stream_id` an XRCE CREATE submessage with an XRCE Replier payload. + * The submessage will be sent when `uxr_flag_output_streams` or `uxr_run_session` functions are called. + * As a result of the reception of this submessage, the Agent will create an XRCE Replier according to + * the reference provided in the CREATE submessage. + * + * @param session A uxrSession structure previously initialized. + * @param stream_id The output stream identifier where the CREATE submessage will be buffered. + * @param object_id The identifier of the XRCE Requester. + * @param participant_id The identifier of the associated XRCE Participant. + * @param ref The reference of the XRCE Replier. + * @param mode The set of flags that determines the entitiy creation mode. + * the Creation Mode Table describes the entities creation behaviour according to the + * `UXR_REUSE` and `UXR_REPLACE` flags. + * @return A `request_id` that identifies the request made by the Client. + * This could be used in the `uxr_run_session_until_one_status` or `uxr_run_session_until_all_status` functions. + */ +UXRDLLAPI uint16_t uxr_buffer_create_replier_ref( + uxrSession* session, + uxrStreamId stream_id, + uxrObjectId object_id, + uxrObjectId participant_id, + const char* ref, + uint8_t mode); + +/** @}*/ + +#ifdef __cplusplus +} +#endif // ifdef __cplusplus + +#endif // UXR_CLIENT_CORE_SESSION_CREATE_ENTITIES_REF_H_ diff --git a/ports/espressif/microros-ext/include/uxr/client/core/session/create_entities_xml.h b/ports/espressif/microros-ext/include/uxr/client/core/session/create_entities_xml.h new file mode 100644 index 0000000000000..e797382cae25d --- /dev/null +++ b/ports/espressif/microros-ext/include/uxr/client/core/session/create_entities_xml.h @@ -0,0 +1,234 @@ +// Copyright 2018 Proyectos y Sistemas de Mantenimiento SL (eProsima). +// +// 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. + +/** + * @file + */ + +#ifndef UXR_CLIENT_CORE_SESSION_CREATE_ENTITIES_XML_H_ +#define UXR_CLIENT_CORE_SESSION_CREATE_ENTITIES_XML_H_ + +#ifdef __cplusplus +extern "C" +{ +#endif // ifdef __cplusplus + +#include + +/** \addtogroup create_xml Create entities by XML + * These functions are enabled when the PROFILE_CREATE_ENTITIES_XML is activated as a CMake argument. The declaration of these functions can be found in uxr/client/profile/session/create_entities_xml.h. + * @{ + */ + +/** + * @brief Buffers into the stream identified by `stream_id` an XRCE CREATE submessage with an XRCE Participant payload. + * The submessage will be sent when `uxr_flash_output_streams` or `uxr_run_session` function are called. + * As a result of the reception of this submessage, the Agent will create an XRCE Participant according to + * the XML provides in the CREATE submessage. + * @param session A uxrSession structure previously initialized. + * @param stream_id The output stream identifier where the CREATE submessage will be buffered. + * @param object_id The identifier of the XRCE Participant. + * @param domain_id The identifier of the Domain to which the XRCE Participant belongs. + * @param xml The XML that describes the XRCE Participant entity. + * @param mode The set of flags that determines the entity creation mode. + * The Creation Mode Table describes the entities creation behaviour according to the + * `UXR_REUSE` and `UXR_REPLACE` flags. + * @return A `request_id` that identifies the request made by the Client. + * This could be used in the `uxr_run_session_until_one_status` or `uxr_run_session_until_all_status` functions. + */ +UXRDLLAPI uint16_t uxr_buffer_create_participant_xml( + uxrSession* session, + uxrStreamId stream_id, + uxrObjectId object_id, + uint16_t domain_id, + const char* xml, + uint8_t mode); + +/** + * @brief Buffers into the stream identified by `stream_id` an XRCE CREATE submessage with an XRCE Topic payload. + * The submessage will be sent when `uxr_flash_output_streams` or `uxr_run_session` function are called. + * As a result of the reception of this submessage, the Agent will create an XRCE Topic according to + * the XML provides in the CREATE submessage. + * @param session A uxrSession structure previously initialized. + * @param stream_id The output stream identifier where the CREATE submessage will be buffered. + * @param object_id The identifier of the XRCE Topic. + * @param participant_id The identifier of the associated XRCE Participant. + * @param xml The XML that describes the XRCE Topic. + * @param mode The set of flags that determines the entity creation mode. + * The Creation Mode Table describes the entities creation behaviour according to the + * `UXR_REUSE` and `UXR_REPLACE` flags. + * @return A `request_id` that identifies the request made by the Client. + * This could be used in the `uxr_run_session_until_one_status` or `uxr_run_session_until_all_status` functions. + */ +UXRDLLAPI uint16_t uxr_buffer_create_topic_xml( + uxrSession* session, + uxrStreamId stream_id, + uxrObjectId object_id, + uxrObjectId participant_id, + const char* xml, + uint8_t mode); + +/** + * @brief Buffers into the stream identified by `stream_id` an XRCE CREATE submessage with an XRCE Subscriber payload. + * The submessage will be sent when `uxr_flash_output_streams` or `uxr_run_session` function are called. + * As a result of the reception of this submessage, the Agent will create an XRCE Publisher according to + * the XML provides in the CREATE submessage. + * @param session A uxrSession structure previously initialized. + * @param stream_id The output stream identifier where the CREATE submessage will be buffered. + * @param object_id The identifier of the XRCE Publisher. + * @param participant_id The identifier of the associated XRCE Participant. + * @param xml The XML that describes the XRCE DataWriter. + * @param mode The set of flags that determines the entity creation mode. + * The Creation Mode Table describes the entities creation behaviour according to the + * `UXR_REUSE` and `UXR_REPLACE` flags. + * @return A `request_id` that identifies the request made by the Client. + * This could be used in the `uxr_run_session_until_one_status` or `uxr_run_session_until_all_status` functions. + */ +UXRDLLAPI uint16_t uxr_buffer_create_publisher_xml( + uxrSession* session, + uxrStreamId stream_id, + uxrObjectId object_id, + uxrObjectId participant_id, + const char* xml, + uint8_t mode); + +/** + * @brief Buffers into the stream identified by `stream_id` an XRCE CREATE submessage with an XRCE Subscriber payload. + * The submessage will be sent when `uxr_flash_output_streams` or `uxr_run_session` function are called. + * As a result of the reception of this submessage, the Agent will create an XRCE Subscriber according to + * the XML provides in the CREATE submessage. + * @param session A uxrSession structure previously initialized. + * @param stream_id The output stream identifier where the CREATE submessage will be buffered. + * @param object_id The identifier of the XRCE Subscriber. + * @param participant_id The identifier of the associated XRCE Participant. + * @param xml The XML that describes the XRCE DataWriter. + * @param mode The set of flags that determines the entity creation mode. + * The Creation Mode Table describes the entities creation behaviour according to the + * `UXR_REUSE` and `UXR_REPLACE` flags. + * @return A `request_id` that identifies the request made by the Client. + * This could be used in the `uxr_run_session_until_one_status` or `uxr_run_session_until_all_status` functions. + */ +UXRDLLAPI uint16_t uxr_buffer_create_subscriber_xml( + uxrSession* session, + uxrStreamId stream_id, + uxrObjectId object_id, + uxrObjectId participant_id, + const char* xml, + uint8_t mode); + +/** + * @brief Buffers into the stream identified by `stream_id` an XRCE CREATE submessage with an XRCE DataWriter payload. + * The submessage will be sent when `uxr_flash_output_streams` or `uxr_run_session` function are called. + * As a result of the reception of this submessage, the Agent will create an XRCE DataWriter according to + * the XML provides in the CREATE submessage. + * @param session A uxrSession structure previously initialized. + * @param stream_id The output stream identifier where the CREATE submessage will be buffered. + * @param object_id The identifier of the XRCE DataWriter. + * @param publisher_id The identifier of the associated XRCE Publisher. + * @param xml The XML that describes the XRCE DataWriter. + * @param mode The set of flags that determines the entity creation mode. + * The Creation Mode Table describes the entities creation behaviour according to the + * `UXR_REUSE` and `UXR_REPLACE` flags. + * @return A `request_id` that identifies the request made by the Client. + * This could be used in the `uxr_run_session_until_one_status` or `uxr_run_session_until_all_status` functions. + */ +UXRDLLAPI uint16_t uxr_buffer_create_datawriter_xml( + uxrSession* session, + uxrStreamId stream_id, + uxrObjectId object_id, + uxrObjectId publisher_id, + const char* xml, + uint8_t mode); + +/** + * @brief Buffers into the stream identified by `stream_id` an XRCE CREATE submessage with an XRCE DataReader payload. + * The submessage will be sent when `uxr_flash_output_streams` or `uxr_run_session` function are called. + * As a result of the reception of this submessage, the Agent will create an XRCE DataReader according to + * the XML provides in the CREATE submessage. + * @param session A uxrSession structure previously initialized. + * @param stream_id The output stream identifier where the CREATE submessage will be buffered. + * @param object_id The identifier of the XRCE DataReader. + * @param subscriber_id The identifier of the associated XRCE Subscriber. + * @param xml The XML that describes the XRCE DataReader. + * @param mode The set of flags that determines the entity creation mode. + * The Creation Mode Table describes the entities creation behaviour according to the + * `UXR_REUSE` and `UXR_REPLACE` flags. + * @return A `request_id` that identifies the request made by the Client. + * This could be used in the `uxr_run_session_until_one_status` or `uxr_run_session_until_all_status` functions. + */ +UXRDLLAPI uint16_t uxr_buffer_create_datareader_xml( + uxrSession* session, + uxrStreamId stream_id, + uxrObjectId object_id, + uxrObjectId subscriber_id, + const char* xml, + uint8_t mode); + +/** + * @brief Buffers into the stream identified by `stream_id` an XRCE CREATE submessage with an XRCE Requester payload. + * The submessage will be sent when `uxr_flag_output_streams` or `uxr_run_session` functions are called. + * As a result of the reception of this submessage, the Agent will create an XRCE Requester according to + * the reference provided in the CREATE submessage. + * + * @param session A uxrSession structure previously initialized. + * @param stream_id The output stream identifier where the CREATE submessage will be buffered. + * @param object_id The identifier of the XRCE Requester. + * @param participant_id The identifier of the associated XRCE Participant. + * @param xml The XML that describes XRCE Requester. + * @param mode The set of flags that determines the entitiy creation mode. + * the Creation Mode Table describes the entities creation behaviour according to the + * `UXR_REUSE` and `UXR_REPLACE` flags. + * @return A `request_id` that identifies the request made by the Client. + * This could be used in the `uxr_run_session_until_one_status` or `uxr_run_session_until_all_status` functions. + */ +UXRDLLAPI uint16_t uxr_buffer_create_requester_xml( + uxrSession* session, + uxrStreamId stream_id, + uxrObjectId object_id, + uxrObjectId participant_id, + const char* xml, + uint8_t mode); + +/** + * @brief Buffers into the stream identified by `stream_id` an XRCE CREATE submessage with an XRCE Replier payload. + * The submessage will be sent when `uxr_flag_output_streams` or `uxr_run_session` functions are called. + * As a result of the reception of this submessage, the Agent will create an XRCE Replier according to + * the reference provided in the CREATE submessage. + * + * @param session A uxrSession structure previously initialized. + * @param stream_id The output stream identifier where the CREATE submessage will be buffered. + * @param object_id The identifier of the XRCE Requester. + * @param participant_id The identifier of the associated XRCE Participant. + * @param xml The XML that describes the XRCE Replier. + * @param mode The set of flags that determines the entitiy creation mode. + * the Creation Mode Table describes the entities creation behaviour according to the + * `UXR_REUSE` and `UXR_REPLACE` flags. + * @return A `request_id` that identifies the request made by the Client. + * This could be used in the `uxr_run_session_until_one_status` or `uxr_run_session_until_all_status` functions. + */ +UXRDLLAPI uint16_t uxr_buffer_create_replier_xml( + uxrSession* session, + uxrStreamId stream_id, + uxrObjectId object_id, + uxrObjectId participant_id, + const char* xml, + uint8_t mode); + +/** @}*/ + +#ifdef __cplusplus +} +#endif // ifdef __cplusplus + +#endif // UXR_CLIENT_CORE_SESSION_CREATE_ENTITIES_XML_H_ diff --git a/ports/espressif/microros-ext/include/uxr/client/core/session/object_id.h b/ports/espressif/microros-ext/include/uxr/client/core/session/object_id.h new file mode 100644 index 0000000000000..6864441a390f4 --- /dev/null +++ b/ports/espressif/microros-ext/include/uxr/client/core/session/object_id.h @@ -0,0 +1,70 @@ +// Copyright 2018 Proyectos y Sistemas de Mantenimiento SL (eProsima). +// +// 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. + +#ifndef _UXR_CLIENT_CORE_SESSION_OBJECT_ID_H_ +#define _UXR_CLIENT_CORE_SESSION_OBJECT_ID_H_ + +/** + * @file + */ + +#ifdef __cplusplus +extern "C" +{ +#endif // ifdef __cplusplus + +#include +#include + +#define UXR_INVALID_ID 0x00 +#define UXR_PARTICIPANT_ID 0x01 +#define UXR_TOPIC_ID 0x02 +#define UXR_PUBLISHER_ID 0x03 +#define UXR_SUBSCRIBER_ID 0x04 +#define UXR_DATAWRITER_ID 0x05 +#define UXR_DATAREADER_ID 0x06 +#define UXR_REQUESTER_ID 0x07 +#define UXR_REPLIER_ID 0x08 +#define UXR_OTHER_ID 0x0F + +typedef struct uxrObjectId +{ + uint16_t id; + uint8_t type; + +} uxrObjectId; + +/** + * @brief This function creates an identifier to reference an entity. + * @ingroup general_utils + * @param id Identifier of the object, different for each type. There can be several objects with the same ID, provided they have different types. + * @param type The type of the entity. It can be: UXR_PARTICIPANT_ID, UXR_TOPIC_ID, UXR_PUBLISHER_ID, UXR_SUBSCRIBER_ID, UXR_DATAWRITER_ID, UXR_DATAREADER_ID, UXR_REQUESTER_ID, or UXR_REPLIER_ID. + * @return Generated entity identifier. + */ +UXRDLLAPI uxrObjectId uxr_object_id( + uint16_t id, + uint8_t type); + +UXRDLLAPI uxrObjectId uxr_object_id_from_raw( + const uint8_t* raw); + +UXRDLLAPI void uxr_object_id_to_raw( + uxrObjectId object_id, + uint8_t* raw); + +#ifdef __cplusplus +} +#endif // ifdef __cplusplus + +#endif //_UXR_CLIENT_CORE_SESSION_OBJECT_ID_H_ diff --git a/ports/espressif/microros-ext/include/uxr/client/core/session/read_access.h b/ports/espressif/microros-ext/include/uxr/client/core/session/read_access.h new file mode 100644 index 0000000000000..498b962378a0d --- /dev/null +++ b/ports/espressif/microros-ext/include/uxr/client/core/session/read_access.h @@ -0,0 +1,111 @@ +// Copyright 2019 Proyectos y Sistemas de Mantenimiento SL (eProsima). +// +// 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. + +/** + * @file + */ + +#ifndef UXR_CLIENT_CORE_SESSION_READ_ACCESS_H_ +#define UXR_CLIENT_CORE_SESSION_READ_ACCESS_H_ + +#ifdef __cplusplus +extern "C" +{ +#endif // ifdef __cplusplus + +#include + +#define UXR_MAX_SAMPLES_UNLIMITED 0xFFFF +#define UXR_MAX_ELAPSED_TIME_UNLIMITED 0x0000 +#define UXR_MAX_BYTES_PER_SECOND_UNLIMITED 0x0000 + +/** \addtogroup read Read access + * The Read Access is used by the Client to handle the read operation on the Agent. The declaration of these functions can be found in uxr/client/profile/session/read_access.h. + * @{ + */ + +/** @struct uxrDeliveryControl + * @brief A structure used for controlling the delivery of topic from the Agent to the Client. + * + * @var uxrDeliveryControl::max_samples + * The maximum number of topics that the Agent shall send to the Client. + * + * @var uxrDeliveryControl::max_elapsed_time + * The maximum amount of time in seconds that shall be spent by the Agent delivering the topic. + * + * @var uxrDeliveryControl::max_bytes_per_second + * The maximum transfer rate, in bytes per second, that the Agent shall use. + * + * @var uxrDeliveryControl::min_pace_period + * The minimum elapsed time, in milliseconds, between two topics deliveries. + */ + +typedef struct uxrDeliveryControl +{ + uint16_t max_samples; + uint16_t max_elapsed_time; + uint16_t max_bytes_per_second; + uint16_t min_pace_period; + +} uxrDeliveryControl; + +/** + * @brief Buffers into the stream identified by `stream_id` an XRCE READ_DATA submessage. + * The submessage will be sent when `uxr_flash_output_streams` or `uxr_run_session` function are called. + * As a result of the reception of this submessage, the Agent will start to read a topic from the + * DDS Global-Data-Space. + * Each time the Agent reads a message from the topic, it will be sent to the Client according to the uxrDeliveryControl set + * by the Client. + * Each time the Client receives a topic message from the Agent, it will call the `on_topic_callback` set by the user. + * This callback provides the `request_id` returned by this function in order to identify the topic. + * In case of error at the Agent side, it will send an XRCE STATUS submessage with the error code. + * When the STATUS submessage is received by the Client, it will call the `on_status_callback` with the + * `request_id` returned by this function. + * @param session A uxrSession structure previously initialized. + * @param stream_id The output stream identifier where the READ_DATA submessage will be buffered. + * @param datareader_id The identifier of the XRCE DataReader that will read the topics from the DDS GDS. + * @param data_stream_id The identifier of the input stream through which the data will be received. + * @param delivery_control An optional parameter that is used for controlling the delivery of topics from the Agent. + * @return A `request_id` that identifies the request made by the Client. + * This could be used in the `uxr_run_session_until_one_status` or `uxr_run_session_until_all_status` functions. + */ +UXRDLLAPI uint16_t uxr_buffer_request_data( + uxrSession* session, + uxrStreamId stream_id, + uxrObjectId datareader_id, + uxrStreamId data_stream_id, + const uxrDeliveryControl* const delivery_control); + +/** + * @brief Buffers into the stream identified by `stream_id` an XRCE READ_DATA submessage. + * The submessage will be sent when `uxr_flash_output_streams` or `uxr_run_session` function are called. + * As a result of the reception of this submessage, the Agent will cancel any previous read operation. + * @param session A uxrSession structure previously initialized. + * @param stream_id The output stream identifier where the READ_DATA submessage will be buffered. + * @param datareader_id The identifier of the XRCE DataReader that will read the topics from the DDS GDS. + * @return A `request_id` that identifies the request made by the Client. + * This could be used in the `uxr_run_session_until_one_status` or `uxr_run_session_until_all_status` functions. + */ +UXRDLLAPI uint16_t uxr_buffer_cancel_data( + uxrSession* session, + uxrStreamId stream_id, + uxrObjectId datareader_id); + +/** @}*/ + +#ifdef __cplusplus +} +#endif // ifdef __cplusplus + +#endif // UXR_CLIENT_CORE_SESSION_READ_ACCESS_H_ diff --git a/ports/espressif/microros-ext/include/uxr/client/core/session/session.h b/ports/espressif/microros-ext/include/uxr/client/core/session/session.h new file mode 100644 index 0000000000000..d319fcc45abb3 --- /dev/null +++ b/ports/espressif/microros-ext/include/uxr/client/core/session/session.h @@ -0,0 +1,573 @@ +// Copyright 2019 Proyectos y Sistemas de Mantenimiento SL (eProsima). +// +// 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. + +/** + * @file + */ + +#ifndef UXR_CLIENT_CORE_SESSION_SESSION_H_ +#define UXR_CLIENT_CORE_SESSION_SESSION_H_ + +#ifdef __cplusplus +extern "C" +{ +#endif // ifdef __cplusplus + +#include +#include +#include +#include + +#ifdef UCLIENT_PROFILE_MULTITHREAD +#include +#endif // ifdef UCLIENT_PROFILE_MULTITHREAD + +#define UXR_TIMEOUT_INF -1 + +struct uxrSession; +struct uxrCommunication; + +/** \addtogroup session Session + * These functions are available even if no profile has been enabled. The declaration of these functions can be found in uxr/client/core/session/session.h. + * @{ + */ + + +/** + * @brief Function signature used for on_status_func callbacks. + * @param session Session structure related to the status. + * @param object_id The identifier of the entity related to the status. + * @param request_id Status request id. + * @param status Status value. + * @param args User pointer data. + */ +typedef void (* uxrOnStatusFunc) ( + struct uxrSession* session, + uxrObjectId object_id, + uint16_t request_id, + uint8_t status, + void* args); + +/** + * @brief Function signature used for on_topic_func callbacks. + * @param session Session structure related to the topic. + * @param object_id The identifier of the entity related to the topic. + * @param request_id Request id of the``request_data`` transaction. + * @param stream_id Id of the stream used for the communication. + * @param ub Serialized topic data. + * @param length Length of the serialized data. + * @param args User pointer data. + */ +typedef void (* uxrOnTopicFunc) ( + struct uxrSession* session, + uxrObjectId object_id, + uint16_t request_id, + uxrStreamId stream_id, + struct ucdrBuffer* ub, + uint16_t length, + void* args); + +/** + * @brief Function signature used for on_time_func callbacks. + * @param session Session structure related to the topic. + * @param current_timestamp Client’s timestamp of the response packet reception. + * @param transmit_timestamp Client’s timestamp of the request packet transmission. + * @param received_timestamp Agent’s timestamp of the request packet reception. + * @param originate_timestamp Agent’s timestamp of the response packet transmission. + * @param args User pointer data. + */ +typedef void (* uxrOnTimeFunc) ( + struct uxrSession* session, + int64_t current_timestamp, + int64_t transmit_timestamp, + int64_t received_timestamp, + int64_t originate_timestamp, + void* args); + +/** + * @brief Function signature used for on_request_func callbacks. + * @param session Session structure related to the topic. + * @param object_id The identifier of the entity related to the request. + * @param request_id Request id of the``request_data`` transaction. + * @param sample_id Identifier of the request. + * @param ub Serialized request data. + * @param length Length of the serialized data. + * @param args User pointer data. + */ +typedef void (* uxrOnRequestFunc) ( + struct uxrSession* session, + uxrObjectId object_id, + uint16_t request_id, + SampleIdentity* sample_id, + struct ucdrBuffer* ub, + uint16_t length, + void* args); + +/** + * @brief Sets the reply callback, which is called when the Agent sends a READ_DATA submessage associated with a Replier. + * @param session Session structure related to the topic. + * @param object_id The identifier of the entity related to the request. + * @param request_id Request id of the``request_data`` transaction. + * @param reply_id Identifier of the reply. + * @param ub Serialized request data. + * @param length Length of the serialized data. + * @param args User pointer data. + */ +typedef void (* uxrOnReplyFunc) ( + struct uxrSession* session, + uxrObjectId object_id, + uint16_t request_id, + uint16_t reply_id, + struct ucdrBuffer* ub, + uint16_t length, + void* args); + +/** + * @brief Function signature used for flush_callback callbacks. + * @param session Session structure related to the buffer to be flushed. + * @param args Flush callback args pointer. + */ +typedef bool (* uxrOnBuffersFull) ( + struct uxrSession* session, + void* args); + +#ifdef PERFORMANCE_TESTING +/** + * @nosubgrouping + */ +typedef void (* uxrOnPerformanceFunc) ( + struct uxrSession* session, + struct ucdrBuffer* mb, + void* args); +#endif // ifdef PERFORMANCE_TESTING + +/** + * @nosubgrouping + */ +typedef struct uxrContinuousArgs +{ + uxrOnBuffersFull flush_callback; + void* flush_callback_args; + uxrStreamId stream_id; + size_t data_size; +} uxrContinuousArgs; + +typedef uint8_t pong_status_t; +#define NO_PONG_STATUS 0x00 +#define PONG_IN_SESSION_STATUS 0x01 +#define PONG_NO_SESSION_STATUS 0x02 + +/** + * @nosubgrouping + */ +typedef struct uxrSession +{ + uxrSessionInfo info; + uxrStreamStorage streams; + struct uxrCommunication* comm; + + const uint16_t* request_list; + uint8_t* status_list; + size_t request_status_list_size; + + uxrOnStatusFunc on_status; + void* on_status_args; + + uxrOnTopicFunc on_topic; + void* on_topic_args; + + uxrOnTimeFunc on_time; + void* on_time_args; + int64_t time_offset; + bool synchronized; + + uxrOnRequestFunc on_request; + void* on_request_args; + + uxrOnReplyFunc on_reply; + void* on_reply_args; + + bool on_data_flag; + pong_status_t on_pong_flag; + uxrContinuousArgs continuous_args; + +#ifdef UCLIENT_PROFILE_MULTITHREAD + uxrMutex mutex; +#endif // ifdef UCLIENT_PROFILE_MULTITHREAD + +#ifdef PERFORMANCE_TESTING + uxrOnPerformanceFunc on_performance; + void* on_performance_args; +#endif // ifdef PERFORMANCE_TESTING +} uxrSession; + +/** + * @brief Initializes a uxrSession structure. + * @param session The structure where the session data is stored. + * @param comm The uxrCommunication used for connecting with the Agent. + * This parameter shall not be shared between active sessions. + * @param key The identifier of the Client. + * All Client connected to an Agent shall have different key. + */ +UXRDLLAPI void uxr_init_session( + uxrSession* session, + struct uxrCommunication* comm, + uint32_t key); + +/** + * @brief Sets the status callback. + * This is called when a status message is received from the Agent. + * @param session A uxrSession structure previously initialized. + * @param on_status_func The function that will be called when a valid status message arrives from the Agent. + * @param args User pointer data. The args will be provided to the `on_status_func` callback. + */ +UXRDLLAPI void uxr_set_status_callback( + uxrSession* session, + uxrOnStatusFunc on_status_func, + void* args); + +/** + * @brief Sets the topic callback. + * This is called when a topic is received from the Agent. + * The topics will be received only if a `request_data` function has been called with a `DataReader` object id. + * @param session A uxrSession structure previously initialized. + * @param on_topic_func The function that will be called when a valid data message arrives from the Agent. + * @param args User pointer data. The args will be provided to the `on_topic_func` callback. + */ +UXRDLLAPI void uxr_set_topic_callback( + uxrSession* session, + uxrOnTopicFunc on_topic_func, + void* args); + +/** + * @brief Sets the time synchronization callback. + * The callback is called when a TIMESTAMP_REPLY submessage is received from the Agent. + * The user could use this callback to implement her/his own time synchronization protocol. + * @param session A uxrSession structure previously initialized. + * @param on_time_func The function that will be called when a TIMESTAMP_REPLY submessage arrives from the Agent. + * @param args A user pointer data. The args will be provided to the `on_time_func` callback. + */ +UXRDLLAPI void uxr_set_time_callback( + uxrSession* session, + uxrOnTimeFunc on_time_func, + void* args); + +/** + * @brief Sets the request callback. + * It will be called when a request is received from the Agent. + * The requests will be received only if a `request_data` function has been called with a `Requester` object id. + * + * @param session A uxrSession structure previously initialized. + * @param on_request_func The function that will be called when a valid request message arrives from the Agent. + * @param args User pointer data. The args will be provided to the `on_request_func` callback. + */ +UXRDLLAPI void uxr_set_request_callback( + uxrSession* session, + uxrOnRequestFunc on_request_func, + void* args); + +/** + * @brief Sets the reply callback. + * It will be called when a reply is received from the Agent. + * The reply will be received only if a `request_data` function has been called with a `Replier` object id. + * + * @param session A uxrSession structure previosly initialized. + * @param on_reply_func The function that will be called when a valid reply message arrives from the Agent. + * @param args User pointer data. The args will be provided to the `on_reply_func` callback. + */ +UXRDLLAPI void uxr_set_reply_callback( + uxrSession* session, + uxrOnReplyFunc on_reply_func, + void* args); + +#ifdef PERFORMANCE_TESTING +/** + * @nosubgrouping + */ +UXRDLLAPI void uxr_set_performance_callback( + uxrSession* session, + uxrOnPerformanceFunc on_performance_func, + void* args); +#endif // ifdef PERFORMANCE_TESTING + +/** + * @brief Creates a new session with the Agent. + * This function logs in a session, enabling any other XRCE communication with the Agent. + * @param session A uxrSesssion structure previously initialized. + * @return true in case of successful session establishment, and false in other case. + */ +UXRDLLAPI bool uxr_create_session( + uxrSession* session); + +/** + * @brief Creates a new session with the Agent. + * This function logs in a session, enabling any other XRCE communication with the Agent. + * @param session A uxrSesssion structure previously initialized. + * @param retries Max attempts for creating the session. + * @return true in case of successful session establishment, and false in other case. + */ +UXRDLLAPI bool uxr_create_session_retries( + uxrSession* session, + size_t retries); + +/** + * @brief Deletes a session previously created. + * All XRCE entities created within the session will be removed. + * This function logs out a session, disabling any other XRCE communication with the Agent. + * @param session A uxrSession structure previously initialized. + * @return true in case of successful session deletion, and false in other case. + */ +UXRDLLAPI bool uxr_delete_session( + uxrSession* session); + +/** + * @brief Deletes a session previously created. + * All XRCE entities created within the session will be removed. + * This function logs out a session, disabling any other XRCE communication with the Agent. + * @param session A uxrSession structure previously initialized. + * @param retries Max attempts for deleting the session. + * @return true in case of successful session deletion, and false in other case. + */ +UXRDLLAPI bool uxr_delete_session_retries( + uxrSession* session, + size_t retries); + +/** + * @brief Creates and initializes an output best-effort stream. + * The maximum number of output best-effort streams is set by the `UCLIENT_MAX_OUTPUT_BEST_EFFORT_STREAMS`. + * @param session A uxrSession structure previously initialized. + * @param buffer The memory block where the messages will be written. + * @param size The buffer size. + * @return A uxrStreamId which could by used for managing the stream. + */ +UXRDLLAPI uxrStreamId uxr_create_output_best_effort_stream( + uxrSession* session, + uint8_t* buffer, + size_t size); + +/** + * @brief Creates and initializes an output reliable stream. + * The maximum number of output reliable streams is set by the `UCLIENT_MAX_OUTPUT_RELIABLE_STREAMS`. + * @param session A uxrSession structure previously initialized. + * @param buffer The memory block where the messages will be written. + * @param size The buffer size. + * @param history The amount of messages that the stream is able to manage. + * The buffer size will be splitted into blocks according to this value. + * This value shall be power of 2. + * @return A uxrStreamId which could by used for managing the stream. + */ +UXRDLLAPI uxrStreamId uxr_create_output_reliable_stream( + uxrSession* session, + uint8_t* buffer, + size_t size, + uint16_t history); + +/** + * @brief Creates and initializes an input best-effort stream. + * The maximum number of input best-effort streams is set by the `UCLIENT_MAX_INPUT_BEST_EFFORT_STREAMS`. + * @param session A uxrSession structure previously initialized. + * @return A uxrStreamId which could by used for managing the stream. + */ +UXRDLLAPI uxrStreamId uxr_create_input_best_effort_stream( + uxrSession* session); + +/** + * @brief Creates and initializes an input reliable stream. + * The maximum number of input reliable streams is set by the `UCLIENT_MAX_INPUT_RELIABLE_STREAMS`. + * @param session A uxrSession structure previously initialized. + * @param buffer The memory block where the messages will be written. + * @param size The buffer size. + * @param history The amount of messages that the stream is able to manage. + * The buffer size will be splitted into blocks according to this value. + * This value shall be power of 2. + * @return A uxrStreamId which could by used for managing the stream. + */ +UXRDLLAPI uxrStreamId uxr_create_input_reliable_stream( + uxrSession* session, + uint8_t* buffer, + size_t size, + uint16_t history); + +/** + * @brief Flashes all the output streams seding the data through the transport. + * @param session A uxrSession structure previously initialized. + */ +UXRDLLAPI void uxr_flash_output_streams( + uxrSession* session); + +/** + * @brief Keeps communication between the Client and the Agent. + * This function involves the following actions: + * 1. flushing all the output streams sending the data through the transport, + * 2. listening messages from the Agent calling the associated callback (topic and status). + * The aforementioned actions will be performed in a loop until the waiting time for a new message + * exceeds the `timeout`. + * @param session A uxrSession structure previously initialized. + * @param timeout The waiting time in milliseconds. + * @return `true` in case of the Agent confirms the reception of all the output messages. `false` in other case. + */ +UXRDLLAPI bool uxr_run_session_time( + uxrSession* session, + int timeout); + +/** + * @brief Keeps communication between the Client and the Agent. + * This function involves the following actions: + * 1. flushing all the output streams sending the data through the transport, + * 2. listening messages from the Agent calling the associated callback (topic and status). + * The aforementioned actions will be performed in a loop until the `timeout` is exceeded. + * @param session A uxrSession structure previously initialized. + * @param timeout The waiting time in milliseconds. + * @return `true` in case of the Agent confirms the reception of all the output messages. `false` in other case. + */ +UXRDLLAPI bool uxr_run_session_timeout( + uxrSession* session, + int timeout); + +/** + * @brief Keeps communication between the Client and the Agent. + * This function involves the following actions: + * 1. flushing all the output streams sending the data through the transport, + * 2. listening messages from the Agent calling the associated callback (topic, status, request and replies). + * The aforementioned actions will be performed in a loop until a data message is received + * or the `timeout` is exceeded. + * @param session A uxrSession structure previously initialized. + * @param timeout The waiting time in milliseconds. + * @return `true` in case of a data message is received before the timeout. `false` in other case. + */ +UXRDLLAPI bool uxr_run_session_until_data( + uxrSession* session, + int timeout); + +/** + * @brief Keeps communication between the Client and the Agent. + * This function involves the following actions: + * 1. flushing all the output streams sending the data through the transport, + * 2. listening messages from the Agent calling the associated callback (topic and status). + * The aforementioned actions will be performed in a loop until a message is received + * or the `timeout` is exceeded. + * @param session A uxrSession structure previously initialized. + * @param timeout The waiting time in milliseconds. + * @return `true` if a message is received. `false` in other case. + */ +UXRDLLAPI bool uxr_run_session_until_timeout( + uxrSession* session, + int timeout); + +/** + * @brief Keeps communication between the Client and the Agent. + * This function involves the following actions: + * 1. flushing all the output streams sending the data through the transport, + * 2. listening messages from the Agent calling the associated callback (topic and status). + * The aforementioned actions will be performed in a loop until a the `timeout` is exceeded + * or the output reliable streams confirm the delivery of all their messages. + * @param session A uxrSession structure previously initialized. + * @param timeout The waiting time in milliseconds. + * @return `true` if all output reliable streams confirm the delivery of their messages. `false` in other case. + */ +UXRDLLAPI bool uxr_run_session_until_confirm_delivery( + uxrSession* session, + int timeout); + +/** + * @brief Keeps communication between the Client and the Agent. + * This function involves the following actions: + * 1. flushing all the output streams sending the data through the transport, + * 2. listening messages from the Agent calling the associated callback (topic and status). + * The aforementioned actions will be performed in a loop until a the `timeout` is exceeded + * or all the requested status are received. + * @param session A uxrSession structure previously initialized. + * @param timeout The waiting time in milliseconds. + * @param request_list The array of requests to confirm with a status. + * @param status_list The uninitialized array with the same size as `request_list` + * where the status values will be written. + * @param list_size the size of `request_list` and `status_list` arrays. + * @return `true` if all status are received. `false` in other case. + */ +UXRDLLAPI bool uxr_run_session_until_all_status( + uxrSession* session, + int timeout, + const uint16_t* request_list, + uint8_t* status_list, + size_t list_size); + +/** + * @brief Keeps communication between the Client and the Agent. + * This function involves the following actions: + * 1. flushing all the output streams sending the data through the transport, + * 2. listening messages from the Agent calling the associated callback (topic and status). + * The aforementioned actions will be performed in a loop until a the `timeout` is exceeded + * or one of the requested status is received. + * @param session A uxrSession structure previously initialized. + * @param timeout The waiting time in milliseconds. + * @param request_list The array of requests to confirm with a status. + * @param status_list The uninitialized array with the same size as `request_list` + * where the status values will be written. + * @param list_size the size of `request_list` and `status_list` arrays. + * @return `true` if a status is received and its value is `UXR_STATUS_OK` or `UXR_STATUS_OK_MATCHED`. + * `false` in other case. + */ +UXRDLLAPI bool uxr_run_session_until_one_status( + uxrSession* session, + int timeout, + const uint16_t* request_list, + uint8_t* status_list, + size_t list_size); + +/** + * @brief Synchronizes the session time using by default the NTP protocol. + * @param session A uxrSession structure previously initialized. + * @param time The waiting time in milliseconds. + * @return `true` in case of successful synchronization. `false` in other case. + */ +UXRDLLAPI bool uxr_sync_session( + uxrSession* session, + int time); + +/** + * @brief Returns the epoch time in milliseconds taking into account the offset computed during the time synchronization. + * @param session A uxrSession structure previosly initialized. + * @return The epoch time in milliseconds. + */ +UXRDLLAPI int64_t uxr_epoch_millis( + uxrSession* session); + +/** + * @brief Returns the epoch time in nanoseconds taking into account the offset computed during the time synchronization. + * @param session A uxrSession structure previosly initialized. + * @return The epoch time in nanoseconds. + */ +UXRDLLAPI int64_t uxr_epoch_nanos( + uxrSession* session); + +#ifdef PERFORMANCE_TESTING +/** + * @nosubgrouping + */ +UXRDLLAPI bool uxr_buffer_performance( + uxrSession* session, + uxrStreamId stream_id, + uint64_t epoch_time, + uint8_t* buf, + uint16_t len, + bool echo); +#endif // ifdef PERFORMANCE_TESTING + +/** @}*/ + +#ifdef __cplusplus +} +#endif // ifdef __cplusplus + +#endif // UXR_CLIENT_CORE_SESSION_SESSION_H diff --git a/ports/espressif/microros-ext/include/uxr/client/core/session/session_info.h b/ports/espressif/microros-ext/include/uxr/client/core/session/session_info.h new file mode 100644 index 0000000000000..8777cd4bfd066 --- /dev/null +++ b/ports/espressif/microros-ext/include/uxr/client/core/session/session_info.h @@ -0,0 +1,64 @@ +// Copyright 2017 Proyectos y Sistemas de Mantenimiento SL (eProsima). +// +// 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. + +#ifndef _UXR_CLIENT_CORE_SESSION_SESSION_INFO_H_ +#define _UXR_CLIENT_CORE_SESSION_SESSION_INFO_H_ + +#ifdef __cplusplus +extern "C" +{ +#endif // ifdef __cplusplus + +#include +#include +#include + +#define UXR_STATUS_OK 0x00 +#define UXR_STATUS_OK_MATCHED 0x01 +#define UXR_STATUS_ERR_DDS_ERROR 0x80 +#define UXR_STATUS_ERR_MISMATCH 0x81 +#define UXR_STATUS_ERR_ALREADY_EXISTS 0x82 +#define UXR_STATUS_ERR_DENIED 0x83 +#define UXR_STATUS_ERR_UNKNOWN_REFERENCE 0x84 +#define UXR_STATUS_ERR_INVALID_DATA 0x85 +#define UXR_STATUS_ERR_INCOMPATIBLE 0x86 +#define UXR_STATUS_ERR_RESOURCES 0x87 +#define UXR_STATUS_NONE 0xFF //Never sent or received. It is used for managing an unknown status + +#define UXR_REUSE 0x01 << 1 +#define UXR_REPLACE 0x01 << 2 +#ifdef PERFORMANCE_TESTING +#define UXR_ECHO 0x01 << 7 +#endif // ifdef PERFORMANCE_TESTING + +#define UXR_INVALID_REQUEST_ID 0 + +#define UXR_REQUEST_NONE 0x00 +#define UXR_REQUEST_LOGIN 0x01 +#define UXR_REQUEST_LOGOUT 0x02 + +typedef struct uxrSessionInfo +{ + uint8_t id; + uint8_t key[4]; + uint8_t last_requested_status; + uint16_t last_request_id; + +} uxrSessionInfo; + +#ifdef __cplusplus +} +#endif // ifdef __cplusplus + +#endif // _UXR_CLIENT_CORE_SESSION_SESSION_INFO_H diff --git a/ports/espressif/microros-ext/include/uxr/client/core/session/stream/input_best_effort_stream.h b/ports/espressif/microros-ext/include/uxr/client/core/session/stream/input_best_effort_stream.h new file mode 100644 index 0000000000000..8b3f1a4198237 --- /dev/null +++ b/ports/espressif/microros-ext/include/uxr/client/core/session/stream/input_best_effort_stream.h @@ -0,0 +1,47 @@ +// Copyright 2017 Proyectos y Sistemas de Mantenimiento SL (eProsima). +// +// 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. + +#ifndef _UXR_CLIENT_CORE_SESSION_STREAM_INPUT_BEST_EFFORT_STREAM_H_ +#define _UXR_CLIENT_CORE_SESSION_STREAM_INPUT_BEST_EFFORT_STREAM_H_ + +#ifdef __cplusplus +extern "C" +{ +#endif // ifdef __cplusplus + +#include +#include + +#ifdef UCLIENT_PROFILE_MULTITHREAD +#include +#endif // ifdef UCLIENT_PROFILE_MULTITHREAD + +#include +#include + +typedef struct uxrInputBestEffortStream +{ + uxrSeqNum last_handled; + +#ifdef UCLIENT_PROFILE_MULTITHREAD + uxrMutex mutex; +#endif // ifdef UCLIENT_PROFILE_MULTITHREAD + +} uxrInputBestEffortStream; + +#ifdef __cplusplus +} +#endif // ifdef __cplusplus + +#endif // _UXR_CLIENT_CORE_SESSION_STREAM_INPUT_BEST_EFFORT_STREAM_H_ diff --git a/ports/espressif/microros-ext/include/uxr/client/core/session/stream/input_reliable_stream.h b/ports/espressif/microros-ext/include/uxr/client/core/session/stream/input_reliable_stream.h new file mode 100644 index 0000000000000..9dcac51201960 --- /dev/null +++ b/ports/espressif/microros-ext/include/uxr/client/core/session/stream/input_reliable_stream.h @@ -0,0 +1,67 @@ +// Copyright 2017-present Proyectos y Sistemas de Mantenimiento SL (eProsima). +// +// 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. + +#ifndef UXR__CLIENT__CORE__SESSION__STREAM__INPUT_RELIABLE_STREAM_H_ +#define UXR__CLIENT__CORE__SESSION__STREAM__INPUT_RELIABLE_STREAM_H_ + +#ifdef __cplusplus +extern "C" +{ +#endif // ifdef __cplusplus + +#include +#include +#include + +#ifdef UCLIENT_PROFILE_MULTITHREAD +#include +#endif // ifdef UCLIENT_PROFILE_MULTITHREAD + +#include + +struct ucdrBuffer; + +typedef enum FragmentationInfo +{ + NO_FRAGMENTED, + INTERMEDIATE_FRAGMENT, + LAST_FRAGMENT + +} FragmentationInfo; + +typedef FragmentationInfo (* OnGetFragmentationInfo)( + uint8_t* buffer); + +typedef struct uxrInputReliableStream +{ + uxrReliableStream base; + + uxrSeqNum last_handled; + uxrSeqNum last_announced; + + OnGetFragmentationInfo on_get_fragmentation_info; + + bool cleanup_flag; + +#ifdef UCLIENT_PROFILE_MULTITHREAD + uxrMutex mutex; +#endif // ifdef UCLIENT_PROFILE_MULTITHREAD + +} uxrInputReliableStream; + +#ifdef __cplusplus +} +#endif // ifdef __cplusplus + +#endif // UXR__CLIENT__CORE__SESSION__STREAM__INPUT_RELIABLE_STREAM_H_ diff --git a/ports/espressif/microros-ext/include/uxr/client/core/session/stream/output_best_effort_stream.h b/ports/espressif/microros-ext/include/uxr/client/core/session/stream/output_best_effort_stream.h new file mode 100644 index 0000000000000..a4a9ff75afd7d --- /dev/null +++ b/ports/espressif/microros-ext/include/uxr/client/core/session/stream/output_best_effort_stream.h @@ -0,0 +1,53 @@ +// Copyright 2017 Proyectos y Sistemas de Mantenimiento SL (eProsima). +// +// 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. + +#ifndef _UXR_CLIENT_CORE_SESSION_STREAM_OUTPUT_BEST_EFFORT_STREAM_H_ +#define _UXR_CLIENT_CORE_SESSION_STREAM_OUTPUT_BEST_EFFORT_STREAM_H_ + +#ifdef __cplusplus +extern "C" +{ +#endif // ifdef __cplusplus + +#include +#include + +#ifdef UCLIENT_PROFILE_MULTITHREAD +#include +#endif // ifdef UCLIENT_PROFILE_MULTITHREAD + +#include +#include + +struct ucdrBuffer; +typedef struct uxrOutputBestEffortStream +{ + uint8_t* buffer; + size_t writer; + size_t size; + uint8_t offset; + + uxrSeqNum last_send; + +#ifdef UCLIENT_PROFILE_MULTITHREAD + uxrMutex mutex; +#endif // ifdef UCLIENT_PROFILE_MULTITHREAD + +} uxrOutputBestEffortStream; + +#ifdef __cplusplus +} +#endif // ifdef __cplusplus + +#endif // _UXR_CLIENT_CORE_SESSION_STREAM_OUTPUT_BEST_EFFORT_STREAM_H diff --git a/ports/espressif/microros-ext/include/uxr/client/core/session/stream/output_reliable_stream.h b/ports/espressif/microros-ext/include/uxr/client/core/session/stream/output_reliable_stream.h new file mode 100644 index 0000000000000..342f40ac3c781 --- /dev/null +++ b/ports/espressif/microros-ext/include/uxr/client/core/session/stream/output_reliable_stream.h @@ -0,0 +1,63 @@ +// Copyright 2017-present Proyectos y Sistemas de Mantenimiento SL (eProsima). +// +// 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. + +#ifndef UXR__CLIENT__CORE__SESSION__STREAM__OUTPUT_RELIABLE_STREAM_H_ +#define UXR__CLIENT__CORE__SESSION__STREAM__OUTPUT_RELIABLE_STREAM_H_ + +#ifdef __cplusplus +extern "C" +{ +#endif // ifdef __cplusplus + +#include +#include +#include + +#ifdef UCLIENT_PROFILE_MULTITHREAD +#include +#endif // ifdef UCLIENT_PROFILE_MULTITHREAD + +#include + +struct ucdrBuffer; +struct uxrOutputReliableStream; + +typedef void (* OnNewFragment)( + struct ucdrBuffer* ub, + struct uxrOutputReliableStream* stream); + +typedef struct uxrOutputReliableStream +{ + uxrReliableStream base; + uint8_t offset; + + uxrSeqNum last_written; + uxrSeqNum last_sent; + uxrSeqNum last_acknown; + + int64_t next_heartbeat_timestamp; + uint8_t next_heartbeat_tries; + bool send_lost; + +#ifdef UCLIENT_PROFILE_MULTITHREAD + uxrMutex mutex; +#endif // ifdef UCLIENT_PROFILE_MULTITHREAD + +} uxrOutputReliableStream; + +#ifdef __cplusplus +} +#endif // ifdef __cplusplus + +#endif // UXR__CLIENT__CORE__SESSION__STREAM__OUTPUT_RELIABLE_STREAM_H_ diff --git a/ports/espressif/microros-ext/include/uxr/client/core/session/stream/reliable_stream.h b/ports/espressif/microros-ext/include/uxr/client/core/session/stream/reliable_stream.h new file mode 100644 index 0000000000000..0da6e10008d02 --- /dev/null +++ b/ports/espressif/microros-ext/include/uxr/client/core/session/stream/reliable_stream.h @@ -0,0 +1,38 @@ +// Copyright 2017-present Proyectos y Sistemas de Mantenimiento SL (eProsima). +// +// 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. + +#ifndef UXR__CLIENT__CORE__SESSION__STREAM__RELIABLE_STREAM_H_ +#define UXR__CLIENT__CORE__SESSION__STREAM__RELIABLE_STREAM_H_ + +#ifdef __cplusplus +extern "C" +{ +#endif // ifdef __cplusplus + +#include +#include + +typedef struct uxrReliableStream +{ + uint8_t* buffer; + size_t size; + uint16_t history; + +} uxrReliableStream; + +#ifdef __cplusplus +} +#endif // ifdef __cplusplus + +#endif // UXR__CLIENT__CORE__SESSION__STREAM__RELIABLE_STREAM_H_ diff --git a/ports/espressif/microros-ext/include/uxr/client/core/session/stream/seq_num.h b/ports/espressif/microros-ext/include/uxr/client/core/session/stream/seq_num.h new file mode 100644 index 0000000000000..9f889a657a35c --- /dev/null +++ b/ports/espressif/microros-ext/include/uxr/client/core/session/stream/seq_num.h @@ -0,0 +1,31 @@ +// Copyright 2017 Proyectos y Sistemas de Mantenimiento SL (eProsima). +// +// 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. + +#ifndef _UXR_CLIENT_CORE_SESSION_STREAM_SEQ_NUM_H_ +#define _UXR_CLIENT_CORE_SESSION_STREAM_SEQ_NUM_H_ + +#ifdef __cplusplus +extern "C" +{ +#endif // ifdef __cplusplus + +#include + +typedef uint16_t uxrSeqNum; + +#ifdef __cplusplus +} +#endif // ifdef __cplusplus + +#endif // _UXR_CLIENT_CORE_SESSION_STREAM_SEQ_NUM_H_ diff --git a/ports/espressif/microros-ext/include/uxr/client/core/session/stream/stream_id.h b/ports/espressif/microros-ext/include/uxr/client/core/session/stream/stream_id.h new file mode 100644 index 0000000000000..86bf12e55b68f --- /dev/null +++ b/ports/espressif/microros-ext/include/uxr/client/core/session/stream/stream_id.h @@ -0,0 +1,121 @@ +// Copyright 2019 Proyectos y Sistemas de Mantenimiento SL (eProsima). +// +// 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. + +/** + * @file + */ + +#ifndef UXR_CLIENT_CORE_SESSION_STREAM_STREAM_ID_H_ +#define UXR_CLIENT_CORE_SESSION_STREAM_STREAM_ID_H_ + +#ifdef __cplusplus +extern "C" +{ +#endif // ifdef __cplusplus + +#include +#include + +/** \addtogroup general_utils General utilities + * Utility functions. The declaration of these functions can be found in uxr/client/core/session/stream_id.h and uxr/client/core/session/object_id.h. + * @{ + */ + +/** + * The enum that identifies the kind of stream. + * According to the XRCE standard, a stream represents an independent flow of messages within a session. + * The XRCE standard defines 3 different kinds of streams: + * * **none** streams do not provide neither non-out-of-order delivery nor guarantee for the delivery. + * * **best-effort** streams provide non-out-of-order delivery but they do not provide guarantee for delivery. + * * **reliable** streams provide both non-out-of-order delivery and guarantee for delivery. + * + * The streams are identified by an octet. Each session is able to handle + * 1 none stream (id 0x00), + * 127 best-effort streams (id 0x01 - 0x7F), + * and 128 reliable streams (id 0x80 - 0xFF), + * for each direction: output (Client to Agent) and input (Agent to Client). + */ +typedef enum uxrStreamType +{ + /** Identifies a none stream. */ + UXR_NONE_STREAM, + /** Identifies a best-effort stream. */ + UXR_BEST_EFFORT_STREAM, + /** Identifies a reliable stream. */ + UXR_RELIABLE_STREAM, + /** Identifies a shared memory stream. */ + UXR_SHARED_MEMORY_STREAM + +} uxrStreamType; + +/** + * The enum that identifies the direction of a stream. + * There are two different directions: output (Client to Agent) and input (Agent to Client). + */ +typedef enum uxrStreamDirection +{ + /** Indicates the input direction of the stream. */ + UXR_INPUT_STREAM, + /** Indicates the output direction of the stream. */ + UXR_OUTPUT_STREAM + +} uxrStreamDirection; + +/** + * @nosubgrouping + */ +typedef struct uxrStreamId +{ + uint8_t raw; + uint8_t index; + uint8_t type; + uint8_t direction; + +} uxrStreamId; + +/** + * @brief Creates a stream identifier. + * This function does not create a new stream, but only creates the identifier to be used in the Client API. + * @param index The identifier of the stream. + * Its value corresponds to the creation order of each kind of stream. + * @param type The uxrStreamType of the stream. + * @param direction The uxrStreamDirection of the stream. + * @return A identifier of a stream. + */ +UXRDLLAPI uxrStreamId uxr_stream_id( + uint8_t index, + uxrStreamType type, + uxrStreamDirection direction); + +/** + * @brief Creates a stream identifier. + * This function does not create a new stream, but only creates the identifier to be used in the Client API. + * @param stream_id_raw The identifier of the stream. + * 0 corresponds to the UXR_NONE_STREAM; + * from 1 to 127 correspond to a UXR_BEST_EFFORT_STREAM; + * from 128 to 255 correspond to a UXR_RELIABLE_STREAM; + * @param direction The uxrStreamDirection of the stream. + * @return A identifier of a stream. + */ +UXRDLLAPI uxrStreamId uxr_stream_id_from_raw( + uint8_t stream_id_raw, + uxrStreamDirection direction); + +/** @}*/ + +#ifdef __cplusplus +} +#endif // ifdef __cplusplus + +#endif // UXR_CLIENT_CORE_SESSION_STREAM_STREAM_ID_H diff --git a/ports/espressif/microros-ext/include/uxr/client/core/session/stream/stream_storage.h b/ports/espressif/microros-ext/include/uxr/client/core/session/stream/stream_storage.h new file mode 100644 index 0000000000000..d4712d1d34245 --- /dev/null +++ b/ports/espressif/microros-ext/include/uxr/client/core/session/stream/stream_storage.h @@ -0,0 +1,47 @@ +// Copyright 2017 Proyectos y Sistemas de Mantenimiento SL (eProsima). +// +// 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. + +#ifndef _UXR_CLIENT_CORE_SESSION_STREAM_STREAM_STORAGE_H_ +#define _UXR_CLIENT_CORE_SESSION_STREAM_STREAM_STORAGE_H_ + +#ifdef __cplusplus +extern "C" +{ +#endif // ifdef __cplusplus + +#include +#include +#include +#include +#include +#include + +typedef struct uxrStreamStorage +{ + uxrOutputBestEffortStream output_best_effort[UXR_CONFIG_MAX_OUTPUT_BEST_EFFORT_STREAMS]; + uint8_t output_best_effort_size; + uxrOutputReliableStream output_reliable[UXR_CONFIG_MAX_OUTPUT_RELIABLE_STREAMS]; + uint8_t output_reliable_size; + uxrInputBestEffortStream input_best_effort[UXR_CONFIG_MAX_INPUT_BEST_EFFORT_STREAMS]; + uint8_t input_best_effort_size; + uxrInputReliableStream input_reliable[UXR_CONFIG_MAX_INPUT_RELIABLE_STREAMS]; + uint8_t input_reliable_size; + +} uxrStreamStorage; + +#ifdef __cplusplus +} +#endif // ifdef __cplusplus + +#endif // _UXR_CLIENT_CORE_SESSION_STREAM_STREAM_STORAGE_H diff --git a/ports/espressif/microros-ext/include/uxr/client/core/session/time_sync.h b/ports/espressif/microros-ext/include/uxr/client/core/session/time_sync.h new file mode 100644 index 0000000000000..e69de29bb2d1d diff --git a/ports/espressif/microros-ext/include/uxr/client/core/session/write_access.h b/ports/espressif/microros-ext/include/uxr/client/core/session/write_access.h new file mode 100644 index 0000000000000..61045ff192ba2 --- /dev/null +++ b/ports/espressif/microros-ext/include/uxr/client/core/session/write_access.h @@ -0,0 +1,145 @@ +// Copyright 2019 Proyectos y Sistemas de Mantenimiento SL (eProsima). +// +// 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. + +/** + * @file + */ + +#ifndef UXR_CLIENT_CORE_SESSION_WRITE_ACCESS_H_ +#define UXR_CLIENT_CORE_SESSION_WRITE_ACCESS_H_ + +#ifdef __cplusplus +extern "C" +{ +#endif // ifdef __cplusplus + +#include + +/** \addtogroup write Write access profile + * The Write Access is used by the Client to handle the write operation on the Agent. The declaration of these functions can be found in uxr/client/profile/session/write_access.h. + * @{ + */ + +/** + * @brief Buffers into the stream identified by `stream_id` an XRCE WRITE_DATA submessage. + * As a consequence, an XRCE request is generated associated to the WRITE_DATA submessage. + * + * @param session A uxrSession structure previously initialized. + * @param stream_id The output stream identifier where the WRITE_DATA submessage will be buffered. + * @param requester_id The identifier of the XRCE Requester that will write the request into the DDS GDS. + * @param buffer The pointer to the request data. + * @param len The length of the request data. + * @return A `request_id` that identifies the XRCE request made by the Client. + * This could be used in the `uxr_run_session_until_one_status` or `uxr_run_session_until_all_status` functions. + */ +uint16_t uxr_buffer_request( + uxrSession* session, + uxrStreamId stream_id, + uxrObjectId requester_id, + uint8_t* buffer, + size_t len); + +/** + * @brief Buffers into the stream identified by `stream_id` an XRCE WRITE_DATA submessage. + * As a consequence, an XRCE request is generated associated to the WRITE_DATA submessage. + * + * @param session A uxrSession structure previously initialized. + * @param stream_id The output stream identifier where the WRITE_DATA submessage will be buffered. + * @param replier_id The identifier of the XRCE Replier that will write the reply into the DDS GDS. + * @param sample_id The `SampleIdentity` that identifies the request. + * It will be read by the Requester to filter and identify the reply. + * @param buffer The pointer to the reply data. + * @param len The length of the reply data. + * @return A `request_id` that identifies the XRCE request made by the Client. + * This could be used in the `uxr_run_session_until_one_status` or `uxr_run_session_until_all_status` functions. + */ +uint16_t uxr_buffer_reply( + uxrSession* session, + uxrStreamId stream_id, + uxrObjectId replier_id, + SampleIdentity* sample_id, + uint8_t* buffer, + size_t len); + +/** + * @brief Buffers into the stream identified by `stream_id` an XRCE WRITE_DATA submessage. + * As a consequence, an XRCE request is generated associated to the WRITE_DATA submessage. + * + * @param session A uxrSession structure previously initialized. + * @param stream_id The output stream identifier where the WRITE_DATA submessage will be buffered. + * @param datawriter_id The identifier of the XRCE Datawriter that will write the topic into the DDS GDS. + * @param buffer The pointer to the topic data. + * @param len The length of the topic data. + * @return A `request_id` that identifies the XRCE request made by the Publisher. + * This could be used in the `uxr_run_session_until_one_status` or `uxr_run_session_until_all_status` functions. + */ +uint16_t uxr_buffer_topic( + uxrSession* session, + uxrStreamId stream_id, + uxrObjectId datawriter_id, + uint8_t* buffer, + size_t len); + +/** + * @brief Buffers into the stream identified by `stream_id` an XRCE WRITE_DATA submessage. + * The submessage will be sent when `uxr_flash_output_stream` or `uxr_run_session` function are called. + * As a result of the reception of this submessage, the Agent will write a topic into the DDS Global-Data-Space. + * @param session A uxrSession structure previously initialized. + * @param stream_id The output stream identifier where the WRITE_DATA submessage will be buffered. + * @param entity_id The identifier of the XRCE DataWriter that will write the topic into the DDS GDS. + * @param ub The ucdrBuffer structure used for serializing the topic. + * @param len The size of the topic in bytes. + * @return A `request_id` that identifies the XRCE request made by the Entity. + * This could be used in the `uxr_run_session_until_one_status` or `uxr_run_session_until_all_status` functions. + * */ +UXRDLLAPI uint16_t uxr_prepare_output_stream( + uxrSession* session, + uxrStreamId stream_id, + uxrObjectId entity_id, + struct ucdrBuffer* ub, + uint32_t len); + + +/** + * @brief Buffers into the stream identified by `stream_id` an XRCE WRITE_DATA submessage. + * The submessage will be sent when `uxr_flash_output_stream` or `uxr_run_session` function are called. + * This function handles the buffer flush by means of `uxrOnBuffersFull` callback. + * As a result of the reception of this submessage, the Agent will write a topic into the DDS Global-Data-Space. + * @param session A uxrSession structure previously initialized. + * @param stream_id The output stream identifier where the WRITE_DATA submessage will be buffered. + * @param datawriter_id The identifier of the XRCE DataWriter that will write the topic into the DDS GDS. + * @param ub The ucdrBuffer structure used for serializing the topic. + * @param data_size The size of the topic in bytes. + * @param flush_callback Callback that is call by the library when user should flush output buffers. + * @param flush_callback_args Arguments passed to flush callback. + * @return A `request_id` that identifies the XRCE request made by the Entity. + * This could be used in the `uxr_run_session_until_one_status` or `uxr_run_session_until_all_status` functions. + * */ + +UXRDLLAPI uint16_t uxr_prepare_output_stream_fragmented( + uxrSession* session, + uxrStreamId stream_id, + uxrObjectId datawriter_id, + ucdrBuffer* ub, + size_t data_size, + uxrOnBuffersFull flush_callback, + void* flush_callback_args); + +/** @}*/ + +#ifdef __cplusplus +} +#endif // ifdef __cplusplus + +#endif // UXR_CLIENT_CORE_SESSION_WRITE_ACCESS_H_ diff --git a/ports/espressif/microros-ext/include/uxr/client/core/type/xrce_types.h b/ports/espressif/microros-ext/include/uxr/client/core/type/xrce_types.h new file mode 100644 index 0000000000000..f733245e1b22e --- /dev/null +++ b/ports/espressif/microros-ext/include/uxr/client/core/type/xrce_types.h @@ -0,0 +1,1840 @@ +// Copyright 2017 Proyectos y Sistemas de Mantenimiento SL (eProsima). +// +// 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. + +#ifndef UXR_CLIENT_CORE_TYPE_XRCETYPES_H_ +#define UXR_CLIENT_CORE_TYPE_XRCETYPES_H_ + +#ifdef __cplusplus +extern "C" +{ +#define INLINE_STRUCT(x) (x) +#else +#define INLINE_STRUCT(x) x +#endif // ifdef __cplusplus + +#include +#include + +#include +#include +#include + +// TODO (julibert): move this configuration to CMake flags. +#define UXR_STRING_SIZE_MAX 512 +#define UXR_SAMPLE_DATA_SIZE_MAX 512 +#define UXR_STRING_SEQUENCE_MAX 8 +#define UXR_BINARY_SEQUENCE_MAX 512 +#define UXR_BINARY_SEQUENCE_SMALL_MAX 8 +#define UXR_SAMPLE_SEQUENCE_MAX 8 +#define UXR_SAMPLE_DATA_SEQUENCE_MAX 8 +#define UXR_SAMPLE_DELTA_SEQUENCE_MAX 8 +#define UXR_PACKED_SAMPLES_SEQUENCE_MAX 8 +#define UXR_TRANSPORT_LOCATOR_SEQUENCE_MAX 4 + +#ifdef UCLIENT_PROFILE_SHARED_MEMORY +#define PROFILE_SHARED_MEMORY_SEQ_COUNT 1 +#else +#define PROFILE_SHARED_MEMORY_SEQ_COUNT 0 +#endif // ifdef UCLIENT_PROFILE_SHARED_MEMORY + +#ifdef UCLIENT_HARD_LIVELINESS_CHECK +#define HARD_LIVELINESS_CHECK_SEQ_COUNT 1 +#else +#define HARD_LIVELINESS_CHECK_SEQ_COUNT 0 +#endif // ifdef UCLIENT_HARD_LIVELINESS_CHECK + +#if (PROFILE_SHARED_MEMORY_SEQ_COUNT + HARD_LIVELINESS_CHECK_SEQ_COUNT) == 0 +#define UXR_PROPERTY_SEQUENCE_MAX 1 +#else +#define UXR_PROPERTY_SEQUENCE_MAX PROFILE_SHARED_MEMORY_SEQ_COUNT + HARD_LIVELINESS_CHECK_SEQ_COUNT +#endif // if (PROFILE_SHARED_MEMORY_SEQ_COUNT + HARD_LIVELINESS_CHECK_SEQ_COUNT) == 0 + +typedef struct Time_t +{ + int32_t seconds; + uint32_t nanoseconds; + +} Time_t; + +typedef struct BinarySequence_t +{ + uint32_t size; + uint8_t data[UXR_BINARY_SEQUENCE_MAX]; + +} BinarySequence_t; + +typedef struct BinarySequenceSmall_t +{ + uint32_t size; + uint8_t data[UXR_BINARY_SEQUENCE_SMALL_MAX]; + +} BinarySequenceSmall_t; + +typedef struct StringSequence_t +{ + uint32_t size; + char* data[UXR_STRING_SEQUENCE_MAX]; + +} StringSequence_t; + +typedef struct ClientKey +{ + uint8_t data[4]; + +} ClientKey; + + +#define DDS_XRCE_CLIENT_INVALID COMPOUND_LITERAL(ClientKey){{0x00, 0x00, 0x00, 0x00}} + +typedef uint8_t ObjectKind; +#define DDS_XRCE_OBJK_INVALID 0x00 +#define DDS_XRCE_OBJK_PARTICIPANT 0x01 +#define DDS_XRCE_OBJK_TOPIC 0x02 +#define DDS_XRCE_OBJK_PUBLISHER 0x03 +#define DDS_XRCE_OBJK_SUBSCRIBER 0x04 +#define DDS_XRCE_OBJK_DATAWRITER 0x05 +#define DDS_XRCE_OBJK_DATAREADER 0x06 +#define DDS_XRCE_OBJK_REQUESTER 0x07 +#define DDS_XRCE_OBJK_REPLIER 0x08 +#define DDS_XRCE_OBJK_TYPE 0x0A +#define DDS_XRCE_OBJK_QOSPROFILE 0x0B +#define DDS_XRCE_OBJK_APPLICATION 0x0C +#define DDS_XRCE_OBJK_AGENT 0x0D +#define DDS_XRCE_OBJK_CLIENT 0x0E +#define DDS_XRCE_OBJK_OTHER 0x0F + + +typedef struct ObjectId +{ + uint8_t data[2]; + +} ObjectId; + + +typedef struct ObjectPrefix +{ + uint8_t data[2]; + +} ObjectPrefix; +#define DDS_XRCE_OBJECTID_INVALID COMPOUND_LITERAL(ObjectId){{0x00, 0x00}} +#define DDS_XRCE_OBJECTID_AGENT COMPOUND_LITERAL(ObjectId){{0xFF, 0xFD}} +#define DDS_XRCE_OBJECTID_CLIENT COMPOUND_LITERAL(ObjectId){{0xFF, 0xFE}} +#define DDS_XRCE_OBJECTID_SESSION COMPOUND_LITERAL(ObjectId){{0xFF, 0xFF}} + + +typedef struct XrceCookie +{ + uint8_t data[4]; + +} XrceCookie; +#define DDS_XRCE_XRCE_COOKIE COMPOUND_LITERAL(XrceCookie){{0x58, 0x52, 0x43, 0x45}} + + +typedef struct XrceVersion +{ + uint8_t data[2]; + +} XrceVersion; +#define DDS_XRCE_XRCE_VERSION_MAJOR 0x01 +#define DDS_XRCE_XRCE_VERSION_MINOR 0x00 +#define DDS_XRCE_XRCE_VERSION COMPOUND_LITERAL(XrceVersion){{DDS_XRCE_XRCE_VERSION_MAJOR, DDS_XRCE_XRCE_VERSION_MINOR}} + + +typedef struct XrceVendorId +{ + uint8_t data[2]; + +} XrceVendorId; +#define DDS_XRCE_XRCE_VENDOR_INVALID {0x00, 0x00} + +typedef enum TransportLocatorFormat +{ + ADDRESS_FORMAT_SMALL = 0, + ADDRESS_FORMAT_MEDIUM = 1, + ADDRESS_FORMAT_LARGE = 2, + ADDRESS_FORMAT_STRING = 3 + +} TransportLocatorFormat; + + +typedef struct TransportLocatorSmall +{ + uint8_t address[2]; + uint8_t locator_port; + +} TransportLocatorSmall; + + +typedef struct TransportLocatorMedium +{ + uint8_t address[4]; + uint16_t locator_port; + +} TransportLocatorMedium; + + +typedef struct TransportLocatorLarge +{ + uint8_t address[16]; + uint32_t locator_port; + +} TransportLocatorLarge; + + +typedef struct TransportLocatorString +{ + char* value; + +} TransportLocatorString; + + +typedef union TransportLocatorU +{ + TransportLocatorSmall small_locator; + TransportLocatorMedium medium_locator; + TransportLocatorLarge large_locator; + TransportLocatorString string_locator; + +} TransportLocatorU; + + +typedef struct TransportLocator +{ + uint8_t format; + TransportLocatorU _; + +} TransportLocator; + + +typedef struct TransportLocatorSeq +{ + uint32_t size; + TransportLocator data[UXR_TRANSPORT_LOCATOR_SEQUENCE_MAX]; + +} TransportLocatorSeq; + + +typedef struct Property +{ + char* name; + char* value; + +} Property; + + +typedef struct PropertySeq +{ + uint32_t size; + Property data[UXR_PROPERTY_SEQUENCE_MAX]; + +} PropertySeq; + + +typedef struct CLIENT_Representation +{ + XrceCookie xrce_cookie; + XrceVersion xrce_version; + XrceVendorId xrce_vendor_id; + ClientKey client_key; + uint8_t session_id; + bool optional_properties; + PropertySeq properties; + uint16_t mtu; + +} CLIENT_Representation; + + +typedef struct AGENT_Representation +{ + XrceCookie xrce_cookie; + XrceVersion xrce_version; + XrceVendorId xrce_vendor_id; + bool optional_properties; + PropertySeq properties; + +} AGENT_Representation; + +typedef uint8_t RepresentationFormat; +#define DDS_XRCE_REPRESENTATION_BY_REFERENCE 0x01 +#define DDS_XRCE_REPRESENTATION_AS_XML_STRING 0x02 +#define DDS_XRCE_REPRESENTATION_IN_BINARY 0x03 +#define DDS_XRCE_REFERENCE_MAX_LEN 128 + + +typedef union OBJK_Representation3FormatsU +{ + char* object_reference; + char* xml_string_represenatation; + BinarySequence_t binary_representation; + +} OBJK_Representation3FormatsU; + + +typedef struct OBJK_Representation3Formats +{ + uint8_t format; + OBJK_Representation3FormatsU _; + +} OBJK_Representation3Formats; + + +typedef union OBJK_RepresentationRefAndXMLFormatsU +{ + char* object_name; + char* xml_string_represenatation; + +} OBJK_RepresentationRefAndXMLFormatsU; + + +typedef struct OBJK_RepresentationRefAndXMLFormats +{ + uint8_t format; + OBJK_RepresentationRefAndXMLFormatsU _; + +} OBJK_RepresentationRefAndXMLFormats; + + +typedef union OBJK_RepresentationBinAndXMLFormatsU +{ + BinarySequence_t binary_representation; + char* string_represenatation; + +} OBJK_RepresentationBinAndXMLFormatsU; + + +typedef struct OBJK_RepresentationBinAndXMLFormats +{ + uint8_t format; + OBJK_RepresentationBinAndXMLFormatsU _; + +} OBJK_RepresentationBinAndXMLFormats; + + +typedef struct OBJK_RepresentationRefAndXML_Base +{ + OBJK_RepresentationRefAndXMLFormats representation; + +} OBJK_RepresentationRefAndXML_Base; + + +typedef struct OBJK_RepresentationBinAndXML_Base +{ + OBJK_RepresentationBinAndXMLFormats representation; + +} OBJK_RepresentationBinAndXML_Base; + + +typedef struct OBJK_Representation3_Base +{ + OBJK_Representation3Formats representation; + +} OBJK_Representation3_Base; + + +typedef struct OBJK_QOSPROFILE_Representation +{ + OBJK_RepresentationRefAndXML_Base base; + +} OBJK_QOSPROFILE_Representation; + + +typedef struct OBJK_TYPE_Representation +{ + OBJK_RepresentationRefAndXML_Base base; + +} OBJK_TYPE_Representation; + + +typedef struct OBJK_DOMAIN_Representation +{ + OBJK_RepresentationRefAndXML_Base base; + +} OBJK_DOMAIN_Representation; + + +typedef struct OBJK_APPLICATION_Representation +{ + OBJK_RepresentationRefAndXML_Base base; + +} OBJK_APPLICATION_Representation; + + +typedef struct OBJK_PUBLISHER_Representation +{ + OBJK_RepresentationBinAndXML_Base base; + ObjectId participant_id; + +} OBJK_PUBLISHER_Representation; + + +typedef struct OBJK_SUBSCRIBER_Representation +{ + OBJK_RepresentationBinAndXML_Base base; + ObjectId participant_id; + +} OBJK_SUBSCRIBER_Representation; + + +typedef struct DATAWRITER_Representation +{ + OBJK_Representation3_Base base; + ObjectId publisher_id; + +} DATAWRITER_Representation; + + +typedef struct DATAREADER_Representation +{ + OBJK_Representation3_Base base; + ObjectId subscriber_id; + +} DATAREADER_Representation; + + +typedef struct OBJK_PARTICIPANT_Representation +{ + OBJK_Representation3_Base base; + int16_t domain_id; + +} OBJK_PARTICIPANT_Representation; + + +typedef struct OBJK_TOPIC_Representation +{ + OBJK_Representation3_Base base; + ObjectId participant_id; + +} OBJK_TOPIC_Representation; + + +typedef struct OBJK_REQUESTER_Representation +{ + OBJK_Representation3_Base base; + ObjectId participant_id; + +} OBJK_REQUESTER_Representation; + + +typedef struct OBJK_REPLIER_Representation +{ + OBJK_Representation3_Base base; + ObjectId participant_id; + +} OBJK_REPLIER_Representation; + + +typedef struct OBJK_DomainParticipant_Binary +{ + bool optional_domain_reference; + char* domain_reference; + bool optional_qos_profile_reference; + char* qos_profile_reference; + +} OBJK_DomainParticipant_Binary; + + +typedef struct OBJK_Topic_Binary +{ + char* topic_name; + bool optional_type_reference; + char* type_reference; + bool optional_type_name; + char* type_name; + +} OBJK_Topic_Binary; + + +typedef struct OBJK_Publisher_Binary_Qos +{ + bool optional_partitions; + StringSequence_t partitions; + bool optional_group_data; + BinarySequence_t group_data; + +} OBJK_Publisher_Binary_Qos; + + +typedef struct OBJK_Publisher_Binary +{ + bool optional_publisher_name; + char* publisher_name; + bool optional_qos; + OBJK_Publisher_Binary_Qos qos; + +} OBJK_Publisher_Binary; + + +typedef struct OBJK_Subscriber_Binary_Qos +{ + bool optional_partitions; + StringSequence_t partitions; + bool optional_group_data; + BinarySequence_t group_data; + +} OBJK_Subscriber_Binary_Qos; + + +typedef struct OBJK_Subscriber_Binary +{ + bool optional_subscriber_name; + char* subscriber_name; + bool optional_qos; + OBJK_Subscriber_Binary_Qos qos; + +} OBJK_Subscriber_Binary; + + +typedef enum EndpointQosFlags +{ + is_reliable = 0x01 << 0, + is_history_keep_last = 0x01 << 1, + is_ownership_exclusive = 0x01 << 2, + is_durability_transient_local = 0x01 << 3, + is_durability_transient = 0x01 << 4, + is_durability_persistent = 0x01 << 5 + +} EndpointQosFlags; + + +typedef struct OBJK_Endpoint_QosBinary +{ + uint16_t qos_flags; + bool optional_history_depth; + uint16_t history_depth; + bool optional_deadline_msec; + uint32_t deadline_msec; + bool optional_lifespan_msec; + uint32_t lifespan_msec; + bool optional_user_data; + BinarySequenceSmall_t user_data; + +} OBJK_Endpoint_QosBinary; + + +typedef struct OBJK_DataWriter_Binary_Qos +{ + OBJK_Endpoint_QosBinary base; + bool optional_ownership_strength; + uint64_t ownership_strength; + +} OBJK_DataWriter_Binary_Qos; + + +typedef struct OBJK_DataReader_Binary_Qos +{ + OBJK_Endpoint_QosBinary base; + bool optional_timebasedfilter_msec; + uint64_t timebasedfilter_msec; + bool optional_contentbased_filter; + char* contentbased_filter; + +} OBJK_DataReader_Binary_Qos; + + +typedef struct OBJK_DataReader_Binary +{ + ObjectId topic_id; + bool optional_qos; + OBJK_DataReader_Binary_Qos qos; + +} OBJK_DataReader_Binary; + + +typedef struct OBJK_DataWriter_Binary +{ + ObjectId topic_id; + bool optional_qos; + OBJK_DataWriter_Binary_Qos qos; + +} OBJK_DataWriter_Binary; + +typedef struct OBJK_Requester_Binary +{ + char* service_name; + char* request_type; + char* reply_type; + bool optional_request_topic_name; + char* request_topic_name; + bool optional_reply_topic_name; + char* reply_topic_name; + +} OBJK_Requester_Binary; + +typedef struct OBJK_Replier_Binary +{ + char* service_name; + char* request_type; + char* reply_type; + bool optional_request_topic_name; + char* request_topic_name; + bool optional_reply_topic_name; + char* reply_topic_name; + +} OBJK_Replier_Binary; + +typedef union ObjectVariantU +{ + AGENT_Representation agent; + CLIENT_Representation client; + OBJK_APPLICATION_Representation application; + OBJK_PARTICIPANT_Representation participant; + OBJK_QOSPROFILE_Representation qos_profile; + OBJK_TYPE_Representation type; + OBJK_TOPIC_Representation topic; + OBJK_PUBLISHER_Representation publisher; + OBJK_SUBSCRIBER_Representation subscriber; + OBJK_REQUESTER_Representation requester; + OBJK_REPLIER_Representation replier; + DATAWRITER_Representation data_writer; + DATAREADER_Representation data_reader; + +} ObjectVariantU; + + +typedef struct ObjectVariant +{ + uint8_t kind; + ObjectVariantU _; + +} ObjectVariant; + + +typedef struct CreationMode +{ + bool reuse; + bool replace; + +} CreationMode; + + +typedef struct RequestId +{ + uint8_t data[2]; + +} RequestId; + + +typedef struct ResultStatus +{ + uint8_t status; + uint8_t implementation_status; + +} ResultStatus; + + +typedef struct BaseObjectRequest +{ + RequestId request_id; + ObjectId object_id; + +} BaseObjectRequest; + +typedef BaseObjectRequest RelatedObjectRequest; + +typedef enum InfoMask +{ + INFO_CONFIGURATION = 0x01 << 0, + INFO_ACTIVITY = 0x01 << 1 + +} InfoMask; + + +typedef struct AGENT_ActivityInfo +{ + int16_t availability; + TransportLocatorSeq address_seq; + +} AGENT_ActivityInfo; + + +typedef struct DATAREADER_ActivityInfo +{ + int16_t highest_acked_num; + +} DATAREADER_ActivityInfo; + + +typedef struct DATAWRITER_ActivityInfo +{ + int16_t stream_seq_num; + uint64_t sample_seq_num; + +} DATAWRITER_ActivityInfo; + + +typedef union ActivityInfoVariantU +{ + AGENT_ActivityInfo agent; + DATAWRITER_ActivityInfo data_writer; + DATAREADER_ActivityInfo data_reader; + +} ActivityInfoVariantU; + + +typedef struct ActivityInfoVariant +{ + uint8_t kind; + ActivityInfoVariantU _; + +} ActivityInfoVariant; + + +typedef struct ObjectInfo +{ + bool optional_config; + ObjectVariant config; + bool optional_activity; + ActivityInfoVariant activity; + +} ObjectInfo; + + +typedef struct BaseObjectReply +{ + BaseObjectRequest related_request; + ResultStatus result; + +} BaseObjectReply; + + +typedef enum DataFormat +{ + FORMAT_DATA = 0x00, + FORMAT_SAMPLE = 0x02, + FORMAT_DATA_SEQ = 0x08, + FORMAT_SAMPLE_SEQ = 0x0A, + FORMAT_PACKED_SAMPLES = 0x0E, + FORMAT_MASK = 0x0E + +} DataFormat; + + +typedef struct DataDeliveryControl +{ + uint16_t max_samples; + uint16_t max_elapsed_time; + uint16_t max_bytes_per_seconds; + uint16_t min_pace_period; + +} DataDeliveryControl; + + +typedef struct ReadSpecification +{ + uint8_t preferred_stream_id; + uint8_t data_format; + bool optional_content_filter_expression; + char* content_filter_expression; + bool optional_delivery_control; + DataDeliveryControl delivery_control; + +} ReadSpecification; + + +typedef enum SampleInfoFlags +{ + INSTANCE_STATE_UNREGISTERD = 0x01 << 0, + INSTANCE_STATE_DISPOSED = 0x01 << 1, + VIEW_STATE_NEW = 0x01 << 2, + SAMPLE_STATE_READ = 0x01 << 3 + +} SampleInfoFlags; + + +typedef enum SampleInfoFormat +{ + FORMAT_EMPTY = 0x00, + FORMAT_SEQNUM = 0x01, + FORMAT_TIMESTAMP = 0x02, + FORMAT_SEQN_TIMS = 0x03 + +} SampleInfoFormat; + + +typedef struct SeqNumberAndTimestamp +{ + uint32_t sequence_number; + uint32_t session_time_offset; + +} SeqNumberAndTimestamp; + + +typedef union SampleInfoDetailU +{ + uint32_t sequence_number; + uint32_t session_time_offset; + SeqNumberAndTimestamp seqnum_n_timestamp; + +} SampleInfoDetailU; + + +typedef struct SampleInfoDetail +{ + uint32_t format; + SampleInfoDetailU _; + +} SampleInfoDetail; + + +typedef struct SampleInfo +{ + uint8_t state; + SampleInfoDetail detail; + +} SampleInfo; + +typedef uint16_t DeciSecond; + + +typedef struct SampleInfoDelta +{ + uint8_t state; + uint8_t seq_number_delta; + uint16_t timestamp_delta; + +} SampleInfoDelta; + + +typedef struct SampleData +{ + uint32_t size; + uint8_t data[UXR_SAMPLE_DATA_SIZE_MAX]; + +} SampleData; + + +typedef struct SampleDataSeq +{ + uint32_t size; + SampleData data[UXR_SAMPLE_DATA_SEQUENCE_MAX]; + +} SampleDataSeq; + + +typedef struct Sample +{ + SampleInfo info; + SampleData data; + +} Sample; + + +typedef struct SampleSeq +{ + uint32_t size; + Sample data[UXR_SAMPLE_SEQUENCE_MAX]; + +} SampleSeq; + + +typedef struct SampleDelta +{ + SampleInfoDelta info_delta; + SampleData data; + +} SampleDelta; + + +typedef struct SampleDeltaSequence +{ + uint32_t size; + SampleDelta data[UXR_SAMPLE_DELTA_SEQUENCE_MAX]; + +} SampleDeltaSequence; + + +typedef struct PackedSamples +{ + SampleInfo info_base; + SampleDeltaSequence sample_delta_seq; + +} PackedSamples; + + +typedef struct SamplePackedSeq +{ + uint32_t size; + PackedSamples data[UXR_PACKED_SAMPLES_SEQUENCE_MAX]; + +} SamplePackedSeq; + + +typedef union DataRepresentationU +{ + SampleData data; + Sample sample; + SampleDataSeq data_seq; + SampleSeq sample_seq; + PackedSamples packed_samples; + +} DataRepresentationU; + + +typedef struct DataRepresentation +{ + uint8_t format; + DataRepresentationU _; + +} DataRepresentation; + + +typedef struct CREATE_CLIENT_Payload +{ + CLIENT_Representation client_representation; + +} CREATE_CLIENT_Payload; + + +typedef struct CREATE_Payload +{ + BaseObjectRequest base; + ObjectVariant object_representation; + +} CREATE_Payload; + + +typedef struct GET_INFO_Payload +{ + BaseObjectRequest base; + uint32_t info_mask; + +} GET_INFO_Payload; + + +typedef struct DELETE_Payload +{ + BaseObjectRequest base; + +} DELETE_Payload; + + +typedef struct STATUS_AGENT_Payload +{ + ResultStatus result; + AGENT_Representation agent_info; + +} STATUS_AGENT_Payload; + + +typedef struct STATUS_Payload +{ + BaseObjectReply base; + +} STATUS_Payload; + + +typedef struct INFO_Payload +{ + BaseObjectReply base; + ObjectInfo object_info; + +} INFO_Payload; + + +typedef struct READ_DATA_Payload +{ + BaseObjectRequest base; + ReadSpecification read_specification; + +} READ_DATA_Payload; + + +typedef struct WRITE_DATA_Payload_Data +{ + BaseObjectRequest base; + +} WRITE_DATA_Payload_Data; + + +typedef struct WRITE_DATA_Payload_Sample +{ + BaseObjectRequest base; + Sample sample; + +} WRITE_DATA_Payload_Sample; + + +typedef struct WRITE_DATA_Payload_DataSeq +{ + BaseObjectRequest base; + SampleDataSeq data_seq; + +} WRITE_DATA_Payload_DataSeq; + + +typedef struct WRITE_DATA_Payload_SampleSeq +{ + BaseObjectRequest base; + SampleSeq sample_seq; + +} WRITE_DATA_Payload_SampleSeq; + + +typedef struct WRITE_DATA_Payload_PackedSamples +{ + BaseObjectRequest base; + PackedSamples packed_samples; + +} WRITE_DATA_Payload_PackedSamples; + + +typedef struct DATA_Payload_Data +{ + BaseObjectRequest base; + +} DATA_Payload_Data; + + +typedef struct DATA_Payload_Sample +{ + BaseObjectRequest base; + Sample sample; + +} DATA_Payload_Sample; + + +typedef struct DATA_Payload_DataSeq +{ + BaseObjectRequest base; + SampleDataSeq data_seq; + +} DATA_Payload_DataSeq; + + +typedef struct DATA_Payload_SampleSeq +{ + BaseObjectRequest base; + SampleSeq sample_seq; + +} DATA_Payload_SampleSeq; + + +typedef struct DATA_Payload_PackedSamples +{ + BaseObjectRequest base; + PackedSamples packed_samples; + +} DATA_Payload_PackedSamples; + + +typedef struct ACKNACK_Payload +{ + uint16_t first_unacked_seq_num; + uint8_t nack_bitmap[2]; + uint8_t stream_id; + +} ACKNACK_Payload; + +typedef struct HEARTBEAT_Payload +{ + uint16_t first_unacked_seq_nr; + uint16_t last_unacked_seq_nr; + uint8_t stream_id; + +} HEARTBEAT_Payload; + +typedef struct TIMESTAMP_Payload +{ + Time_t transmit_timestamp; + +} TIMESTAMP_Payload; + +typedef struct TIMESTAMP_REPLY_Payload +{ + Time_t transmit_timestamp; + Time_t receive_timestamp; + Time_t originate_timestamp; + +} TIMESTAMP_REPLY_Payload; + +typedef struct GuidPrefix +{ + uint8_t data[12]; + +} GuidPrefix_t; + +typedef struct EntityId_t +{ + uint8_t entityKey[3]; + uint8_t entityKind; + +} EntityId_t; + +typedef struct GUID_t +{ + GuidPrefix_t guidPrefix; + EntityId_t entityId; + +} GUID_t; + +typedef struct SequenceNumber_t +{ + int32_t high; + uint32_t low; + +} SequenceNumber_t; + +typedef struct SampleIdentity +{ + GUID_t writer_guid; + SequenceNumber_t sequence_number; + +} SampleIdentity; + +#ifdef PERFORMANCE_TESTING +typedef struct PERFORMANCE_Payload +{ + uint32_t epoch_time_lsb; + uint32_t epoch_time_msb; + uint8_t* buf; + uint16_t len; + +} PERFORMANCE_Payload; +#endif // ifdef PERFORMANCE_TESTING + +bool uxr_serialize_Time_t( + ucdrBuffer* buffer, + const Time_t* input); +bool uxr_deserialize_Time_t( + ucdrBuffer* buffer, + Time_t* output); + +bool uxr_serialize_BinarySequence_t( + ucdrBuffer* buffer, + const BinarySequence_t* input); +bool uxr_deserialize_BinarySequence_t( + ucdrBuffer* buffer, + BinarySequence_t* output); + +bool uxr_serialize_StringSequence_t( + ucdrBuffer* buffer, + const StringSequence_t* input); +bool uxr_deserialize_StringSequence_t( + ucdrBuffer* buffer, + StringSequence_t* output); + +bool uxr_serialize_ClientKey( + ucdrBuffer* buffer, + const ClientKey* input); +bool uxr_deserialize_ClientKey( + ucdrBuffer* buffer, + ClientKey* output); + +bool uxr_serialize_ObjectId( + ucdrBuffer* buffer, + const ObjectId* input); +bool uxr_deserialize_ObjectId( + ucdrBuffer* buffer, + ObjectId* output); + +bool uxr_serialize_ObjectPrefix( + ucdrBuffer* buffer, + const ObjectPrefix* input); +bool uxr_deserialize_ObjectPrefix( + ucdrBuffer* buffer, + ObjectPrefix* output); + +bool uxr_serialize_XrceCookie( + ucdrBuffer* buffer, + const XrceCookie* input); +bool uxr_deserialize_XrceCookie( + ucdrBuffer* buffer, + XrceCookie* output); + +bool uxr_serialize_XrceVersion( + ucdrBuffer* buffer, + const XrceVersion* input); +bool uxr_deserialize_XrceVersion( + ucdrBuffer* buffer, + XrceVersion* output); + +bool uxr_serialize_XrceVendorId( + ucdrBuffer* buffer, + const XrceVendorId* input); +bool uxr_deserialize_XrceVendorId( + ucdrBuffer* buffer, + XrceVendorId* output); + +bool uxr_serialize_TransportLocatorSmall( + ucdrBuffer* buffer, + const TransportLocatorSmall* input); +bool uxr_deserialize_TransportLocatorSmall( + ucdrBuffer* buffer, + TransportLocatorSmall* output); + +bool uxr_serialize_TransportLocatorMedium( + ucdrBuffer* buffer, + const TransportLocatorMedium* input); +bool uxr_deserialize_TransportLocatorMedium( + ucdrBuffer* buffer, + TransportLocatorMedium* output); + +bool uxr_serialize_TransportLocatorLarge( + ucdrBuffer* buffer, + const TransportLocatorLarge* input); +bool uxr_deserialize_TransportLocatorLarge( + ucdrBuffer* buffer, + TransportLocatorLarge* output); + +bool uxr_serialize_TransportLocatorString( + ucdrBuffer* buffer, + const TransportLocatorString* input); +bool uxr_deserialize_TransportLocatorString( + ucdrBuffer* buffer, + TransportLocatorString* output); + +bool uxr_serialize_TransportLocator( + ucdrBuffer* buffer, + const TransportLocator* input); +bool uxr_deserialize_TransportLocator( + ucdrBuffer* buffer, + TransportLocator* output); + +bool uxr_serialize_TransportLocatorSeq( + ucdrBuffer* buffer, + const TransportLocatorSeq* input); +bool uxr_deserialize_TransportLocatorSeq( + ucdrBuffer* buffer, + TransportLocatorSeq* output); + +bool uxr_serialize_Property( + ucdrBuffer* buffer, + const Property* input); +bool uxr_deserialize_Property( + ucdrBuffer* buffer, + Property* output); + +bool uxr_serialize_PropertySeq( + ucdrBuffer* buffer, + const PropertySeq* input); +bool uxr_deserialize_PropertySeq( + ucdrBuffer* buffer, + PropertySeq* output); + +bool uxr_serialize_CLIENT_Representation( + ucdrBuffer* buffer, + const CLIENT_Representation* input); +bool uxr_deserialize_CLIENT_Representation( + ucdrBuffer* buffer, + CLIENT_Representation* output); + +bool uxr_serialize_AGENT_Representation( + ucdrBuffer* buffer, + const AGENT_Representation* input); +bool uxr_deserialize_AGENT_Representation( + ucdrBuffer* buffer, + AGENT_Representation* output); + +bool uxr_serialize_OBJK_Representation3Formats( + ucdrBuffer* buffer, + const OBJK_Representation3Formats* input); +bool uxr_deserialize_OBJK_Representation3Formats( + ucdrBuffer* buffer, + OBJK_Representation3Formats* output); + +bool uxr_serialize_OBJK_RepresentationRefAndXMLFormats( + ucdrBuffer* buffer, + const OBJK_RepresentationRefAndXMLFormats* input); +bool uxr_deserialize_OBJK_RepresentationRefAndXMLFormats( + ucdrBuffer* buffer, + OBJK_RepresentationRefAndXMLFormats* output); + +bool uxr_serialize_OBJK_RepresentationBinAndXMLFormats( + ucdrBuffer* buffer, + const OBJK_RepresentationBinAndXMLFormats* input); +bool uxr_deserialize_OBJK_RepresentationBinAndXMLFormats( + ucdrBuffer* buffer, + OBJK_RepresentationBinAndXMLFormats* output); + +bool uxr_serialize_OBJK_RepresentationRefAndXML_Base( + ucdrBuffer* buffer, + const OBJK_RepresentationRefAndXML_Base* input); +bool uxr_deserialize_OBJK_RepresentationRefAndXML_Base( + ucdrBuffer* buffer, + OBJK_RepresentationRefAndXML_Base* output); + +bool uxr_serialize_OBJK_RepresentationBinAndXML_Base( + ucdrBuffer* buffer, + const OBJK_RepresentationBinAndXML_Base* input); +bool uxr_deserialize_OBJK_RepresentationBinAndXML_Base( + ucdrBuffer* buffer, + OBJK_RepresentationBinAndXML_Base* output); + +bool uxr_serialize_OBJK_Representation3_Base( + ucdrBuffer* buffer, + const OBJK_Representation3_Base* input); +bool uxr_deserialize_OBJK_Representation3_Base( + ucdrBuffer* buffer, + OBJK_Representation3_Base* output); + +bool uxr_serialize_OBJK_QOSPROFILE_Representation( + ucdrBuffer* buffer, + const OBJK_QOSPROFILE_Representation* input); +bool uxr_deserialize_OBJK_QOSPROFILE_Representation( + ucdrBuffer* buffer, + OBJK_QOSPROFILE_Representation* output); + +bool uxr_serialize_OBJK_TYPE_Representation( + ucdrBuffer* buffer, + const OBJK_TYPE_Representation* input); +bool uxr_deserialize_OBJK_TYPE_Representation( + ucdrBuffer* buffer, + OBJK_TYPE_Representation* output); + +bool uxr_serialize_OBJK_DOMAIN_Representation( + ucdrBuffer* buffer, + const OBJK_DOMAIN_Representation* input); +bool uxr_deserialize_OBJK_DOMAIN_Representation( + ucdrBuffer* buffer, + OBJK_DOMAIN_Representation* output); + +bool uxr_serialize_OBJK_APPLICATION_Representation( + ucdrBuffer* buffer, + const OBJK_APPLICATION_Representation* input); +bool uxr_deserialize_OBJK_APPLICATION_Representation( + ucdrBuffer* buffer, + OBJK_APPLICATION_Representation* output); + +bool uxr_serialize_OBJK_PUBLISHER_Representation( + ucdrBuffer* buffer, + const OBJK_PUBLISHER_Representation* input); +bool uxr_deserialize_OBJK_PUBLISHER_Representation( + ucdrBuffer* buffer, + OBJK_PUBLISHER_Representation* output); + +bool uxr_serialize_OBJK_SUBSCRIBER_Representation( + ucdrBuffer* buffer, + const OBJK_SUBSCRIBER_Representation* input); +bool uxr_deserialize_OBJK_SUBSCRIBER_Representation( + ucdrBuffer* buffer, + OBJK_SUBSCRIBER_Representation* output); + +bool uxr_serialize_DATAWRITER_Representation( + ucdrBuffer* buffer, + const DATAWRITER_Representation* input); +bool uxr_deserialize_DATAWRITER_Representation( + ucdrBuffer* buffer, + DATAWRITER_Representation* output); + +bool uxr_serialize_DATAREADER_Representation( + ucdrBuffer* buffer, + const DATAREADER_Representation* input); +bool uxr_deserialize_DATAREADER_Representation( + ucdrBuffer* buffer, + DATAREADER_Representation* output); + +bool uxr_serialize_OBJK_PARTICIPANT_Representation( + ucdrBuffer* buffer, + const OBJK_PARTICIPANT_Representation* input); +bool uxr_deserialize_OBJK_PARTICIPANT_Representation( + ucdrBuffer* buffer, + OBJK_PARTICIPANT_Representation* output); + +bool uxr_serialize_OBJK_TOPIC_Representation( + ucdrBuffer* buffer, + const OBJK_TOPIC_Representation* input); +bool uxr_deserialize_OBJK_TOPIC_Representation( + ucdrBuffer* buffer, + OBJK_TOPIC_Representation* output); + +bool uxr_serialize_OBJK_REQUESTER_Representation( + ucdrBuffer* buffer, + const OBJK_REQUESTER_Representation* input); +bool uxr_deserialize_OBJK_REQUESTER_Representation( + ucdrBuffer* buffer, + OBJK_REQUESTER_Representation* output); + +bool uxr_serialize_OBJK_REPLIER_Representation( + ucdrBuffer* buffer, + const OBJK_REPLIER_Representation* input); +bool uxr_deserialize_OBJK_REPLIER_Representation( + ucdrBuffer* buffer, + OBJK_REPLIER_Representation* output); + +bool uxr_serialize_OBJK_DomainParticipant_Binary( + ucdrBuffer* buffer, + const OBJK_DomainParticipant_Binary* input); +bool uxr_deserialize_OBJK_DomainParticipant_Binary( + ucdrBuffer* buffer, + OBJK_DomainParticipant_Binary* output); + +bool uxr_serialize_OBJK_Topic_Binary( + ucdrBuffer* buffer, + const OBJK_Topic_Binary* input); +bool uxr_deserialize_OBJK_Topic_Binary( + ucdrBuffer* buffer, + OBJK_Topic_Binary* output); + +bool uxr_serialize_OBJK_Publisher_Binary_Qos( + ucdrBuffer* buffer, + const OBJK_Publisher_Binary_Qos* input); +bool uxr_deserialize_OBJK_Publisher_Binary_Qos( + ucdrBuffer* buffer, + OBJK_Publisher_Binary_Qos* output); + +bool uxr_serialize_OBJK_Publisher_Binary( + ucdrBuffer* buffer, + const OBJK_Publisher_Binary* input); +bool uxr_deserialize_OBJK_Publisher_Binary( + ucdrBuffer* buffer, + OBJK_Publisher_Binary* output); + +bool uxr_serialize_OBJK_Subscriber_Binary_Qos( + ucdrBuffer* buffer, + const OBJK_Subscriber_Binary_Qos* input); +bool uxr_deserialize_OBJK_Subscriber_Binary_Qos( + ucdrBuffer* buffer, + OBJK_Subscriber_Binary_Qos* output); + +bool uxr_serialize_OBJK_Subscriber_Binary( + ucdrBuffer* buffer, + const OBJK_Subscriber_Binary* input); +bool uxr_deserialize_OBJK_Subscriber_Binary( + ucdrBuffer* buffer, + OBJK_Subscriber_Binary* output); + +bool uxr_serialize_OBJK_Endpoint_QosBinary( + ucdrBuffer* buffer, + const OBJK_Endpoint_QosBinary* input); +bool uxr_deserialize_OBJK_Endpoint_QosBinary( + ucdrBuffer* buffer, + OBJK_Endpoint_QosBinary* output); + +bool uxr_serialize_OBJK_DataWriter_Binary_Qos( + ucdrBuffer* buffer, + const OBJK_DataWriter_Binary_Qos* input); +bool uxr_deserialize_OBJK_DataWriter_Binary_Qos( + ucdrBuffer* buffer, + OBJK_DataWriter_Binary_Qos* output); + +bool uxr_serialize_OBJK_DataReader_Binary_Qos( + ucdrBuffer* buffer, + const OBJK_DataReader_Binary_Qos* input); +bool uxr_deserialize_OBJK_DataReader_Binary_Qos( + ucdrBuffer* buffer, + OBJK_DataReader_Binary_Qos* output); + +bool uxr_serialize_OBJK_DataReader_Binary( + ucdrBuffer* buffer, + const OBJK_DataReader_Binary* input); +bool uxr_deserialize_OBJK_DataReader_Binary( + ucdrBuffer* buffer, + OBJK_DataReader_Binary* output); + +bool uxr_serialize_OBJK_DataWriter_Binary( + ucdrBuffer* buffer, + const OBJK_DataWriter_Binary* input); +bool uxr_deserialize_OBJK_DataWriter_Binary( + ucdrBuffer* buffer, + OBJK_DataWriter_Binary* output); + +bool uxr_serialize_OBJK_Requester_Binary( + ucdrBuffer* buffer, + const OBJK_Requester_Binary* input); +bool uxr_deserialize_OBJK_Requester_Binary( + ucdrBuffer* buffer, + OBJK_Requester_Binary* output); + +bool uxr_serialize_OBJK_Replier_Binary( + ucdrBuffer* buffer, + const OBJK_Replier_Binary* input); +bool uxr_deserialize_OBJK_Replier_Binary( + ucdrBuffer* buffer, + OBJK_Replier_Binary* output); + +bool uxr_serialize_ObjectVariant( + ucdrBuffer* buffer, + const ObjectVariant* input); +bool uxr_deserialize_ObjectVariant( + ucdrBuffer* buffer, + ObjectVariant* output); + +bool uxr_serialize_CreationMode( + ucdrBuffer* buffer, + const CreationMode* input); +bool uxr_deserialize_CreationMode( + ucdrBuffer* buffer, + CreationMode* output); + +bool uxr_serialize_RequestId( + ucdrBuffer* buffer, + const RequestId* input); +bool uxr_deserialize_RequestId( + ucdrBuffer* buffer, + RequestId* output); + +bool uxr_serialize_ResultStatus( + ucdrBuffer* buffer, + const ResultStatus* input); +bool uxr_deserialize_ResultStatus( + ucdrBuffer* buffer, + ResultStatus* output); + +bool uxr_serialize_BaseObjectRequest( + ucdrBuffer* buffer, + const BaseObjectRequest* input); +bool uxr_deserialize_BaseObjectRequest( + ucdrBuffer* buffer, + BaseObjectRequest* output); + +bool uxr_serialize_AGENT_ActivityInfo( + ucdrBuffer* buffer, + const AGENT_ActivityInfo* input); +bool uxr_deserialize_AGENT_ActivityInfo( + ucdrBuffer* buffer, + AGENT_ActivityInfo* output); + +bool uxr_serialize_DATAREADER_ActivityInfo( + ucdrBuffer* buffer, + const DATAREADER_ActivityInfo* input); +bool uxr_deserialize_DATAREADER_ActivityInfo( + ucdrBuffer* buffer, + DATAREADER_ActivityInfo* output); + +bool uxr_serialize_DATAWRITER_ActivityInfo( + ucdrBuffer* buffer, + const DATAWRITER_ActivityInfo* input); +bool uxr_deserialize_DATAWRITER_ActivityInfo( + ucdrBuffer* buffer, + DATAWRITER_ActivityInfo* output); + +bool uxr_serialize_ActivityInfoVariant( + ucdrBuffer* buffer, + const ActivityInfoVariant* input); +bool uxr_deserialize_ActivityInfoVariant( + ucdrBuffer* buffer, + ActivityInfoVariant* output); + +bool uxr_serialize_ObjectInfo( + ucdrBuffer* buffer, + const ObjectInfo* input); +bool uxr_deserialize_ObjectInfo( + ucdrBuffer* buffer, + ObjectInfo* output); + +bool uxr_serialize_BaseObjectReply( + ucdrBuffer* buffer, + const BaseObjectReply* input); +bool uxr_deserialize_BaseObjectReply( + ucdrBuffer* buffer, + BaseObjectReply* output); + +bool uxr_serialize_DataDeliveryControl( + ucdrBuffer* buffer, + const DataDeliveryControl* input); +bool uxr_deserialize_DataDeliveryControl( + ucdrBuffer* buffer, + DataDeliveryControl* output); + +bool uxr_serialize_ReadSpecification( + ucdrBuffer* buffer, + const ReadSpecification* input); +bool uxr_deserialize_ReadSpecification( + ucdrBuffer* buffer, + ReadSpecification* output); + +bool uxr_serialize_SeqNumberAndTimestamp( + ucdrBuffer* buffer, + const SeqNumberAndTimestamp* input); +bool uxr_deserialize_SeqNumberAndTimestamp( + ucdrBuffer* buffer, + SeqNumberAndTimestamp* output); + +bool uxr_serialize_SampleInfoDetail( + ucdrBuffer* buffer, + const SampleInfoDetail* input); +bool uxr_deserialize_SampleInfoDetail( + ucdrBuffer* buffer, + SampleInfoDetail* output); + +bool uxr_serialize_SampleInfo( + ucdrBuffer* buffer, + const SampleInfo* input); +bool uxr_deserialize_SampleInfo( + ucdrBuffer* buffer, + SampleInfo* output); + +bool uxr_serialize_SampleInfoDelta( + ucdrBuffer* buffer, + const SampleInfoDelta* input); +bool uxr_deserialize_SampleInfoDelta( + ucdrBuffer* buffer, + SampleInfoDelta* output); + +bool uxr_serialize_SampleData( + ucdrBuffer* buffer, + const SampleData* input); +bool uxr_deserialize_SampleData( + ucdrBuffer* buffer, + SampleData* output); + +bool uxr_serialize_SampleDataSeq( + ucdrBuffer* buffer, + const SampleDataSeq* input); +bool uxr_deserialize_SampleDataSeq( + ucdrBuffer* buffer, + SampleDataSeq* output); + +bool uxr_serialize_Sample( + ucdrBuffer* buffer, + const Sample* input); +bool uxr_deserialize_Sample( + ucdrBuffer* buffer, + Sample* output); + +bool uxr_serialize_SampleSeq( + ucdrBuffer* buffer, + const SampleSeq* input); +bool uxr_deserialize_SampleSeq( + ucdrBuffer* buffer, + SampleSeq* output); + +bool uxr_serialize_SampleDelta( + ucdrBuffer* buffer, + const SampleDelta* input); +bool uxr_deserialize_SampleDelta( + ucdrBuffer* buffer, + SampleDelta* output); + +bool uxr_serialize_SampleDeltaSequence( + ucdrBuffer* buffer, + const SampleDeltaSequence* input); +bool uxr_deserialize_SampleDeltaSequence( + ucdrBuffer* buffer, + SampleDeltaSequence* output); + +bool uxr_serialize_PackedSamples( + ucdrBuffer* buffer, + const PackedSamples* input); +bool uxr_deserialize_PackedSamples( + ucdrBuffer* buffer, + PackedSamples* output); + +bool uxr_serialize_SamplePackedSeq( + ucdrBuffer* buffer, + const SamplePackedSeq* input); +bool uxr_deserialize_SamplePackedSeq( + ucdrBuffer* buffer, + SamplePackedSeq* output); + +bool uxr_serialize_DataRepresentation( + ucdrBuffer* buffer, + const DataRepresentation* input); +bool uxr_deserialize_DataRepresentation( + ucdrBuffer* buffer, + DataRepresentation* output); + +bool uxr_serialize_CREATE_CLIENT_Payload( + ucdrBuffer* buffer, + const CREATE_CLIENT_Payload* input); +bool uxr_deserialize_CREATE_CLIENT_Payload( + ucdrBuffer* buffer, + CREATE_CLIENT_Payload* output); + +bool uxr_serialize_CREATE_Payload( + ucdrBuffer* buffer, + const CREATE_Payload* input); +bool uxr_deserialize_CREATE_Payload( + ucdrBuffer* buffer, + CREATE_Payload* output); + +bool uxr_serialize_GET_INFO_Payload( + ucdrBuffer* buffer, + const GET_INFO_Payload* input); +bool uxr_deserialize_GET_INFO_Payload( + ucdrBuffer* buffer, + GET_INFO_Payload* output); + +bool uxr_serialize_DELETE_Payload( + ucdrBuffer* buffer, + const DELETE_Payload* input); +bool uxr_deserialize_DELETE_Payload( + ucdrBuffer* buffer, + DELETE_Payload* output); + +bool uxr_serialize_STATUS_AGENT_Payload( + ucdrBuffer* buffer, + const STATUS_AGENT_Payload* input); +bool uxr_deserialize_STATUS_AGENT_Payload( + ucdrBuffer* buffer, + STATUS_AGENT_Payload* output); + +bool uxr_serialize_STATUS_Payload( + ucdrBuffer* buffer, + const STATUS_Payload* input); +bool uxr_deserialize_STATUS_Payload( + ucdrBuffer* buffer, + STATUS_Payload* output); + +bool uxr_serialize_INFO_Payload( + ucdrBuffer* buffer, + const INFO_Payload* input); +bool uxr_deserialize_INFO_Payload( + ucdrBuffer* buffer, + INFO_Payload* output); + +bool uxr_serialize_READ_DATA_Payload( + ucdrBuffer* buffer, + const READ_DATA_Payload* input); +bool uxr_deserialize_READ_DATA_Payload( + ucdrBuffer* buffer, + READ_DATA_Payload* output); + +bool uxr_serialize_WRITE_DATA_Payload_Data( + ucdrBuffer* buffer, + const WRITE_DATA_Payload_Data* input); +bool uxr_deserialize_WRITE_DATA_Payload_Data( + ucdrBuffer* buffer, + WRITE_DATA_Payload_Data* output); + +bool uxr_serialize_WRITE_DATA_Payload_Sample( + ucdrBuffer* buffer, + const WRITE_DATA_Payload_Sample* input); +bool uxr_deserialize_WRITE_DATA_Payload_Sample( + ucdrBuffer* buffer, + WRITE_DATA_Payload_Sample* output); + +bool uxr_serialize_WRITE_DATA_Payload_DataSeq( + ucdrBuffer* buffer, + const WRITE_DATA_Payload_DataSeq* input); +bool uxr_deserialize_WRITE_DATA_Payload_DataSeq( + ucdrBuffer* buffer, + WRITE_DATA_Payload_DataSeq* output); + +bool uxr_serialize_WRITE_DATA_Payload_SampleSeq( + ucdrBuffer* buffer, + const WRITE_DATA_Payload_SampleSeq* input); +bool uxr_deserialize_WRITE_DATA_Payload_SampleSeq( + ucdrBuffer* buffer, + WRITE_DATA_Payload_SampleSeq* output); + +bool uxr_serialize_WRITE_DATA_Payload_PackedSamples( + ucdrBuffer* buffer, + const WRITE_DATA_Payload_PackedSamples* input); +bool uxr_deserialize_WRITE_DATA_Payload_PackedSamples( + ucdrBuffer* buffer, + WRITE_DATA_Payload_PackedSamples* output); + +bool uxr_serialize_DATA_Payload_Data( + ucdrBuffer* buffer, + const DATA_Payload_Data* input); +bool uxr_deserialize_DATA_Payload_Data( + ucdrBuffer* buffer, + DATA_Payload_Data* output); + +bool uxr_serialize_DATA_Payload_Sample( + ucdrBuffer* buffer, + const DATA_Payload_Sample* input); +bool uxr_deserialize_DATA_Payload_Sample( + ucdrBuffer* buffer, + DATA_Payload_Sample* output); + +bool uxr_serialize_DATA_Payload_DataSeq( + ucdrBuffer* buffer, + const DATA_Payload_DataSeq* input); +bool uxr_deserialize_DATA_Payload_DataSeq( + ucdrBuffer* buffer, + DATA_Payload_DataSeq* output); + +bool uxr_serialize_DATA_Payload_SampleSeq( + ucdrBuffer* buffer, + const DATA_Payload_SampleSeq* input); +bool uxr_deserialize_DATA_Payload_SampleSeq( + ucdrBuffer* buffer, + DATA_Payload_SampleSeq* output); + +bool uxr_serialize_DATA_Payload_PackedSamples( + ucdrBuffer* buffer, + const DATA_Payload_PackedSamples* input); +bool uxr_deserialize_DATA_Payload_PackedSamples( + ucdrBuffer* buffer, + DATA_Payload_PackedSamples* output); + +bool uxr_serialize_ACKNACK_Payload( + ucdrBuffer* buffer, + const ACKNACK_Payload* input); +bool uxr_deserialize_ACKNACK_Payload( + ucdrBuffer* buffer, + ACKNACK_Payload* output); + +bool uxr_serialize_HEARTBEAT_Payload( + ucdrBuffer* buffer, + const HEARTBEAT_Payload* input); +bool uxr_deserialize_HEARTBEAT_Payload( + ucdrBuffer* buffer, + HEARTBEAT_Payload* output); + +bool uxr_serialize_TIMESTAMP_Payload( + ucdrBuffer* buffer, + const TIMESTAMP_Payload* input); +bool uxr_deserialize_TIMESTAMP_Payload( + ucdrBuffer* buffer, + TIMESTAMP_Payload* output); + +bool uxr_serialize_TIMESTAMP_REPLY_Payload( + ucdrBuffer* buffer, + const TIMESTAMP_REPLY_Payload* input); +bool uxr_deserialize_TIMESTAMP_REPLY_Payload( + ucdrBuffer* buffer, + TIMESTAMP_REPLY_Payload* output); + +bool uxr_serialize_GuidPrefix_t( + ucdrBuffer* buffer, + const GuidPrefix_t* input); +bool uxr_deserialize_GuidPrefix_t( + ucdrBuffer* buffer, + GuidPrefix_t* output); + +bool uxr_serialize_EntityId_t( + ucdrBuffer* buffer, + const EntityId_t* input); +bool uxr_deserialize_EntityId_t( + ucdrBuffer* buffer, + EntityId_t* output); + +bool uxr_serialize_GUID_t( + ucdrBuffer* buffer, + const GUID_t* input); +bool uxr_deserialize_GUID_t( + ucdrBuffer* buffer, + GUID_t* output); + +bool uxr_serialize_SequenceNumber_t( + ucdrBuffer* buffer, + const SequenceNumber_t* input); +bool uxr_deserialize_SequenceNumber_t( + ucdrBuffer* buffer, + SequenceNumber_t* output); + +bool uxr_serialize_SampleIdentity( + ucdrBuffer* buffer, + const SampleIdentity* input); +bool uxr_deserialize_SampleIdentity( + ucdrBuffer* buffer, + SampleIdentity* output); + +#ifdef PERFORMANCE_TESTING +bool uxr_serialize_PERFORMANCE_Payload( + ucdrBuffer* buffer, + const PERFORMANCE_Payload* input); +bool uxr_deserialize_PERFORMANCE_Payload( + ucdrBuffer* buffer, + PERFORMANCE_Payload* input); +#endif // ifdef PERFORMANCE_TESTING + +#ifdef __cplusplus +} +#endif // ifdef __cplusplus + +#endif // UXR_CLIENT_CORE_TYPE_XRCETYPES_H_ diff --git a/ports/espressif/microros-ext/include/uxr/client/defines.h b/ports/espressif/microros-ext/include/uxr/client/defines.h new file mode 100644 index 0000000000000..506d6593bee11 --- /dev/null +++ b/ports/espressif/microros-ext/include/uxr/client/defines.h @@ -0,0 +1,24 @@ +// Copyright 2018 Proyectos y Sistemas de Mantenimiento SL (eProsima). +// +// 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. + +#ifndef _UXR_CLIENT_DEFINES_H_ +#define _UXR_CLIENT_DEFINES_H_ + +#ifdef __cplusplus +#define COMPOUND_LITERAL(x) x +#else +#define COMPOUND_LITERAL(x) (x) +#endif // ifdef __cplusplus + +#endif // _UXR_CLIENT_DEFINES_H_ diff --git a/ports/espressif/microros-ext/include/uxr/client/profile/discovery/discovery.h b/ports/espressif/microros-ext/include/uxr/client/profile/discovery/discovery.h new file mode 100644 index 0000000000000..0d0972511e232 --- /dev/null +++ b/ports/espressif/microros-ext/include/uxr/client/profile/discovery/discovery.h @@ -0,0 +1,87 @@ +// Copyright 2019 Proyectos y Sistemas de Mantenimiento SL (eProsima). +// +// 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. + +/** + * @file + */ + +#ifndef UXR_CLIENT_PROFILE_DISCOVERY_DISCOVERY_H_ +#define UXR_CLIENT_PROFILE_DISCOVERY_DISCOVERY_H_ + +#ifdef __cplusplus +extern "C" +{ +#endif // ifdef __cplusplus + +#include +#include +#include + +#include +#include +#include + +/** \addtogroup discovery Discovery profile + * The discovery profile allows discovering Agents in the network by UDP. The reachable Agents respond to the discovery call by sending information about themselves, as their IP and port. There are two modes: unicast and multicast. The discovery phase precedes the call to the uxr_create_session function, as it serves to determine the Agent to connect with. These functions are enabled when PROFILE_DISCOVERY is activated as a CMake argument. The declaration of these functions can be found in uxr/client/profile/discovery/discovery.h. + * @{ + */ + + +/** + * @brief Function signature used for on_status_func callbacks. + * @param locator Transport locator of a discovered agent + * @param args User pointer data. + * @return true means that the discovery routine has finished. A false implies that the discovery routine must continue searching Agents. + */ +typedef bool (* uxrOnAgentFound) ( + const TransportLocator* locator, + void* args); + +/** + * @brief Discovers Agents within the network using UDP/IP multicast with address "239.255.0.2" and port 7400. + * @param attempts The times a discovery message is sent across the network. + * @param period The period using to send multicast messages through the network. + * @param on_agent_func The callback function that will be called when an Agent is discovered. + * @param args The user argument provided to the callback function. + */ +UXRDLLAPI void uxr_discovery_agents_default( + uint32_t attempts, + int period, + uxrOnAgentFound on_agent_func, + void* args); + +/** + * @brief Discovers Agents within the network using UDP/IP unicast with the address and port set by the user. + * @param attempts The times a discovery message is sent across the network. + * @param period The period using to send unicast messages through the network. + * @param on_agent_func The callback function that will called when an Agent is discovered. + * @param args The user argument provided to the callback function. + * @param agent_list The list of addresses used for discovering Agents. + * @param agent_list_size The size of the address list. + */ +UXRDLLAPI void uxr_discovery_agents( + uint32_t attempts, + int period, + uxrOnAgentFound on_agent_func, + void* args, + const TransportLocator* agent_list, + size_t agent_list_size); + +/** @}*/ + +#ifdef __cplusplus +} +#endif // ifdef __cplusplus + +#endif // UXR_CLIENT_PROFILE_DISCOVERY_DISCOVERY_H_ diff --git a/ports/espressif/microros-ext/include/uxr/client/profile/multithread/multithread.h b/ports/espressif/microros-ext/include/uxr/client/profile/multithread/multithread.h new file mode 100644 index 0000000000000..189b4a7df55f8 --- /dev/null +++ b/ports/espressif/microros-ext/include/uxr/client/profile/multithread/multithread.h @@ -0,0 +1,136 @@ +// Copyright 2021 Proyectos y Sistemas de Mantenimiento SL (eProsima). +// +// 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. + +#ifndef UXR_CLIENT_PROFILE_MULTITHREAD_H_ +#define UXR_CLIENT_PROFILE_MULTITHREAD_H_ + +#ifdef __cplusplus +extern "C" +{ +#endif // ifdef __cplusplus + +#include +#include +#include + +struct uxrSession; + +#ifdef UCLIENT_PROFILE_MULTITHREAD + +#ifdef WIN32 +#elif defined(PLATFORM_NAME_FREERTOS) +#include "FreeRTOS.h" +#include "semphr.h" +#elif defined(UCLIENT_PLATFORM_ZEPHYR) +#elif defined(UCLIENT_PLATFORM_POSIX) +#include +#endif // ifdef WIN32 + +// Micro XRCE-DDS Client mutex implementation + +typedef struct uxrMutex +{ +#ifdef WIN32 +#elif defined(PLATFORM_NAME_FREERTOS) + SemaphoreHandle_t impl; + StaticSemaphore_t xMutexBuffer; +#elif defined(UCLIENT_PLATFORM_ZEPHYR) + struct k_mutex impl; +#elif defined(UCLIENT_PLATFORM_POSIX) + pthread_mutex_t impl; +#endif // ifdef WIN32 +} uxrMutex; + +UXRDLLAPI uxrMutex* uxr_get_stream_mutex_from_id( + struct uxrSession* session, + uxrStreamId stream_id); + +UXRDLLAPI void uxr_init_lock( + uxrMutex* mutex); + +UXRDLLAPI void uxr_lock( + uxrMutex* mutex); + +UXRDLLAPI void uxr_unlock( + uxrMutex* mutex); + +// Conditional defines + +#define UXR_INIT_LOCK(X) uxr_init_lock(X) +#define UXR_LOCK(X) uxr_lock(X) +#define UXR_UNLOCK(X) uxr_unlock(X) + +#define UXR_INIT_LOCK_SESSION uxr_init_lock(&session->mutex) +#define UXR_LOCK_SESSION(session) uxr_lock(&session->mutex) +#define UXR_UNLOCK_SESSION(session) uxr_unlock(&session->mutex) + +#define UXR_LOCK_TRANSPORT(comm) uxr_lock(&comm->mutex) +#define UXR_UNLOCK_TRANSPORT(comm) uxr_unlock(&comm->mutex) + +#define UXR_LOCK_STREAM_ID(session, stream_id) { \ + uxrMutex* stream_mutex = uxr_get_stream_mutex_from_id(session, stream_id); \ + if (stream_mutex != NULL){ \ + uxr_lock(stream_mutex); \ + } \ +} + +#define UXR_UNLOCK_STREAM_ID(session, stream_id){ \ + uxrMutex* stream_mutex = uxr_get_stream_mutex_from_id(session, stream_id); \ + if (stream_mutex != NULL){ \ + uxr_unlock(stream_mutex); \ + } \ +} + +#define UXR_LOCK_ALL_INPUT_STREAMS(session) \ + for (uint8_t i = 0; i < session->streams.input_best_effort_size; ++i){ \ + uxr_lock(&session->streams.input_best_effort[i].mutex); } \ + for (uint8_t i = 0; i < session->streams.input_reliable_size; ++i){ \ + uxr_lock(&session->streams.input_reliable[i].mutex); \ + } + +#define UXR_UNLOCK_ALL_INPUT_STREAMS(session) \ + for (uint8_t i = 0; i < session->streams.input_best_effort_size; ++i){ \ + uxr_unlock( &session->streams.input_best_effort[i].mutex); \ + } \ + for (uint8_t i = 0; i < session->streams.input_reliable_size; ++i){ \ + uxr_unlock( &session->streams.input_reliable[i].mutex); \ + } + + +#else // UCLIENT_PROFILE_MULTITHREAD + +#define UXR_INIT_LOCK(X) +#define UXR_LOCK(X) +#define UXR_UNLOCK(X) + +#define UXR_INIT_LOCK_SESSION +#define UXR_LOCK_SESSION(session) +#define UXR_UNLOCK_SESSION(session) + +#define UXR_LOCK_TRANSPORT(comm) +#define UXR_UNLOCK_TRANSPORT(comm) + +#define UXR_LOCK_STREAM_ID(session, stream_id) +#define UXR_UNLOCK_STREAM_ID(session, stream_id) + +#define UXR_LOCK_ALL_INPUT_STREAMS(session) +#define UXR_UNLOCK_ALL_INPUT_STREAMS(session) + +#endif // UCLIENT_PROFILE_MULTITHREAD + +#ifdef __cplusplus +} +#endif // ifdef __cplusplus + +#endif // UXR_CLIENT_PROFILE_MULTITHREAD_H_ diff --git a/ports/espressif/microros-ext/include/uxr/client/profile/transport/can/can_transport.h b/ports/espressif/microros-ext/include/uxr/client/profile/transport/can/can_transport.h new file mode 100644 index 0000000000000..cb77dc30b2117 --- /dev/null +++ b/ports/espressif/microros-ext/include/uxr/client/profile/transport/can/can_transport.h @@ -0,0 +1,74 @@ +// Copyright 2019 Proyectos y Sistemas de Mantenimiento SL (eProsima). +// +// 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. + +/** + * @file + */ + +#ifndef UXR_CLIENT_CAN_TRANSPORT_H_ +#define UXR_CLIENT_CAN_TRANSPORT_H_ + +#ifdef __cplusplus +extern "C" +{ +#endif // ifdef __cplusplus + +#include +#include +#include +#include + +/* For CAN-FD, MTU is fixed value */ +#define UXR_CAN_TRANSPORT_MTU 63 + +typedef struct uxrCANTransport +{ + uint8_t buffer[UXR_CAN_TRANSPORT_MTU]; + uxrCommunication comm; + struct uxrCANPlatform platform; +} uxrCANTransport; + +/** \addtogroup transport Transport + * These functions are platform-dependent. The declaration of these functions can be found in the uxr/client/profile/transport/ folder. The common init transport functions follow the nomenclature below. + * @{ + */ + +/** + * @brief Initializes a CAN transport. + * @param transport The uninitialized transport structure used for managing the transport. + * This structure must be accesible during the connection. + * @param dev The CAN device name. + * @param can_id The can identifier of this Client in hexadecimal. + * @return `true` in case of successful initialization. `false` in other case. + */ +UXRDLLAPI bool uxr_init_can_transport( + uxrCANTransport* transport, + const char* dev, + uint32_t can_id); + +/** + * @brief Closes a CAN transport. + * @param transport The transport structure. + * @return `true` in case of successful closing. `false` in other case. + */ +UXRDLLAPI bool uxr_close_can_transport( + uxrCANTransport* transport); + +/** @}*/ + +#ifdef __cplusplus +} +#endif // ifdef __cplusplus + +#endif // UXR_CLIENT_CAN_TRANSPORT_H_ diff --git a/ports/espressif/microros-ext/include/uxr/client/profile/transport/can/can_transport_posix.h b/ports/espressif/microros-ext/include/uxr/client/profile/transport/can/can_transport_posix.h new file mode 100644 index 0000000000000..eb0c741477cbf --- /dev/null +++ b/ports/espressif/microros-ext/include/uxr/client/profile/transport/can/can_transport_posix.h @@ -0,0 +1,40 @@ +// Copyright 2018 Proyectos y Sistemas de Mantenimiento SL (eProsima). +// +// 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. + +#ifndef UXR_CLIENT_PROFILE_TRANSPORT_IP_CAN_CANTRANSPORTPOSIX_H_ +#define UXR_CLIENT_PROFILE_TRANSPORT_IP_CAN_CANTRANSPORTPOSIX_H_ + +#ifdef __cplusplus +extern "C" +{ +#endif // ifdef __cplusplus + +#include +#include +#include + +#include +#include + +typedef struct uxrCANPlatform +{ + struct pollfd poll_fd; + canid_t can_id; +} uxrCANPlatform; + +#ifdef __cplusplus +} +#endif // ifdef __cplusplus + +#endif // UXR_CLIENT_PROFILE_TRANSPORT_IP_CAN_CANTRANSPORTPOSIX_H_ diff --git a/ports/espressif/microros-ext/include/uxr/client/profile/transport/custom/custom_transport.h b/ports/espressif/microros-ext/include/uxr/client/profile/transport/custom/custom_transport.h new file mode 100644 index 0000000000000..86cffcc4929ae --- /dev/null +++ b/ports/espressif/microros-ext/include/uxr/client/profile/transport/custom/custom_transport.h @@ -0,0 +1,146 @@ +// Copyright 2020 Proyectos y Sistemas de Mantenimiento SL (eProsima). +// +// 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. + +/** + * @file + */ + +#ifndef UXR_CLIENT_CUSTOM_TRANSPORT_H_ +#define UXR_CLIENT_CUSTOM_TRANSPORT_H_ + +#ifdef __cplusplus +extern "C" +{ +#endif // ifdef __cplusplus + +#include +#include +#include +#include + +struct uxrCustomTransport; + +/** \addtogroup transport Transport + * These functions are platform-dependent. The declaration of these functions can be found in the uxr/client/profile/transport/ folder. The common init transport functions follow the nomenclature below. + * @{ + */ + +/** + * @brief Function signature callback for opening a custom transport. + * @param transport Custom transport structure. Has the args passed through bool uxr_init_custom_transport(uxrCustomTransport* transport, void * args);. + * @return true in case of successful opened transport, and false in other case. + */ +typedef bool (* open_custom_func) ( + struct uxrCustomTransport* transport); + +/** + * @brief Function signature callback for closing a custom transport. + * @param transport Custom transport structure. Has the args passed through bool uxr_init_custom_transport(uxrCustomTransport* transport, void * args);. + * @return true in case of successful closed transport, and false in other case. + */ +typedef bool (* close_custom_func) ( + /** */ + struct uxrCustomTransport* transport); + +/** + * @brief Function signature callback for writing to a custom transport. + * @param transport Custom transport structure. Has the args passed through bool uxr_init_custom_transport(uxrCustomTransport* transport, void * args);. + * @param buffer Buffer to be sent. + * @param length Length of buffer. + * @param error_code Error code that should be set in case the write process experiences some error. + * @return Number of successfully sent bytes. + */ +typedef size_t (* write_custom_func) ( + struct uxrCustomTransport* transport, + const uint8_t* buffer, + size_t length, + uint8_t* error_code); + +/** + * @brief Function signature callback for reading from a custom transport. + * @param transport Custom transport structure. Has the args passed through bool uxr_init_custom_transport(uxrCustomTransport* transport, void * args);. + * @param buffer Buffer to write. + * @param length Maximum length of buffer. + * @param timeout Maximum timeout of the read operation. + * @param error_code Error code that should be set in case the write process experiences some error. + * @return Number of successfully received bytes. + */ +typedef size_t (* read_custom_func) ( + struct uxrCustomTransport* transport, + uint8_t* buffer, + size_t length, + int timeout, + uint8_t* error_code); + +/** + * @nosubgrouping + */ + +typedef struct uxrCustomTransport +{ + uint8_t buffer[UXR_CONFIG_CUSTOM_TRANSPORT_MTU]; + bool framing; + uxrFramingIO framing_io; + open_custom_func open; + close_custom_func close; + write_custom_func write; + read_custom_func read; + uxrCommunication comm; + void* args; +} uxrCustomTransport; + + +/** + * @brief Set a Custom transport callbacks. + * @param transport The uninitialized transport structure used for managing the transport. + * @param framing Transport framing. + * @param open Open callback. + * @param close Close callback. + * @param write Write callback. + * @param read Read callback. + */ +UXRDLLAPI void uxr_set_custom_transport_callbacks( + uxrCustomTransport* transport, + bool framing, + open_custom_func open, + close_custom_func close, + write_custom_func write, + read_custom_func read); + +/** + * @brief Initializes a Custom transport. + * @param transport The transport structure used for managing the transport. + * Callbacks must be set. + * @param args Arguments for the open function. + * @return `true` in case of successful initialization. `false` in other case. + */ +UXRDLLAPI bool uxr_init_custom_transport( + uxrCustomTransport* transport, + void* args); + +/** + * @brief Closes a Custom transport. + * @param transport The transport structure. + * @return `true` in case of successful closing. `false` in other case. + */ +UXRDLLAPI bool uxr_close_custom_transport( + uxrCustomTransport* transport); + +/** @}*/ + +#ifdef __cplusplus +} +#endif // ifdef __cplusplus + +#endif // UXR_CLIENT_CUSTOM_TRANSPORT_H_ diff --git a/ports/espressif/microros-ext/include/uxr/client/profile/transport/ip/ip.h b/ports/espressif/microros-ext/include/uxr/client/profile/transport/ip/ip.h new file mode 100644 index 0000000000000..dd17a00878619 --- /dev/null +++ b/ports/espressif/microros-ext/include/uxr/client/profile/transport/ip/ip.h @@ -0,0 +1,85 @@ +// Copyright 2019 Proyectos y Sistemas de Mantenimiento SL (eProsima). +// +// 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. + +/** + * @file + */ + +#ifndef UXR_CLIENT_PROFILE_TRANSPORT_IP_IP_H_ +#define UXR_CLIENT_PROFILE_TRANSPORT_IP_IP_H_ + +#ifdef __cplusplus +extern "C" +{ +#endif // ifdef __cplusplus + +#include +#include + +typedef enum uxrIpProtocol +{ + UXR_IPv4, + UXR_IPv6 + +} uxrIpProtocol; + +/** \addtogroup transport Transport + * These functions are platform-dependent. The declaration of these functions can be found in the uxr/client/profile/transport/ folder. The common init transport functions follow the nomenclature below. + * @{ + */ + +/** + * @brief Converts IPv4/IPv6 address + port to a TransportLocator. + * + * @param ip The IP address to convert. + * It could be IPv4 or IPv6 address. + * @param port The port to convert. + * @param ip_protocol The IP protocol of the IP address. + * @param locator The TransportLocator resulted from the conversion. + * In case of error it will be NULL. + * @return true In case of successful conversion. + * @return false In other case. + */ +UXRDLLAPI bool uxr_ip_to_locator( + char const* ip, + uint16_t port, + uxrIpProtocol ip_protocol, + TransportLocator* locator); + +/** + * @brief Converts a TrasnportLocator to an IPv4/IPv6 address + port. + * + * @param locator The TransportLocator resulted from the conversion. + * In case of error it will be NULL. + * @param ip A char buffer there the address will be copied. + * @param size The size of the IP buffer. + * @param port The resulted port. + * @param ip_protocol The resulted IP protocol of the IP address. + * @return true In case of successful conversion. + * @return false In other case. + */ +UXRDLLAPI bool uxr_locator_to_ip( + TransportLocator const* locator, + char* ip, + size_t size, + uint16_t* port, + uxrIpProtocol* ip_protocol); + +/** @}*/ + +#ifdef __cplusplus +} +#endif // ifdef __cplusplus + +#endif // UXR_CLIENT_PROFILE_TRANSPORT_IP_IP_H_ diff --git a/ports/espressif/microros-ext/include/uxr/client/profile/transport/ip/tcp/tcp_transport.h b/ports/espressif/microros-ext/include/uxr/client/profile/transport/ip/tcp/tcp_transport.h new file mode 100644 index 0000000000000..41789f400bcd5 --- /dev/null +++ b/ports/espressif/microros-ext/include/uxr/client/profile/transport/ip/tcp/tcp_transport.h @@ -0,0 +1,93 @@ +// Copyright 2018 Proyectos y Sistemas de Mantenimiento SL (eProsima). +// +// 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. + +/** + * @file + */ + +#ifndef UXR_CLIENT_TCP_TRANSPORT_H_ +#define UXR_CLIENT_TCP_TRANSPORT_H_ + +#ifdef __cplusplus +extern "C" +{ +#endif // ifdef __cplusplus + +#include +#include +#include +#include +#include +typedef enum uxrTCPInputBufferState +{ + UXR_TCP_BUFFER_EMPTY, + UXR_TCP_SIZE_INCOMPLETE, + UXR_TCP_SIZE_READ, + UXR_TCP_MESSAGE_INCOMPLETE, + UXR_TCP_MESSAGE_AVAILABLE + +} uxrTCPInputBufferState; + +typedef struct uxrTCPInputBuffer +{ + uint8_t buffer[UXR_CONFIG_TCP_TRANSPORT_MTU]; + size_t position; + uxrTCPInputBufferState state; + size_t msg_size; + +} uxrTCPInputBuffer; + +typedef struct uxrTCPTransport +{ + uxrTCPInputBuffer input_buffer; + uxrCommunication comm; + struct uxrTCPPlatform platform; + +} uxrTCPTransport; + +/** \addtogroup transport Transport + * These functions are platform-dependent. The declaration of these functions can be found in the uxr/client/profile/transport/ folder. The common init transport functions follow the nomenclature below. + * @{ + */ + +/** + * @brief Initializes a TCP transport. + * @param transport The uninitialized transport structure used for managing the transport. + * This structure must be accesible during the connection. + * @param ip_protocol The IP protocol, it could be UXR_IPv4 or UXR_IPv6. + * @param ip The IP address of the Agent. + * @param port The port of the Agent. + * @return `true` in case of successful initialization. `false` in other case. + */ +UXRDLLAPI bool uxr_init_tcp_transport( + uxrTCPTransport* transport, + uxrIpProtocol ip_protocol, + const char* ip, + const char* port); + +/** + * @brief Closes a TCP transport. + * @param transport The transport structure. + * @return `true` in case of successful closing. `false` in other case. + */ +UXRDLLAPI bool uxr_close_tcp_transport( + uxrTCPTransport* transport); + +/** @}*/ + +#ifdef __cplusplus +} +#endif // ifdef __cplusplus + +#endif // UXR_CLIENT_TCP_TRANSPORT_H_ diff --git a/ports/espressif/microros-ext/include/uxr/client/profile/transport/ip/tcp/tcp_transport_freertos_plus_tcp.h b/ports/espressif/microros-ext/include/uxr/client/profile/transport/ip/tcp/tcp_transport_freertos_plus_tcp.h new file mode 100644 index 0000000000000..32507398491bb --- /dev/null +++ b/ports/espressif/microros-ext/include/uxr/client/profile/transport/ip/tcp/tcp_transport_freertos_plus_tcp.h @@ -0,0 +1,40 @@ +// Copyright 2018 Proyectos y Sistemas de Mantenimiento SL (eProsima). +// +// 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. + +#ifndef _UXR_CLIENT_TCP_TRANSPORT_FREERTOS_H_ +#define _UXR_CLIENT_TCP_TRANSPORT_FREERTOS_H_ + +#ifdef __cplusplus +extern "C" +{ +#endif // ifdef __cplusplus + +#include "FreeRTOS.h" +#include "list.h" +#include "FreeRTOS_IP.h" +#include "FreeRTOS_Sockets.h" + +typedef struct uxrTCPPlatform +{ + struct freertos_sockaddr remote_addr; + SocketSet_t poll_fd; + Socket_t fd; + uint8_t use_ethernet; +} uxrTCPPlatform; + +#ifdef __cplusplus +} +#endif // ifdef __cplusplus + +#endif //_UXR_CLIENT_TCP_TRANSPORT_FREERTOS_H_ diff --git a/ports/espressif/microros-ext/include/uxr/client/profile/transport/ip/tcp/tcp_transport_posix.h b/ports/espressif/microros-ext/include/uxr/client/profile/transport/ip/tcp/tcp_transport_posix.h new file mode 100644 index 0000000000000..3fb26b0f9348a --- /dev/null +++ b/ports/espressif/microros-ext/include/uxr/client/profile/transport/ip/tcp/tcp_transport_posix.h @@ -0,0 +1,37 @@ +// Copyright 2018 Proyectos y Sistemas de Mantenimiento SL (eProsima). +// +// 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. + +#ifndef UXR_CLIENT_PROFILE_TRANSPORT_IP_TCP_TCPTRANSPORTPOSIX_H_ +#define UXR_CLIENT_PROFILE_TRANSPORT_IP_TCP_TCPTRANSPORTPOSIX_H_ + +#ifdef __cplusplus +extern "C" +{ +#endif // ifdef __cplusplus + +#include +#include +#include + +typedef struct uxrTCPPlatform +{ + struct pollfd poll_fd; + +} uxrTCPPlatform; + +#ifdef __cplusplus +} +#endif // ifdef __cplusplus + +#endif // UXR_CLIENT_PROFILE_TRANSPORT_IP_TCP_TCPTRANSPORTPOSIX_H_ diff --git a/ports/espressif/microros-ext/include/uxr/client/profile/transport/ip/tcp/tcp_transport_posix_nopoll.h b/ports/espressif/microros-ext/include/uxr/client/profile/transport/ip/tcp/tcp_transport_posix_nopoll.h new file mode 100644 index 0000000000000..892433ee55727 --- /dev/null +++ b/ports/espressif/microros-ext/include/uxr/client/profile/transport/ip/tcp/tcp_transport_posix_nopoll.h @@ -0,0 +1,32 @@ +// Copyright 2018 Proyectos y Sistemas de Mantenimiento SL (eProsima). +// +// 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. + +#ifndef UXR_CLIENT_PROFILE_TRANSPORT_IP_TCP_TCPTRANSPORTPOSIXNOPOLL_H_ +#define UXR_CLIENT_PROFILE_TRANSPORT_IP_TCP_TCPTRANSPORTPOSIXNOPOLL_H_ + +#ifdef __cplusplus +extern "C" +{ +#endif // ifdef __cplusplus + +typedef struct uxrTCPPlatform +{ + int fd; +} uxrTCPPlatform; + +#ifdef __cplusplus +} +#endif // ifdef __cplusplus + +#endif // UXR_CLIENT_PROFILE_TRANSPORT_IP_TCP_TCPTRANSPORTPOSIXNOPOLL_H_ \ No newline at end of file diff --git a/ports/espressif/microros-ext/include/uxr/client/profile/transport/ip/tcp/tcp_transport_rtems_bsd_net.h b/ports/espressif/microros-ext/include/uxr/client/profile/transport/ip/tcp/tcp_transport_rtems_bsd_net.h new file mode 100644 index 0000000000000..24a6a47f88629 --- /dev/null +++ b/ports/espressif/microros-ext/include/uxr/client/profile/transport/ip/tcp/tcp_transport_rtems_bsd_net.h @@ -0,0 +1,40 @@ +// Copyright 2018 Proyectos y Sistemas de Mantenimiento SL (eProsima). +// +// 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. + +#ifndef _UXR_CLIENT_TCP_TRANSPORT_RTEMS_H_ +#define _UXR_CLIENT_TCP_TRANSPORT_RTEMS_H_ + +#ifdef __cplusplus +extern "C" +{ +#endif // ifdef __cplusplus + +#include "arpa/inet.h" +#include "sys/socket.h" +#include "sys/select.h" +#include "netinet/in.h" + + +typedef struct uxrTCPPlatform +{ + struct sockaddr_in remote_addr; + struct fd_set select_fd; + int fd; +} uxrTCPPlatform; + +#ifdef __cplusplus +} +#endif // ifdef __cplusplus + +#endif //_UXR_CLIENT_TCP_TRANSPORT_RTEMS_H_ diff --git a/ports/espressif/microros-ext/include/uxr/client/profile/transport/ip/tcp/tcp_transport_windows.h b/ports/espressif/microros-ext/include/uxr/client/profile/transport/ip/tcp/tcp_transport_windows.h new file mode 100644 index 0000000000000..980260f458e42 --- /dev/null +++ b/ports/espressif/microros-ext/include/uxr/client/profile/transport/ip/tcp/tcp_transport_windows.h @@ -0,0 +1,35 @@ +// Copyright 2018 Proyectos y Sistemas de Mantenimiento SL (eProsima). +// +// 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. + +#ifndef UXR_CLIENT_TCP_TRANSPORT_WINDOWS_H_ +#define UXR_CLIENT_TCP_TRANSPORT_WINDOWS_H_ + +#ifdef __cplusplus +extern "C" +{ +#endif // ifdef __cplusplus + +#include + +typedef struct uxrTCPPlatform +{ + WSAPOLLFD poll_fd; + +} uxrTCPPlatform; + +#ifdef __cplusplus +} +#endif // ifdef __cplusplus + +#endif // UXR_CLIENT_TCP_TRANSPORT_WINDOWS_H_ diff --git a/ports/espressif/microros-ext/include/uxr/client/profile/transport/ip/udp/udp_transport.h b/ports/espressif/microros-ext/include/uxr/client/profile/transport/ip/udp/udp_transport.h new file mode 100644 index 0000000000000..e11b26a377410 --- /dev/null +++ b/ports/espressif/microros-ext/include/uxr/client/profile/transport/ip/udp/udp_transport.h @@ -0,0 +1,74 @@ +// Copyright 2019 Proyectos y Sistemas de Mantenimiento SL (eProsima). +// +// 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. + +/** + * @file + */ + +#ifndef UXR_CLIENT_UDP_TRANSPORT_H_ +#define UXR_CLIENT_UDP_TRANSPORT_H_ + +#ifdef __cplusplus +extern "C" +{ +#endif // ifdef __cplusplus + +#include +#include +#include +#include +#include + +typedef struct uxrUDPTransport +{ + uint8_t buffer[UXR_CONFIG_UDP_TRANSPORT_MTU]; + uxrCommunication comm; + struct uxrUDPPlatform platform; +} uxrUDPTransport; + +/** \addtogroup transport Transport + * These functions are platform-dependent. The declaration of these functions can be found in the uxr/client/profile/transport/ folder. The common init transport functions follow the nomenclature below. + * @{ + */ + +/** + * @brief Initializes a UDP transport. + * @param transport The uninitialized transport structure used for managing the transport. + * This structure must be accesible during the connection. + * @param ip_protocol The IP protocol, it could be UXR_IPv4 or UXR_IPv6. + * @param ip The IP address of the Agent. + * @param port The port of the Agent. + * @return `true` in case of successful initialization. `false` in other case. + */ +UXRDLLAPI bool uxr_init_udp_transport( + uxrUDPTransport* transport, + uxrIpProtocol ip_protocol, + const char* ip, + const char* port); + +/** + * @brief Closes a UDP transport. + * @param transport The transport structure. + * @return `true` in case of successful closing. `false` in other case. + */ +UXRDLLAPI bool uxr_close_udp_transport( + uxrUDPTransport* transport); + +/** @}*/ + +#ifdef __cplusplus +} +#endif // ifdef __cplusplus + +#endif // UXR_CLIENT_UDP_TRANSPORT_H_ diff --git a/ports/espressif/microros-ext/include/uxr/client/profile/transport/ip/udp/udp_transport_freertos_plus_tcp.h b/ports/espressif/microros-ext/include/uxr/client/profile/transport/ip/udp/udp_transport_freertos_plus_tcp.h new file mode 100644 index 0000000000000..378726fd1d336 --- /dev/null +++ b/ports/espressif/microros-ext/include/uxr/client/profile/transport/ip/udp/udp_transport_freertos_plus_tcp.h @@ -0,0 +1,41 @@ +// Copyright 2018 Proyectos y Sistemas de Mantenimiento SL (eProsima). +// +// 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. + +#ifndef _UXR_CLIENT_UDP_TRANSPORT_FREERTOS_H_ +#define _UXR_CLIENT_UDP_TRANSPORT_FREERTOS_H_ + +#ifdef __cplusplus +extern "C" +{ +#endif // ifdef __cplusplus + +#include "FreeRTOS.h" +#include "list.h" +#include "FreeRTOS_IP.h" +#include "FreeRTOS_Sockets.h" + +typedef struct uxrUDPPlatform +{ + struct freertos_sockaddr remote_addr; + SocketSet_t poll_fd; + Socket_t fd; + uint8_t use_ethernet; + +} uxrUDPPlatform; + +#ifdef __cplusplus +} +#endif // ifdef __cplusplus + +#endif //_UXR_CLIENT_UDP_TRANSPORT_FREERTOS_H_ diff --git a/ports/espressif/microros-ext/include/uxr/client/profile/transport/ip/udp/udp_transport_posix.h b/ports/espressif/microros-ext/include/uxr/client/profile/transport/ip/udp/udp_transport_posix.h new file mode 100644 index 0000000000000..160c59714db9d --- /dev/null +++ b/ports/espressif/microros-ext/include/uxr/client/profile/transport/ip/udp/udp_transport_posix.h @@ -0,0 +1,37 @@ +// Copyright 2018 Proyectos y Sistemas de Mantenimiento SL (eProsima). +// +// 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. + +#ifndef UXR_CLIENT_PROFILE_TRANSPORT_IP_UDP_UDPTRANSPORTPOSIX_H_ +#define UXR_CLIENT_PROFILE_TRANSPORT_IP_UDP_UDPTRANSPORTPOSIX_H_ + +#ifdef __cplusplus +extern "C" +{ +#endif // ifdef __cplusplus + +#include +#include +#include + +typedef struct uxrUDPPlatform +{ + struct pollfd poll_fd; + +} uxrUDPPlatform; + +#ifdef __cplusplus +} +#endif // ifdef __cplusplus + +#endif // UXR_CLIENT_PROFILE_TRANSPORT_IP_UDP_UDPTRANSPORTPOSIX_H_ diff --git a/ports/espressif/microros-ext/include/uxr/client/profile/transport/ip/udp/udp_transport_posix_nopoll.h b/ports/espressif/microros-ext/include/uxr/client/profile/transport/ip/udp/udp_transport_posix_nopoll.h new file mode 100644 index 0000000000000..57447e5964249 --- /dev/null +++ b/ports/espressif/microros-ext/include/uxr/client/profile/transport/ip/udp/udp_transport_posix_nopoll.h @@ -0,0 +1,32 @@ +// Copyright 2018 Proyectos y Sistemas de Mantenimiento SL (eProsima). +// +// 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. + +#ifndef UXR_CLIENT_PROFILE_TRANSPORT_IP_UDP_UDPTRANSPORTPOSIXNOPOLL_H_ +#define UXR_CLIENT_PROFILE_TRANSPORT_IP_UDP_UDPTRANSPORTPOSIXNOPOLL_H_ + +#ifdef __cplusplus +extern "C" +{ +#endif // ifdef __cplusplus + +typedef struct uxrUDPPlatform +{ + int fd; +} uxrUDPPlatform; + +#ifdef __cplusplus +} +#endif // ifdef __cplusplus + +#endif // UXR_CLIENT_PROFILE_TRANSPORT_IP_UDP_UDPTRANSPORTPOSIXNOPOLL_H_ \ No newline at end of file diff --git a/ports/espressif/microros-ext/include/uxr/client/profile/transport/ip/udp/udp_transport_rtems_bsd_net.h b/ports/espressif/microros-ext/include/uxr/client/profile/transport/ip/udp/udp_transport_rtems_bsd_net.h new file mode 100644 index 0000000000000..19a3270aadde4 --- /dev/null +++ b/ports/espressif/microros-ext/include/uxr/client/profile/transport/ip/udp/udp_transport_rtems_bsd_net.h @@ -0,0 +1,39 @@ +// Copyright 2018 Proyectos y Sistemas de Mantenimiento SL (eProsima). +// +// 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. + +#ifndef _UXR_CLIENT_UDP_TRANSPORT_RTEMS_H_ +#define _UXR_CLIENT_UDP_TRANSPORT_RTEMS_H_ + +#ifdef __cplusplus +extern "C" +{ +#endif // ifdef __cplusplus + +#include "arpa/inet.h" +#include "sys/socket.h" +#include "sys/select.h" +#include "netinet/in.h" + +typedef struct uxrUDPPlatform +{ + struct sockaddr_in remote_addr; + struct fd_set select_fd; + int fd; +} uxrUDPPlatform; + +#ifdef __cplusplus +} +#endif // ifdef __cplusplus + +#endif //_UXR_CLIENT_UDP_TRANSPORT_RTEMS_H_ diff --git a/ports/espressif/microros-ext/include/uxr/client/profile/transport/ip/udp/udp_transport_windows.h b/ports/espressif/microros-ext/include/uxr/client/profile/transport/ip/udp/udp_transport_windows.h new file mode 100644 index 0000000000000..40a52c1056c2c --- /dev/null +++ b/ports/espressif/microros-ext/include/uxr/client/profile/transport/ip/udp/udp_transport_windows.h @@ -0,0 +1,35 @@ +// Copyright 2018 Proyectos y Sistemas de Mantenimiento SL (eProsima). +// +// 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. + +#ifndef UXR_CLIENT_UDP_TRANSPORT_WINDOWS_H_ +#define UXR_CLIENT_UDP_TRANSPORT_WINDOWS_H_ + +#ifdef __cplusplus +extern "C" +{ +#endif // ifdef __cplusplus + +#include + +typedef struct uxrUDPPlatform +{ + WSAPOLLFD poll_fd; + +} uxrUDPPlatform; + +#ifdef __cplusplus +} +#endif // ifdef __cplusplus + +#endif // UXR_CLIENT_UDP_TRANSPORT_WINDOWS_H_ diff --git a/ports/espressif/microros-ext/include/uxr/client/profile/transport/serial/serial_transport.h b/ports/espressif/microros-ext/include/uxr/client/profile/transport/serial/serial_transport.h new file mode 100644 index 0000000000000..ecfcd39981985 --- /dev/null +++ b/ports/espressif/microros-ext/include/uxr/client/profile/transport/serial/serial_transport.h @@ -0,0 +1,79 @@ +// Copyright 2019 Proyectos y Sistemas de Mantenimiento SL (eProsima). +// +// 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. + +/** + * @file + */ + +#ifndef UXR_CLIENT_SERIAL_TRANSPORT_H_ +#define UXR_CLIENT_SERIAL_TRANSPORT_H_ + +#ifdef __cplusplus +extern "C" +{ +#endif // ifdef __cplusplus + +#include +#include +#include +#include +#include + +typedef struct uxrSerialTransport +{ + uint8_t buffer[UXR_CONFIG_SERIAL_TRANSPORT_MTU]; + uxrFramingIO framing_io; + uint8_t remote_addr; + uxrCommunication comm; + struct uxrSerialPlatform platform; + +} uxrSerialTransport; + +/** \addtogroup transport Transport + * These functions are platform-dependent. The declaration of these functions can be found in the uxr/client/profile/transport/ folder. The common init transport functions follow the nomenclature below. + * @{ + */ + +/** + * @brief Initializes a UDP transport. + * @param transport The uninitialized transport structure used for managing the transport. + * This structure must be accesible during the connection. + * @param fd The file descriptor of the serial connection. + * The fd usually comes from the `open` OS function. + * @param remote_addr The addresss of the Agent in the serial connection. + * By default, the Agent address' in a serial transport is 0. + * @param local_addr The address of the Client in the serial connection. + * @return `true` in case of successful initialization. `false` in other case. + */ +UXRDLLAPI bool uxr_init_serial_transport( + uxrSerialTransport* transport, + const int fd, + uint8_t remote_addr, + uint8_t local_addr); + +/** + * @brief Closes a Serial transport. + * @param transport The transport structure. + * @return `true` in case of successful closing. `false` in other case. + */ +UXRDLLAPI bool uxr_close_serial_transport( + uxrSerialTransport* transport); + +/** @}*/ + +#ifdef __cplusplus +} +#endif // ifdef __cplusplus + +#endif // UXR_CLIENT_SERIAL_TRANSPORT_H_ diff --git a/ports/espressif/microros-ext/include/uxr/client/profile/transport/serial/serial_transport_platform.h b/ports/espressif/microros-ext/include/uxr/client/profile/transport/serial/serial_transport_platform.h new file mode 100644 index 0000000000000..96b7e45a61257 --- /dev/null +++ b/ports/espressif/microros-ext/include/uxr/client/profile/transport/serial/serial_transport_platform.h @@ -0,0 +1,50 @@ +// Copyright 2018 Proyectos y Sistemas de Mantenimiento SL (eProsima). +// +// 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. + +#ifndef _SRC_C_PROFILE_TRANSPORT_SERIAL_SERIAL_TRANSPORT_PLATFORM_H_ +#define _SRC_C_PROFILE_TRANSPORT_SERIAL_SERIAL_TRANSPORT_PLATFORM_H_ + +#ifdef __cplusplus +extern "C" +{ +#endif // ifdef __cplusplus + +#include + +bool uxr_init_serial_platform( + void* args, + const int fd, + uint8_t remote_addr, + uint8_t local_addr); +bool uxr_close_serial_platform( + void* args); + +size_t uxr_write_serial_data_platform( + void* args, + const uint8_t* buf, + size_t len, + uint8_t* errcode); + +size_t uxr_read_serial_data_platform( + void* args, + uint8_t* buf, + size_t len, + int timeout, + uint8_t* errcode); + +#ifdef __cplusplus +} +#endif // ifdef __cplusplus + +#endif //_SRC_C_PROFILE_TRANSPORT_SERIAL_SERIAL_TRANSPORT_PLATFORM_H_ diff --git a/ports/espressif/microros-ext/include/uxr/client/profile/transport/serial/serial_transport_posix.h b/ports/espressif/microros-ext/include/uxr/client/profile/transport/serial/serial_transport_posix.h new file mode 100644 index 0000000000000..55eba063bb1ad --- /dev/null +++ b/ports/espressif/microros-ext/include/uxr/client/profile/transport/serial/serial_transport_posix.h @@ -0,0 +1,35 @@ +// Copyright 2018 Proyectos y Sistemas de Mantenimiento SL (eProsima). +// +// 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. + +#ifndef UXR_CLIENT_PROFILE_TRANSPORT_SERIAL_SERIALTRANSPORTPOSIX_H_ +#define UXR_CLIENT_PROFILE_TRANSPORT_SERIAL_SERIALTRANSPORTPOSIX_H_ + +#ifdef __cplusplus +extern "C" +{ +#endif // ifdef __cplusplus + +#include + +typedef struct uxrSerialPlatform +{ + struct pollfd poll_fd; + +} uxrSerialPlatform; + +#ifdef __cplusplus +} +#endif // ifdef __cplusplus + +#endif // UXR_CLIENT_PROFILE_TRANSPORT_SERIAL_SERIALTRANSPORTPOSIX_H_ diff --git a/ports/espressif/microros-ext/include/uxr/client/profile/transport/serial/serial_transport_rtems_bsd_net.h b/ports/espressif/microros-ext/include/uxr/client/profile/transport/serial/serial_transport_rtems_bsd_net.h new file mode 100644 index 0000000000000..86e6e6c8d82a8 --- /dev/null +++ b/ports/espressif/microros-ext/include/uxr/client/profile/transport/serial/serial_transport_rtems_bsd_net.h @@ -0,0 +1,35 @@ +// Copyright 2018 Proyectos y Sistemas de Mantenimiento SL (eProsima). +// +// 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. + +#ifndef UXR_CLIENT_PROFILE_TRANSPORT_SERIAL_SERIALTRANSPORTRTEMS_H_ +#define UXR_CLIENT_PROFILE_TRANSPORT_SERIAL_SERIALTRANSPORTRTEMS_H_ + +#ifdef __cplusplus +extern "C" +{ +#endif // ifdef __cplusplus + +#include "sys/select.h" + +typedef struct uxrSerialPlatform +{ + struct fd_set select_fd; + int fd; +} uxrSerialPlatform; + +#ifdef __cplusplus +} +#endif // ifdef __cplusplus + +#endif // UXR_CLIENT_PROFILE_TRANSPORT_SERIAL_SERIALTRANSPORTPOSIX_H_ diff --git a/ports/espressif/microros-ext/include/uxr/client/profile/transport/stream_framing/stream_framing_protocol.h b/ports/espressif/microros-ext/include/uxr/client/profile/transport/stream_framing/stream_framing_protocol.h new file mode 100644 index 0000000000000..66d6f55ef729c --- /dev/null +++ b/ports/espressif/microros-ext/include/uxr/client/profile/transport/stream_framing/stream_framing_protocol.h @@ -0,0 +1,62 @@ +// Copyright 2018 Proyectos y Sistemas de Mantenimiento SL (eProsima). +// +// 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. + +#ifndef _UXR_CLIENT_PROFILE_TRANSPORT_STREAM_FRAMING_PROTOCOL_H_ +#define _UXR_CLIENT_PROFILE_TRANSPORT_STREAM_FRAMING_PROTOCOL_H_ +#ifdef __cplusplus +extern "C" +{ +#endif // ifdef __cplusplus + +#include + +#define UXR_FRAMING_BEGIN_FLAG 0x7E +#define UXR_FRAMING_ESC_FLAG 0x7D +#define UXR_FRAMING_XOR_FLAG 0x20 + +typedef enum uxrFramingInputState +{ + UXR_FRAMING_UNINITIALIZED, + UXR_FRAMING_READING_SRC_ADDR, + UXR_FRAMING_READING_DST_ADDR, + UXR_FRAMING_READING_LEN_LSB, + UXR_FRAMING_READING_LEN_MSB, + UXR_FRAMING_READING_PAYLOAD, + UXR_FRAMING_READING_CRC_LSB, + UXR_FRAMING_READING_CRC_MSB, + +} uxrFramingInputState; + +typedef struct uxrFramingIO +{ + uxrFramingInputState state; + uint8_t local_addr; + uint8_t rb[42]; + uint8_t rb_head; + uint8_t rb_tail; + uint8_t src_addr; + uint16_t msg_len; + uint16_t msg_pos; + uint16_t msg_crc; + uint16_t cmp_crc; + uint8_t wb[42]; + uint8_t wb_pos; + +} uxrFramingIO; + +#ifdef __cplusplus +} +#endif // ifdef __cplusplus + +#endif //_UXR_CLIENT_PROFILE_TRANSPORT_STREAM_FRAMING_PROTOCOL_H_ diff --git a/ports/espressif/microros-ext/include/uxr/client/transport.h b/ports/espressif/microros-ext/include/uxr/client/transport.h new file mode 100644 index 0000000000000..99f4b8c178d03 --- /dev/null +++ b/ports/espressif/microros-ext/include/uxr/client/transport.h @@ -0,0 +1,68 @@ +// Copyright 2018 Proyectos y Sistemas de Mantenimiento SL (eProsima). +// +// 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. + +#ifndef UXR_CLIENT_TRANSPORT_H_ +#define UXR_CLIENT_TRANSPORT_H_ + +#include + +#ifdef UCLIENT_PROFILE_UDP +#if defined(UCLIENT_PLATFORM_POSIX_NOPOLL) +#include +#elif defined(UCLIENT_PLATFORM_POSIX) +#include +#elif defined(UCLIENT_PLATFORM_WINDOWS) +#include +#elif defined(UCLIENT_PLATFORM_FREERTOS_PLUS_TCP) +#include +#elif defined(UCLIENT_PLATFORM_RTEMS_BSD_NET) +#include +#endif // if defined(UCLIENT_EXTERNAL_UDP) +#include +#endif //UCLIENT_PROFILE_UDP + +#ifdef UCLIENT_PROFILE_TCP +#if defined(UCLIENT_PLATFORM_POSIX_NOPOLL) +#include +#elif defined(UCLIENT_PLATFORM_POSIX) +#include +#elif defined(UCLIENT_PLATFORM_WINDOWS) +#include +#elif defined(UCLIENT_PLATFORM_RTEMS_BSD_NET) +#include +#endif // if defined(UCLIENT_EXTERNAL_TCP) +#include +#endif //UCLIENT_PROFILE_TCP + +#ifdef UCLIENT_PROFILE_SERIAL +#if defined(UCLIENT_PLATFORM_POSIX) +#include +#elif defined(UCLIENT_PLATFORM_RTEMS_BSD_NET) +#include +#endif // if defined(UCLIENT_EXTERNAL_SERIAL) +#include +#endif //UCLIENT_PROFILE_SERIAL + +#ifdef UCLIENT_PROFILE_CAN +#if defined(UCLIENT_PLATFORM_POSIX) +#include +#endif // if defined(UCLIENT_EXTERNAL_CAN) +#include +#endif //UCLIENT_PROFILE_CAN + +#ifdef UCLIENT_PROFILE_CUSTOM_TRANSPORT +#include +#endif //UCLIENT_PROFILE_CUSTOM_TRANSPORT + +#endif // UXR_CLIENT_TRANSPORT_H_ diff --git a/ports/espressif/microros-ext/include/uxr/client/util/ping.h b/ports/espressif/microros-ext/include/uxr/client/util/ping.h new file mode 100644 index 0000000000000..20ba934a43300 --- /dev/null +++ b/ports/espressif/microros-ext/include/uxr/client/util/ping.h @@ -0,0 +1,95 @@ +// Copyright 2020 Proyectos y Sistemas de Mantenimiento SL (eProsima). +// +// 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. + +/** + * @file + */ + +#ifndef UXR_CLIENT_UTIL_PING_H_ +#define UXR_CLIENT_UTIL_PING_H_ + +#ifdef __cplusplus +extern "C" +{ +#endif // ifdef __cplusplus + +#include +#include +#include + +#include + +#define UXR_PING_BUF 16 // 4 (HEADER SIZE) + 4 (SUBHEADER_SIZE) + 8 (GET_Info payload) + +#define GET_INFO_MSG_SIZE 8 +#define GET_INFO_REQUEST_PING_ID 10 + +struct uxrSession; + +/** + * @brief Checks the availability status of a valid connection with an agent. + * This methods performs a single attempt. + * This method uses an already opened session in order to do not + * interfere with the rest of the application. + * @ingroup general_utils + * @param session Pointer to the uxrSession struct inited. + * @param timeout_ms Time, in milliseconds, for a ping attempt. + * @param attempts Maximum number of ping attempts to be performed. + * @return `true` in case of a successful ping to the agent, `false` otherwise. + */ +bool uxr_ping_agent_session( + struct uxrSession* session, + const int timeout_ms, + const uint8_t attempts); + +/** + * @brief Checks the availability status of a valid connection with an agent. + * This methods performs a single attempt. + * Transport must be properly initialized before calling this method. + * This method does not take care of init/fini the transport struct. + * @ingroup general_utils + * @param comm Pointer to the uxrCommunication struct holding the transport + * information and callback methods. + * @param timeout_ms Time, in milliseconds, for a ping attempt. + * @return `true` in case of a successful ping to the agent, `false` otherwise. + */ +UXRDLLAPI bool uxr_ping_agent( + uxrCommunication* comm, + const int timeout_ms); + +/** + * @brief Checks the availability status of a valid connection with an agent. + * Additionally, this method allows the user to specify the number + * of attempts to be performed. This number will not be reached if a + * successful ping occurs. + * Transport must be properly initialized before calling this method. + * This method does not take care of init/fini the transport struct. + * @ingroup general_utils + * @param comm Pointer to the uxrCommunication struct holding the transport + * information and callback methods. + * @param timeout_ms Time, in milliseconds, for a ping attempt. + * @param attempts Maximum number of ping attempts to be performed. + * @return `true` in case of a successful ping to the agent, `false` otherwise. + */ +UXRDLLAPI bool uxr_ping_agent_attempts( + uxrCommunication* comm, + const int timeout_ms, + const uint8_t attempts); + + +#ifdef __cplusplus +} +#endif // ifdef __cplusplus + +#endif // UXR_CLIENT_UTIL_PING_H_ diff --git a/ports/espressif/microros-ext/include/uxr/client/util/time.h b/ports/espressif/microros-ext/include/uxr/client/util/time.h new file mode 100644 index 0000000000000..1dc04f1ecc816 --- /dev/null +++ b/ports/espressif/microros-ext/include/uxr/client/util/time.h @@ -0,0 +1,36 @@ +// Copyright 2017 Proyectos y Sistemas de Mantenimiento SL (eProsima). +// +// 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. + +#ifndef UXR_CLIENT_UTIL_TIME_H_ +#define UXR_CLIENT_UTIL_TIME_H_ + +#ifdef __cplusplus +extern "C" +{ +#endif // ifdef __cplusplus + +#include +#include + +UXRDLLAPI int64_t uxr_millis( + void); + +UXRDLLAPI int64_t uxr_nanos( + void); + +#ifdef __cplusplus +} +#endif // ifdef __cplusplus + +#endif // UXR_CLIENT_UTIL_TIME_H_ diff --git a/ports/espressif/microros-ext/include/uxr/client/visibility.h b/ports/espressif/microros-ext/include/uxr/client/visibility.h new file mode 100644 index 0000000000000..5c92508ffb525 --- /dev/null +++ b/ports/espressif/microros-ext/include/uxr/client/visibility.h @@ -0,0 +1,33 @@ +// Copyright 2017 Proyectos y Sistemas de Mantenimiento SL (eProsima). +// +// 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. + + +#ifndef _UXR_CLIENT_VISIBILITY_H_ +#define _UXR_CLIENT_VISIBILITY_H_ + +#if defined(_WIN32) +#if defined(microxrcedds_client_SHARED) +#if defined(microxrcedds_client_EXPORTS) +#define UXRDLLAPI __declspec( dllexport ) +#else +#define UXRDLLAPI __declspec( dllimport ) +#endif // micro_xrce_client_dds_EXPORTS +#else +#define UXRDLLAPI +#endif // BUILDING_SHARED_LIBS +#else +#define UXRDLLAPI +#endif // _WIN32 + +#endif // _UXR_CLIENT_VISIBILITY_H_ From 868b28925bc393259f55bb475033162832736319 Mon Sep 17 00:00:00 2001 From: Lucian Copeland Date: Sun, 5 Jan 2025 15:38:10 -0500 Subject: [PATCH 3/5] Add build flags --- ports/espressif/Makefile | 13 +++++++++++++ .../boards/m5stack_cardputer/mpconfigboard.mk | 1 + ports/espressif/mpconfigport.mk | 1 + 3 files changed, 15 insertions(+) diff --git a/ports/espressif/Makefile b/ports/espressif/Makefile index 9ae5d2646d2bc..039d1078cd5c6 100644 --- a/ports/espressif/Makefile +++ b/ports/espressif/Makefile @@ -422,6 +422,10 @@ CFLAGS += -isystem esp-camera/driver/include CFLAGS += -isystem esp-camera/conversions/include endif +ifneq ($(CIRCUITPY_MICROROS),0) +CFLAGS += -isystem microros-ext/include +endif + ifneq ($(CIRCUITPY_ESPIDF),0) SRC_ESPIDF := \ $(wildcard common-hal/espidf/*.c) \ @@ -664,6 +668,15 @@ ESP_IDF_COMPONENTS_EXPANDED += $(BUILD)/esp-idf/esp-idf/esp-camera/libesp-camera #$(error $(ESP_IDF_COMPONENTS_EXPANDED)) endif +ifeq ($(CIRCUITPY_MICROROS),1) +ifeq ($(IDF_TARGET),esp32) +BINARY_BLOBS += microros-ext/esp32/libmicroros.a +else ifeq ($(IDF_TARGET),esp32s2) +BINARY_BLOBS+= microros-ext/esp32s2/libmicroros.a +else ifeq ($(IDF_TARGET),esp32s3) +BINARY_BLOBS += microros-ext/esp32s3/libmicroros.a +endif + ifneq ($(VALID_BOARD),) # From esp-idf/components/bootloader/Kconfig.projbuild # BOOTLOADER_OFFSET is determined by chip type, based on the ROM bootloader, and is not changeable. diff --git a/ports/espressif/boards/m5stack_cardputer/mpconfigboard.mk b/ports/espressif/boards/m5stack_cardputer/mpconfigboard.mk index 6e9aaa764202d..0e95eb8893c1e 100644 --- a/ports/espressif/boards/m5stack_cardputer/mpconfigboard.mk +++ b/ports/espressif/boards/m5stack_cardputer/mpconfigboard.mk @@ -9,6 +9,7 @@ CIRCUITPY_ESP_FLASH_MODE = qio CIRCUITPY_ESP_FLASH_FREQ = 80m CIRCUITPY_ESP_FLASH_SIZE = 8MB CIRCUITPY_ESPCAMERA = 0 +CIRCUITPY_MICROROS = 1 CIRCUITPY_GIFIO = 1 CIRCUITPY_MAX3421E = 0 diff --git a/ports/espressif/mpconfigport.mk b/ports/espressif/mpconfigport.mk index 06f8c87c579e0..9c42fa3d008b7 100644 --- a/ports/espressif/mpconfigport.mk +++ b/ports/espressif/mpconfigport.mk @@ -66,6 +66,7 @@ CIRCUITPY_HASHLIB ?= 1 CIRCUITPY_I2CTARGET ?= 0 CIRCUITPY_MAX3421E ?= 1 CIRCUITPY_MEMORYMAP ?= 1 +CIRCUITPY_MICROROS ?= 0 CIRCUITPY_NVM ?= 1 CIRCUITPY_PARALLELDISPLAYBUS ?= 1 CIRCUITPY_PS2IO ?= 1 From 9916412ee2fc7f74e7923dd116cd62bcea8aabfd Mon Sep 17 00:00:00 2001 From: Lucian Copeland Date: Thu, 9 Jan 2025 18:15:27 -0500 Subject: [PATCH 4/5] Recompile microros for s3, correct includes --- ports/espressif/Makefile | 294 ++ .../boards/m5stack_cardputer/board.c | 19 + .../microros-ext/esp32s3/libmicroros.a | Bin 1012668 -> 17826814 bytes .../msg/detail/goal_info__description.c | 149 + .../msg/detail/goal_info__functions.c | 272 + .../msg/detail/goal_info__functions.h | 210 + ...info__rosidl_typesupport_introspection_c.h | 26 + .../msg/detail/goal_info__struct.h | 53 + .../msg/detail/goal_info__type_support.c | 120 + .../msg/detail/goal_info__type_support.h | 36 + .../msg/detail/goal_status__description.c | 191 + .../msg/detail/goal_status__functions.c | 259 + .../msg/detail/goal_status__functions.h | 210 + ...atus__rosidl_typesupport_introspection_c.h | 26 + .../msg/detail/goal_status__struct.h | 119 + .../msg/detail/goal_status__type_support.c | 114 + .../msg/detail/goal_status__type_support.h | 36 + .../detail/goal_status_array__description.c | 165 + .../msg/detail/goal_status_array__functions.c | 251 + .../msg/detail/goal_status_array__functions.h | 210 + ...rray__rosidl_typesupport_introspection_c.h | 26 + .../msg/detail/goal_status_array__struct.h | 49 + .../detail/goal_status_array__type_support.c | 151 + .../detail/goal_status_array__type_support.h | 36 + .../action_msgs/action_msgs/msg/goal_info.h | 12 + .../action_msgs/action_msgs/msg/goal_status.h | 12 + .../action_msgs/msg/goal_status_array.h | 12 + .../rosidl_generator_c__visibility_control.h | 42 + ...port_introspection_c__visibility_control.h | 43 + .../action_msgs/action_msgs/srv/cancel_goal.h | 12 + .../srv/detail/cancel_goal__description.c | 608 +++ .../srv/detail/cancel_goal__functions.c | 781 +++ .../srv/detail/cancel_goal__functions.h | 585 +++ ...goal__rosidl_typesupport_introspection_c.h | 58 + .../srv/detail/cancel_goal__struct.h | 158 + .../srv/detail/cancel_goal__type_support.c | 616 +++ .../srv/detail/cancel_goal__type_support.h | 100 + ..._info__rosidl_typesupport_microxrcedds_c.h | 39 + ...tatus__rosidl_typesupport_microxrcedds_c.h | 39 + ...array__rosidl_typesupport_microxrcedds_c.h | 39 + ...pport_microxrcedds_c__visibility_control.h | 43 + ..._goal__rosidl_typesupport_microxrcedds_c.h | 132 + .../msg/detail/goal_id__description.c | 139 + .../msg/detail/goal_id__functions.c | 272 + .../msg/detail/goal_id__functions.h | 210 + ...l_id__rosidl_typesupport_introspection_c.h | 26 + .../msg/detail/goal_id__struct.h | 55 + .../msg/detail/goal_id__type_support.c | 116 + .../msg/detail/goal_id__type_support.h | 36 + .../msg/detail/goal_status__description.c | 178 + .../msg/detail/goal_status__functions.c | 280 ++ .../msg/detail/goal_status__functions.h | 210 + ...atus__rosidl_typesupport_introspection_c.h | 26 + .../msg/detail/goal_status__struct.h | 149 + .../msg/detail/goal_status__type_support.c | 134 + .../msg/detail/goal_status__type_support.h | 36 + .../detail/goal_status_array__description.c | 178 + .../msg/detail/goal_status_array__functions.c | 272 + .../msg/detail/goal_status_array__functions.h | 210 + ...rray__rosidl_typesupport_introspection_c.h | 26 + .../msg/detail/goal_status_array__struct.h | 53 + .../detail/goal_status_array__type_support.c | 175 + .../detail/goal_status_array__type_support.h | 36 + .../actionlib_msgs/msg/goal_id.h | 12 + .../actionlib_msgs/msg/goal_status.h | 12 + .../actionlib_msgs/msg/goal_status_array.h | 12 + .../rosidl_generator_c__visibility_control.h | 42 + ...port_introspection_c__visibility_control.h | 43 + ...al_id__rosidl_typesupport_microxrcedds_c.h | 39 + ...tatus__rosidl_typesupport_microxrcedds_c.h | 39 + ...array__rosidl_typesupport_microxrcedds_c.h | 39 + ...pport_microxrcedds_c__visibility_control.h | 43 + .../msg/detail/duration__description.c | 120 + .../msg/detail/duration__functions.c | 244 + .../msg/detail/duration__functions.h | 210 + ...tion__rosidl_typesupport_introspection_c.h | 26 + .../msg/detail/duration__struct.h | 50 + .../msg/detail/duration__type_support.c | 106 + .../msg/detail/duration__type_support.h | 36 + .../msg/detail/time__description.c | 119 + .../msg/detail/time__functions.c | 244 + .../msg/detail/time__functions.h | 210 + ...time__rosidl_typesupport_introspection_c.h | 26 + .../msg/detail/time__struct.h | 49 + .../msg/detail/time__type_support.c | 106 + .../msg/detail/time__type_support.h | 36 + .../builtin_interfaces/msg/duration.h | 12 + .../rosidl_generator_c__visibility_control.h | 42 + ...port_introspection_c__visibility_control.h | 43 + .../builtin_interfaces/msg/time.h | 12 + ...ation__rosidl_typesupport_microxrcedds_c.h | 39 + .../time__rosidl_typesupport_microxrcedds_c.h | 39 + ...pport_microxrcedds_c__visibility_control.h | 43 + .../rosidl_generator_c__visibility_control.h | 42 + ...port_introspection_c__visibility_control.h | 43 + .../srv/detail/list_nodes__description.c | 475 ++ .../srv/detail/list_nodes__functions.c | 778 +++ .../srv/detail/list_nodes__functions.h | 585 +++ ...odes__rosidl_typesupport_introspection_c.h | 58 + .../srv/detail/list_nodes__struct.h | 105 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.../msg/detail/transform__type_support.c | 120 + .../msg/detail/transform__type_support.h | 36 + .../detail/transform_stamped__description.c | 219 + .../msg/detail/transform_stamped__functions.c | 293 ++ .../msg/detail/transform_stamped__functions.h | 210 + ...mped__rosidl_typesupport_introspection_c.h | 26 + .../msg/detail/transform_stamped__struct.h | 67 + .../detail/transform_stamped__type_support.c | 140 + .../detail/transform_stamped__type_support.h | 36 + .../msg/detail/twist__description.c | 133 + .../msg/detail/twist__functions.c | 271 + .../msg/detail/twist__functions.h | 210 + ...wist__rosidl_typesupport_introspection_c.h | 26 + .../geometry_msgs/msg/detail/twist__struct.h | 51 + .../msg/detail/twist__type_support.c | 118 + .../msg/detail/twist__type_support.h | 36 + .../msg/detail/twist_stamped__description.c | 178 + .../msg/detail/twist_stamped__functions.c | 272 + .../msg/detail/twist_stamped__functions.h | 210 + ...mped__rosidl_typesupport_introspection_c.h | 26 + 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| 12 + .../geometry_msgs/geometry_msgs/msg/wrench.h | 12 + .../geometry_msgs/msg/wrench_stamped.h | 12 + ...accel__rosidl_typesupport_microxrcedds_c.h | 39 + ...amped__rosidl_typesupport_microxrcedds_c.h | 39 + ...iance__rosidl_typesupport_microxrcedds_c.h | 39 + ...amped__rosidl_typesupport_microxrcedds_c.h | 39 + ...ertia__rosidl_typesupport_microxrcedds_c.h | 39 + ...amped__rosidl_typesupport_microxrcedds_c.h | 39 + ...int32__rosidl_typesupport_microxrcedds_c.h | 39 + ...point__rosidl_typesupport_microxrcedds_c.h | 39 + ...amped__rosidl_typesupport_microxrcedds_c.h | 39 + ...lygon__rosidl_typesupport_microxrcedds_c.h | 39 + ...tance__rosidl_typesupport_microxrcedds_c.h | 39 + ...amped__rosidl_typesupport_microxrcedds_c.h | 39 + ...amped__rosidl_typesupport_microxrcedds_c.h | 39 + ...se2_d__rosidl_typesupport_microxrcedds_c.h | 39 + .../pose__rosidl_typesupport_microxrcedds_c.h | 39 + ...array__rosidl_typesupport_microxrcedds_c.h | 39 + ...amped__rosidl_typesupport_microxrcedds_c.h | 39 + ...iance__rosidl_typesupport_microxrcedds_c.h | 39 + ...amped__rosidl_typesupport_microxrcedds_c.h | 39 + ...rnion__rosidl_typesupport_microxrcedds_c.h | 39 + ...amped__rosidl_typesupport_microxrcedds_c.h | 39 + ...sform__rosidl_typesupport_microxrcedds_c.h | 39 + ...amped__rosidl_typesupport_microxrcedds_c.h | 39 + ...twist__rosidl_typesupport_microxrcedds_c.h | 39 + ...amped__rosidl_typesupport_microxrcedds_c.h | 39 + ...iance__rosidl_typesupport_microxrcedds_c.h | 39 + ...amped__rosidl_typesupport_microxrcedds_c.h | 39 + ...ctor3__rosidl_typesupport_microxrcedds_c.h | 39 + ...amped__rosidl_typesupport_microxrcedds_c.h | 39 + ...amped__rosidl_typesupport_microxrcedds_c.h | 39 + ...rench__rosidl_typesupport_microxrcedds_c.h | 39 + ...amped__rosidl_typesupport_microxrcedds_c.h | 39 + ...pport_microxrcedds_c__visibility_control.h | 43 + .../msg/detail/state__description.c | 168 + .../msg/detail/state__functions.c | 259 + .../msg/detail/state__functions.h | 210 + ...tate__rosidl_typesupport_introspection_c.h | 26 + .../lifecycle_msgs/msg/detail/state__struct.h | 166 + .../msg/detail/state__type_support.c | 110 + .../msg/detail/state__type_support.h | 36 + .../msg/detail/transition__description.c | 205 + .../msg/detail/transition__functions.c | 259 + .../msg/detail/transition__functions.h | 210 + ...tion__rosidl_typesupport_introspection_c.h | 26 + .../msg/detail/transition__struct.h | 293 ++ .../msg/detail/transition__type_support.c | 110 + .../msg/detail/transition__type_support.h | 36 + .../transition_description__description.c | 163 + .../transition_description__functions.c | 292 ++ .../transition_description__functions.h | 210 + ...tion__rosidl_typesupport_introspection_c.h | 26 + .../detail/transition_description__struct.h | 56 + .../transition_description__type_support.c | 142 + .../transition_description__type_support.h | 36 + .../detail/transition_event__description.c | 177 + .../msg/detail/transition_event__functions.c | 300 ++ .../msg/detail/transition_event__functions.h | 210 + ...vent__rosidl_typesupport_introspection_c.h | 26 + .../msg/detail/transition_event__struct.h | 58 + .../detail/transition_event__type_support.c | 160 + .../detail/transition_event__type_support.h | 36 + .../rosidl_generator_c__visibility_control.h | 42 + ...port_introspection_c__visibility_control.h | 43 + .../lifecycle_msgs/lifecycle_msgs/msg/state.h | 12 + .../lifecycle_msgs/msg/transition.h | 12 + .../msg/transition_description.h | 12 + .../lifecycle_msgs/msg/transition_event.h | 12 + .../lifecycle_msgs/srv/change_state.h | 12 + .../srv/detail/change_state__description.c | 499 ++ .../srv/detail/change_state__functions.c | 757 +++ .../srv/detail/change_state__functions.h | 585 +++ ...tate__rosidl_typesupport_introspection_c.h | 58 + .../srv/detail/change_state__struct.h | 102 + .../srv/detail/change_state__type_support.c | 533 ++ .../srv/detail/change_state__type_support.h | 100 + .../get_available_states__description.c | 494 ++ .../detail/get_available_states__functions.c | 757 +++ .../detail/get_available_states__functions.h | 585 +++ ...ates__rosidl_typesupport_introspection_c.h | 58 + .../srv/detail/get_available_states__struct.h | 101 + .../get_available_states__type_support.c | 588 +++ .../get_available_states__type_support.h | 100 + .../get_available_transitions__description.c | 552 ++ .../get_available_transitions__functions.c | 757 +++ .../get_available_transitions__functions.h | 585 +++ ...ions__rosidl_typesupport_introspection_c.h | 58 + .../get_available_transitions__struct.h | 101 + .../get_available_transitions__type_support.c | 588 +++ .../get_available_transitions__type_support.h | 100 + .../srv/detail/get_state__description.c | 494 ++ .../srv/detail/get_state__functions.c | 757 +++ .../srv/detail/get_state__functions.h | 585 +++ ...tate__rosidl_typesupport_introspection_c.h | 58 + .../srv/detail/get_state__struct.h | 101 + .../srv/detail/get_state__type_support.c | 533 ++ .../srv/detail/get_state__type_support.h | 100 + .../lifecycle_msgs/srv/get_available_states.h | 12 + .../srv/get_available_transitions.h | 12 + .../lifecycle_msgs/srv/get_state.h | 12 + ...state__rosidl_typesupport_microxrcedds_c.h | 39 + ...ition__rosidl_typesupport_microxrcedds_c.h | 39 + ...ption__rosidl_typesupport_microxrcedds_c.h | 39 + ...event__rosidl_typesupport_microxrcedds_c.h | 39 + ...pport_microxrcedds_c__visibility_control.h | 43 + ...state__rosidl_typesupport_microxrcedds_c.h | 132 + ...tates__rosidl_typesupport_microxrcedds_c.h | 132 + ...tions__rosidl_typesupport_microxrcedds_c.h | 132 + ...state__rosidl_typesupport_microxrcedds_c.h | 132 + .../msg/detail/entity__description.c | 130 + .../msg/detail/entity__functions.c | 279 ++ .../msg/detail/entity__functions.h | 210 + ...tity__rosidl_typesupport_introspection_c.h | 26 + .../msg/detail/entity__struct.h | 85 + .../msg/detail/entity__type_support.c | 184 + .../msg/detail/entity__type_support.h | 36 + .../msg/detail/graph__description.c | 134 + .../msg/detail/graph__functions.c | 251 + .../msg/detail/graph__functions.h | 210 + ...raph__rosidl_typesupport_introspection_c.h | 26 + .../micro_ros_msgs/msg/detail/graph__struct.h | 46 + .../msg/detail/graph__type_support.c | 151 + .../msg/detail/graph__type_support.h | 36 + .../msg/detail/node__description.c | 143 + .../msg/detail/node__functions.c | 292 ++ .../msg/detail/node__functions.h | 210 + ...node__rosidl_typesupport_introspection_c.h | 26 + .../micro_ros_msgs/msg/detail/node__struct.h | 63 + .../msg/detail/node__type_support.c | 190 + .../msg/detail/node__type_support.h | 36 + .../micro_ros_msgs/msg/entity.h | 12 + .../micro_ros_msgs/micro_ros_msgs/msg/graph.h | 12 + .../micro_ros_msgs/micro_ros_msgs/msg/node.h | 12 + .../rosidl_generator_c__visibility_control.h | 42 + ...port_introspection_c__visibility_control.h | 43 + ...ntity__rosidl_typesupport_microxrcedds_c.h | 39 + ...graph__rosidl_typesupport_microxrcedds_c.h | 39 + .../node__rosidl_typesupport_microxrcedds_c.h | 39 + ...pport_microxrcedds_c__visibility_control.h | 43 + .../micro_ros_utilities/string_utilities.h | 170 + .../micro_ros_utilities/type_utilities.h | 243 + .../micro_ros_utilities/visibility_control.h | 58 + ...cells__rosidl_typesupport_microxrcedds_c.h | 39 + ..._data__rosidl_typesupport_microxrcedds_c.h | 39 + ..._grid__rosidl_typesupport_microxrcedds_c.h | 39 + ...metry__rosidl_typesupport_microxrcedds_c.h | 39 + .../path__rosidl_typesupport_microxrcedds_c.h | 39 + ...pport_microxrcedds_c__visibility_control.h | 43 + .../msg/detail/grid_cells__description.c | 193 + .../msg/detail/grid_cells__functions.c | 288 ++ .../msg/detail/grid_cells__functions.h | 210 + ...ells__rosidl_typesupport_introspection_c.h | 26 + .../nav_msgs/msg/detail/grid_cells__struct.h | 57 + .../msg/detail/grid_cells__type_support.c | 211 + .../msg/detail/grid_cells__type_support.h | 36 + .../msg/detail/map_meta_data__description.c | 224 + .../msg/detail/map_meta_data__functions.c | 296 ++ .../msg/detail/map_meta_data__functions.h | 210 + ...data__rosidl_typesupport_introspection_c.h | 26 + .../msg/detail/map_meta_data__struct.h | 61 + .../msg/detail/map_meta_data__type_support.c | 174 + .../msg/detail/map_meta_data__type_support.h | 36 + .../msg/detail/occupancy_grid__description.c | 228 + .../msg/detail/occupancy_grid__functions.c | 293 ++ .../msg/detail/occupancy_grid__functions.h | 210 + ...grid__rosidl_typesupport_introspection_c.h | 26 + .../msg/detail/occupancy_grid__struct.h | 62 + .../msg/detail/occupancy_grid__type_support.c | 195 + .../msg/detail/occupancy_grid__type_support.h | 36 + .../msg/detail/odometry__description.c | 286 ++ .../nav_msgs/msg/detail/odometry__functions.c | 314 ++ .../nav_msgs/msg/detail/odometry__functions.h | 210 + ...etry__rosidl_typesupport_introspection_c.h | 26 + .../nav_msgs/msg/detail/odometry__struct.h | 64 + .../msg/detail/odometry__type_support.c | 164 + 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.../nav_msgs/srv/detail/get_map__struct.h | 101 + .../srv/detail/get_map__type_support.c | 533 ++ .../srv/detail/get_map__type_support.h | 100 + .../srv/detail/get_plan__description.c | 724 +++ .../nav_msgs/srv/detail/get_plan__functions.c | 800 +++ .../nav_msgs/srv/detail/get_plan__functions.h | 585 +++ ...plan__rosidl_typesupport_introspection_c.h | 58 + .../nav_msgs/srv/detail/get_plan__struct.h | 112 + .../srv/detail/get_plan__type_support.c | 581 +++ .../srv/detail/get_plan__type_support.h | 100 + .../srv/detail/load_map__description.c | 669 +++ .../nav_msgs/srv/detail/load_map__functions.c | 780 +++ .../nav_msgs/srv/detail/load_map__functions.h | 585 +++ ..._map__rosidl_typesupport_introspection_c.h | 58 + .../nav_msgs/srv/detail/load_map__struct.h | 137 + .../srv/detail/load_map__type_support.c | 555 ++ .../srv/detail/load_map__type_support.h | 100 + .../srv/detail/set_map__description.c | 723 +++ .../nav_msgs/srv/detail/set_map__functions.c | 778 +++ .../nav_msgs/srv/detail/set_map__functions.h | 585 +++ ..._map__rosidl_typesupport_introspection_c.h | 58 + .../nav_msgs/srv/detail/set_map__struct.h | 107 + .../srv/detail/set_map__type_support.c | 557 +++ .../srv/detail/set_map__type_support.h | 100 + .../include/nav_msgs/nav_msgs/srv/get_map.h | 12 + .../include/nav_msgs/nav_msgs/srv/get_plan.h | 12 + .../include/nav_msgs/nav_msgs/srv/load_map.h | 12 + .../include/nav_msgs/nav_msgs/srv/set_map.h | 12 + ...t_map__rosidl_typesupport_microxrcedds_c.h | 132 + ..._plan__rosidl_typesupport_microxrcedds_c.h | 132 + ...d_map__rosidl_typesupport_microxrcedds_c.h | 132 + ...t_map__rosidl_typesupport_microxrcedds_c.h | 132 + .../microros-ext/include/rcl/rcl/allocator.h | 63 + .../microros-ext/include/rcl/rcl/arguments.h | 461 ++ .../microros-ext/include/rcl/rcl/client.h | 547 ++ .../microros-ext/include/rcl/rcl/context.h | 320 ++ .../include/rcl/rcl/discovery_options.h | 109 + .../microros-ext/include/rcl/rcl/domain_id.h | 51 + .../rcl/rcl/dynamic_message_type_support.h | 52 + .../include/rcl/rcl/error_handling.h | 49 + .../microros-ext/include/rcl/rcl/event.h | 241 + .../include/rcl/rcl/event_callback.h | 31 + .../include/rcl/rcl/expand_topic_name.h | 146 + .../microros-ext/include/rcl/rcl/graph.h | 947 ++++ .../include/rcl/rcl/guard_condition.h | 269 + .../microros-ext/include/rcl/rcl/init.h | 121 + .../include/rcl/rcl/init_options.h | 230 + .../microros-ext/include/rcl/rcl/lexer.h | 121 + .../include/rcl/rcl/lexer_lookahead.h | 264 + .../microros-ext/include/rcl/rcl/localhost.h | 48 + .../microros-ext/include/rcl/rcl/log_level.h | 193 + .../microros-ext/include/rcl/rcl/logging.h | 162 + .../include/rcl/rcl/logging_rosout.h | 259 + .../microros-ext/include/rcl/rcl/macros.h | 34 + .../include/rcl/rcl/network_flow_endpoints.h | 136 + .../microros-ext/include/rcl/rcl/node.h | 622 +++ .../include/rcl/rcl/node_options.h | 132 + .../include/rcl/rcl/node_type_cache.h | 174 + .../microros-ext/include/rcl/rcl/publisher.h | 697 +++ .../microros-ext/include/rcl/rcl/rcl.h | 86 + .../microros-ext/include/rcl/rcl/remap.h | 302 ++ .../rcl/rmw_implementation_identifier_check.h | 48 + .../microros-ext/include/rcl/rcl/security.h | 133 + .../microros-ext/include/rcl/rcl/service.h | 579 +++ .../include/rcl/rcl/service_introspection.h | 31 + .../include/rcl/rcl/subscription.h | 917 ++++ .../microros-ext/include/rcl/rcl/time.h | 734 +++ .../microros-ext/include/rcl/rcl/timer.h | 711 +++ .../rcl/rcl/type_description_conversions.h | 133 + .../microros-ext/include/rcl/rcl/type_hash.h | 79 + .../microros-ext/include/rcl/rcl/types.h | 132 + .../include/rcl/rcl/validate_enclave_name.h | 120 + .../include/rcl/rcl/validate_topic_name.h | 155 + .../include/rcl/rcl/visibility_control.h | 58 + .../microros-ext/include/rcl/rcl/wait.h | 502 ++ .../rcl_action/rcl_action/action_client.h | 789 +++ .../rcl_action/rcl_action/action_server.h | 965 ++++ .../rcl_action/rcl_action/default_qos.h | 43 + .../rcl_action/rcl_action/goal_handle.h | 268 + .../rcl_action/goal_state_machine.h | 47 + .../include/rcl_action/rcl_action/graph.h | 162 + .../include/rcl_action/rcl_action/names.h | 220 + .../rcl_action/rcl_action/rcl_action.h | 63 + .../include/rcl_action/rcl_action/types.h | 300 ++ .../include/rcl_action/rcl_action/version.h | 46 + .../rcl_action/visibility_control.h | 56 + .../include/rcl_action/rcl_action/wait.h | 285 ++ ...range__rosidl_typesupport_microxrcedds_c.h | 39 + ...range__rosidl_typesupport_microxrcedds_c.h | 39 + ...esult__rosidl_typesupport_microxrcedds_c.h | 39 + .../log__rosidl_typesupport_microxrcedds_c.h | 39 + ...level__rosidl_typesupport_microxrcedds_c.h | 39 + ...meter__rosidl_typesupport_microxrcedds_c.h | 39 + ...iptor__rosidl_typesupport_microxrcedds_c.h | 39 + ...event__rosidl_typesupport_microxrcedds_c.h | 39 + ...ptors__rosidl_typesupport_microxrcedds_c.h | 39 + ..._type__rosidl_typesupport_microxrcedds_c.h | 39 + ...value__rosidl_typesupport_microxrcedds_c.h | 39 + ...esult__rosidl_typesupport_microxrcedds_c.h | 39 + ...esult__rosidl_typesupport_microxrcedds_c.h | 39 + ...pport_microxrcedds_c__visibility_control.h | 43 + .../floating_point_range__description.c | 150 + .../detail/floating_point_range__functions.c | 252 + .../detail/floating_point_range__functions.h | 210 + ...ange__rosidl_typesupport_introspection_c.h | 26 + .../msg/detail/floating_point_range__struct.h | 68 + .../floating_point_range__type_support.c | 124 + .../floating_point_range__type_support.h | 36 + .../msg/detail/integer_range__description.c | 146 + .../msg/detail/integer_range__functions.c | 252 + .../msg/detail/integer_range__functions.h | 210 + ...ange__rosidl_typesupport_introspection_c.h | 26 + .../msg/detail/integer_range__struct.h | 64 + .../msg/detail/integer_range__type_support.c | 124 + .../msg/detail/integer_range__type_support.h | 36 + .../list_parameters_result__description.c | 117 + .../list_parameters_result__functions.c | 271 + .../list_parameters_result__functions.h | 210 + ...sult__rosidl_typesupport_introspection_c.h | 26 + .../detail/list_parameters_result__struct.h | 53 + .../list_parameters_result__type_support.c | 221 + .../list_parameters_result__type_support.h | 36 + .../msg/detail/log__description.c | 238 + .../msg/detail/log__functions.c | 348 ++ .../msg/detail/log__functions.h | 210 + .../log__rosidl_typesupport_introspection_c.h | 26 + .../rcl_interfaces/msg/detail/log__struct.h | 125 + .../msg/detail/log__type_support.c | 209 + .../msg/detail/log__type_support.h | 36 + .../msg/detail/logger_level__description.c | 125 + .../msg/detail/logger_level__functions.c | 259 + .../msg/detail/logger_level__functions.h | 210 + ...evel__rosidl_typesupport_introspection_c.h | 26 + .../msg/detail/logger_level__struct.h | 88 + .../msg/detail/logger_level__type_support.c | 110 + .../msg/detail/logger_level__type_support.h | 36 + .../msg/detail/parameter__description.c | 138 + .../msg/detail/parameter__functions.c | 272 + .../msg/detail/parameter__functions.h | 210 + ...eter__rosidl_typesupport_introspection_c.h | 26 + .../msg/detail/parameter__struct.h | 56 + .../msg/detail/parameter__type_support.c | 116 + .../msg/detail/parameter__type_support.h | 36 + .../parameter_descriptor__description.c | 248 + .../detail/parameter_descriptor__functions.c | 359 ++ .../detail/parameter_descriptor__functions.h | 210 + ...ptor__rosidl_typesupport_introspection_c.h | 26 + .../msg/detail/parameter_descriptor__struct.h | 91 + .../parameter_descriptor__type_support.c | 342 ++ .../parameter_descriptor__type_support.h | 36 + .../msg/detail/parameter_event__description.c | 210 + .../msg/detail/parameter_event__functions.c | 333 ++ .../msg/detail/parameter_event__functions.h | 210 + ...vent__rosidl_typesupport_introspection_c.h | 26 + .../msg/detail/parameter_event__struct.h | 66 + .../detail/parameter_event__type_support.c | 349 ++ .../detail/parameter_event__type_support.h | 36 + ...parameter_event_descriptors__description.c | 177 + .../parameter_event_descriptors__functions.c | 291 ++ .../parameter_event_descriptors__functions.h | 210 + ...tors__rosidl_typesupport_introspection_c.h | 26 + .../parameter_event_descriptors__struct.h | 55 + ...arameter_event_descriptors__type_support.c | 305 ++ ...arameter_event_descriptors__type_support.h | 36 + .../msg/detail/parameter_type__description.c | 114 + .../msg/detail/parameter_type__functions.c | 236 + .../msg/detail/parameter_type__functions.h | 210 + ...type__rosidl_typesupport_introspection_c.h | 26 + .../msg/detail/parameter_type__struct.h | 108 + .../msg/detail/parameter_type__type_support.c | 88 + .../msg/detail/parameter_type__type_support.h | 36 + .../msg/detail/parameter_value__description.c | 237 + .../msg/detail/parameter_value__functions.c | 384 ++ .../msg/detail/parameter_value__functions.h | 210 + ...alue__rosidl_typesupport_introspection_c.h | 26 + .../msg/detail/parameter_value__struct.h | 80 + .../detail/parameter_value__type_support.c | 535 ++ .../detail/parameter_value__type_support.h | 36 + .../set_logger_levels_result__description.c | 116 + .../set_logger_levels_result__functions.c | 259 + .../set_logger_levels_result__functions.h | 210 + ...sult__rosidl_typesupport_introspection_c.h | 26 + .../detail/set_logger_levels_result__struct.h | 51 + .../set_logger_levels_result__type_support.c | 110 + .../set_logger_levels_result__type_support.h | 36 + .../set_parameters_result__description.c | 118 + .../detail/set_parameters_result__functions.c | 259 + .../detail/set_parameters_result__functions.h | 210 + ...sult__rosidl_typesupport_introspection_c.h | 26 + .../detail/set_parameters_result__struct.h | 53 + .../set_parameters_result__type_support.c | 110 + .../set_parameters_result__type_support.h | 36 + .../rcl_interfaces/msg/floating_point_range.h | 12 + .../rcl_interfaces/msg/integer_range.h | 12 + .../msg/list_parameters_result.h | 12 + .../rcl_interfaces/rcl_interfaces/msg/log.h | 12 + .../rcl_interfaces/msg/logger_level.h | 12 + .../rcl_interfaces/msg/parameter.h | 12 + .../rcl_interfaces/msg/parameter_descriptor.h | 12 + .../rcl_interfaces/msg/parameter_event.h | 12 + .../msg/parameter_event_descriptors.h | 12 + .../rcl_interfaces/msg/parameter_type.h | 12 + .../rcl_interfaces/msg/parameter_value.h | 12 + .../rosidl_generator_c__visibility_control.h | 42 + ...port_introspection_c__visibility_control.h | 43 + .../msg/set_logger_levels_result.h | 12 + .../msg/set_parameters_result.h | 12 + .../rcl_interfaces/srv/describe_parameters.h | 12 + .../detail/describe_parameters__description.c | 557 +++ .../detail/describe_parameters__functions.c | 772 +++ .../detail/describe_parameters__functions.h | 585 +++ ...ters__rosidl_typesupport_introspection_c.h | 58 + .../srv/detail/describe_parameters__struct.h | 105 + .../describe_parameters__type_support.c | 647 +++ .../describe_parameters__type_support.h | 100 + .../detail/get_logger_levels__description.c | 498 ++ .../srv/detail/get_logger_levels__functions.c | 772 +++ .../srv/detail/get_logger_levels__functions.h | 585 +++ ...vels__rosidl_typesupport_introspection_c.h | 58 + .../srv/detail/get_logger_levels__struct.h | 105 + .../detail/get_logger_levels__type_support.c | 647 +++ .../detail/get_logger_levels__type_support.h | 100 + .../detail/get_parameter_types__description.c | 469 ++ .../detail/get_parameter_types__functions.c | 772 +++ .../detail/get_parameter_types__functions.h | 585 +++ ...ypes__rosidl_typesupport_introspection_c.h | 58 + .../srv/detail/get_parameter_types__struct.h | 105 + .../get_parameter_types__type_support.c | 643 +++ .../get_parameter_types__type_support.h | 100 + .../srv/detail/get_parameters__description.c | 506 ++ .../srv/detail/get_parameters__functions.c | 772 +++ .../srv/detail/get_parameters__functions.h | 585 +++ ...ters__rosidl_typesupport_introspection_c.h | 58 + .../srv/detail/get_parameters__struct.h | 106 + .../srv/detail/get_parameters__type_support.c | 647 +++ .../srv/detail/get_parameters__type_support.h | 100 + .../srv/detail/list_parameters__description.c | 516 ++ .../srv/detail/list_parameters__functions.c | 780 +++ .../srv/detail/list_parameters__functions.h | 585 +++ ...ters__rosidl_typesupport_introspection_c.h | 58 + .../srv/detail/list_parameters__struct.h | 116 + .../detail/list_parameters__type_support.c | 610 +++ .../detail/list_parameters__type_support.h | 100 + .../detail/set_logger_levels__description.c | 529 ++ .../srv/detail/set_logger_levels__functions.c | 772 +++ .../srv/detail/set_logger_levels__functions.h | 585 +++ ...vels__rosidl_typesupport_introspection_c.h | 58 + .../srv/detail/set_logger_levels__struct.h | 105 + .../detail/set_logger_levels__type_support.c | 651 +++ .../detail/set_logger_levels__type_support.h | 100 + .../srv/detail/set_parameters__description.c | 558 +++ .../srv/detail/set_parameters__functions.c | 772 +++ .../srv/detail/set_parameters__functions.h | 585 +++ ...ters__rosidl_typesupport_introspection_c.h | 58 + .../srv/detail/set_parameters__struct.h | 105 + .../srv/detail/set_parameters__type_support.c | 651 +++ .../srv/detail/set_parameters__type_support.h | 100 + .../set_parameters_atomically__description.c | 560 +++ .../set_parameters_atomically__functions.c | 772 +++ .../set_parameters_atomically__functions.h | 585 +++ ...ally__rosidl_typesupport_introspection_c.h | 58 + .../set_parameters_atomically__struct.h | 105 + .../set_parameters_atomically__type_support.c | 596 +++ .../set_parameters_atomically__type_support.h | 100 + .../rcl_interfaces/srv/get_logger_levels.h | 12 + .../rcl_interfaces/srv/get_parameter_types.h | 12 + .../rcl_interfaces/srv/get_parameters.h | 12 + .../rcl_interfaces/srv/list_parameters.h | 12 + .../rcl_interfaces/srv/set_logger_levels.h | 12 + .../rcl_interfaces/srv/set_parameters.h | 12 + .../srv/set_parameters_atomically.h | 12 + ...eters__rosidl_typesupport_microxrcedds_c.h | 132 + ...evels__rosidl_typesupport_microxrcedds_c.h | 132 + ...types__rosidl_typesupport_microxrcedds_c.h | 132 + ...eters__rosidl_typesupport_microxrcedds_c.h | 132 + ...eters__rosidl_typesupport_microxrcedds_c.h | 132 + ...evels__rosidl_typesupport_microxrcedds_c.h | 132 + ...eters__rosidl_typesupport_microxrcedds_c.h | 132 + ...cally__rosidl_typesupport_microxrcedds_c.h | 132 + .../rcl_lifecycle/rcl_lifecycle/data_types.h | 121 + .../rcl_lifecycle/default_state_machine.h | 97 + .../rcl_lifecycle/rcl_lifecycle.h | 437 ++ .../rcl_lifecycle/transition_map.h | 198 + .../rcl_lifecycle/rcl_lifecycle/version.h | 46 + .../rcl_lifecycle/visibility_control.h | 56 + .../rcl_logging_interface.h | 11 +- .../microros-ext/include/rclc/action_client.h | 168 + .../include/rclc/action_goal_handle.h | 76 + .../microros-ext/include/rclc/action_server.h | 163 + .../microros-ext/include/rclc/client.h | 113 + .../microros-ext/include/rclc/executor.h | 1015 ++++ .../include/rclc/executor_handle.h | 306 ++ .../microros-ext/include/rclc/init.h | 111 + .../microros-ext/include/rclc/node.h | 86 + .../microros-ext/include/rclc/publisher.h | 115 + .../microros-ext/include/rclc/rclc.h | 43 + .../microros-ext/include/rclc/service.h | 113 + .../microros-ext/include/rclc/sleep.h | 48 + .../microros-ext/include/rclc/subscription.h | 114 + .../microros-ext/include/rclc/timer.h | 73 + .../microros-ext/include/rclc/types.h | 69 + .../include/rclc/visibility_control.h | 58 + .../include/rclc_lifecycle/rclc_lifecycle.h | 169 + .../rclc_lifecycle/visibility_control.h | 58 + .../include/rclc_parameter/rclc_parameter.h | 579 +++ .../rclc_parameter/visibility_control.h | 58 + .../rcutils/rcutils/configuration_flags.h | 1 + .../rcutils/rcutils/configuration_flags.h.in | 1 + .../include/rcutils/rcutils/env.h | 30 + .../include/rcutils/rcutils/logging.h | 4 +- .../include/rcutils/rcutils/logging_macros.h | 48 +- .../rcutils/rcutils/security_directory.h | 67 - .../include/rcutils/rcutils/split.h | 1 + .../stdatomic_helper/win32/stdatomic.h | 4 +- .../include/rcutils/rcutils/time.h | 31 + .../include/rcutils/rcutils/types/hash_map.h | 2 +- .../rcutils/rcutils/types/string_map.h | 2 +- .../microros-ext/include/rmw/rmw/allocators.h | 159 + .../rmw/rmw/check_type_identifiers_match.h | 84 + .../rmw/rmw/convert_rcutils_ret_to_rmw_ret.h | 42 + .../include/rmw/rmw/discovery_options.h | 177 + .../microros-ext/include/rmw/rmw/domain_id.h | 21 + .../rmw/rmw/dynamic_message_type_support.h | 90 + .../include/rmw/rmw/error_handling.h | 205 + .../microros-ext/include/rmw/rmw/event.h | 137 + .../include/rmw/rmw/event_callback_type.h | 52 + .../rmw/rmw/events_statuses/events_statuses.h | 27 + .../rmw/events_statuses/incompatible_qos.h | 57 + .../rmw/events_statuses/incompatible_type.h | 40 + .../rmw/events_statuses/liveliness_changed.h | 58 + .../rmw/rmw/events_statuses/liveliness_lost.h | 45 + .../include/rmw/rmw/events_statuses/matched.h | 59 + .../rmw/rmw/events_statuses/message_lost.h | 39 + .../events_statuses/offered_deadline_missed.h | 45 + .../requested_deadline_missed.h | 45 + .../microros-ext/include/rmw/rmw/features.h | 68 + .../rmw/rmw/get_network_flow_endpoints.h | 73 + .../include/rmw/rmw/get_node_info_and_types.h | 319 ++ .../rmw/rmw/get_service_names_and_types.h | 94 + .../include/rmw/rmw/get_topic_endpoint_info.h | 193 + .../rmw/rmw/get_topic_names_and_types.h | 103 + .../include/rmw/rmw/impl/config.h | 24 + .../include/rmw/rmw/impl/cpp/demangle.hpp | 62 + .../include/rmw/rmw/impl/cpp/key_value.hpp | 100 + .../include/rmw/rmw/impl/cpp/macros.hpp | 73 + .../rmw/incompatible_qos_events_statuses.h | 20 + .../microros-ext/include/rmw/rmw/init.h | 173 + .../include/rmw/rmw/init_options.h | 195 + .../microros-ext/include/rmw/rmw/localhost.h | 40 + .../microros-ext/include/rmw/rmw/macros.h | 27 + .../include/rmw/rmw/message_sequence.h | 123 + .../include/rmw/rmw/names_and_types.h | 150 + .../include/rmw/rmw/network_flow_endpoint.h | 114 + .../rmw/rmw/network_flow_endpoint_array.h | 94 + .../include/rmw/rmw/publisher_options.h | 37 + .../include/rmw/rmw/qos_policy_kind.h | 45 + .../include/rmw/rmw/qos_profiles.h | 213 + .../include/rmw/rmw/qos_string_conversions.h | 177 + .../microros-ext/include/rmw/rmw/ret_types.h | 52 + .../microros-ext/include/rmw/rmw/rmw.h | 3360 +++++++++++++ .../include/rmw/rmw/sanity_checks.h | 45 + .../include/rmw/rmw/security_options.h | 101 + .../include/rmw/rmw/serialized_message.h | 102 + .../rmw/subscription_content_filter_options.h | 130 + .../include/rmw/rmw/subscription_options.h | 37 + .../microros-ext/include/rmw/rmw/time.h | 92 + .../include/rmw/rmw/topic_endpoint_info.h | 370 ++ .../rmw/rmw/topic_endpoint_info_array.h | 155 + .../microros-ext/include/rmw/rmw/types.h | 753 +++ .../rmw/rmw/validate_full_topic_name.h | 130 + .../include/rmw/rmw/validate_namespace.h | 139 + .../include/rmw/rmw/validate_node_name.h | 124 + .../include/rmw/rmw/visibility_control.h | 58 + .../rmw_microros/continous_serialization.h | 60 + .../include/rmw_microros/custom_transport.h | 90 + .../include/rmw_microros/discovery.h | 54 + .../include/rmw_microros/error_handling.h | 96 + .../include/rmw_microros/init_options.h | 96 + .../microros-ext/include/rmw_microros/ping.h | 78 + .../include/rmw_microros/rmw_microros.h | 78 + .../include/rmw_microros/time_sync.h | 72 + .../include/rmw_microros/timing.h | 102 + .../include/rmw_microxrcedds_c/config.h | 76 + .../include/rmw_microxrcedds_c/rmw_c_macros.h | 29 + ...clock__rosidl_typesupport_microxrcedds_c.h | 39 + ...pport_microxrcedds_c__visibility_control.h | 43 + .../rosgraph_msgs/rosgraph_msgs/msg/clock.h | 12 + .../msg/detail/clock__description.c | 122 + .../msg/detail/clock__functions.c | 251 + .../msg/detail/clock__functions.h | 210 + ...lock__rosidl_typesupport_introspection_c.h | 26 + .../rosgraph_msgs/msg/detail/clock__struct.h | 51 + .../msg/detail/clock__type_support.c | 96 + .../msg/detail/clock__type_support.h | 36 + .../rosidl_generator_c__visibility_control.h | 42 + ...port_introspection_c__visibility_control.h | 43 + .../api/dynamic_data.h | 637 +++ .../api/dynamic_type.h | 995 ++++ .../api/serialization_support.h | 90 + .../api/serialization_support_interface.h | 1403 ++++++ .../dynamic_message_type_support_struct.h | 162 + .../rosidl_dynamic_typesupport/identifier.h | 40 + .../rosidl_dynamic_typesupport/macros.h | 65 + .../rosidl_dynamic_typesupport/types.h | 314 ++ .../rosidl_dynamic_typesupport/uchar.h | 53 + .../visibility_control.h | 56 + .../rosidl_typesupport_c/identifier.h | 33 + .../message_type_support_dispatch.h | 45 + .../service_type_support_dispatch.h | 45 + .../rosidl_typesupport_c/type_support_map.h | 52 + .../rosidl_typesupport_c/visibility_control.h | 56 + .../field_types.h | 82 + .../identifier.h | 33 + .../message_introspection.h | 105 + .../service_introspection.h | 43 + .../visibility_control.h | 56 + .../identifier.h | 26 + .../message_type_support.h | 51 + .../service_type_support.h | 32 + .../visibility_control.h | 56 + ...state__rosidl_typesupport_microxrcedds_c.h | 39 + ..._info__rosidl_typesupport_microxrcedds_c.h | 39 + ...oat32__rosidl_typesupport_microxrcedds_c.h | 39 + ...image__rosidl_typesupport_microxrcedds_c.h | 39 + ...ssure__rosidl_typesupport_microxrcedds_c.h | 39 + ...nance__rosidl_typesupport_microxrcedds_c.h | 39 + ...image__rosidl_typesupport_microxrcedds_c.h | 39 + .../imu__rosidl_typesupport_microxrcedds_c.h | 39 + ...state__rosidl_typesupport_microxrcedds_c.h | 39 + .../joy__rosidl_typesupport_microxrcedds_c.h | 39 + ...dback__rosidl_typesupport_microxrcedds_c.h | 39 + ...array__rosidl_typesupport_microxrcedds_c.h | 39 + ..._echo__rosidl_typesupport_microxrcedds_c.h | 39 + ..._scan__rosidl_typesupport_microxrcedds_c.h | 39 + ...field__rosidl_typesupport_microxrcedds_c.h | 39 + ...state__rosidl_typesupport_microxrcedds_c.h | 39 + ..._scan__rosidl_typesupport_microxrcedds_c.h | 39 + ...t_fix__rosidl_typesupport_microxrcedds_c.h | 39 + ...tatus__rosidl_typesupport_microxrcedds_c.h | 39 + ...loud2__rosidl_typesupport_microxrcedds_c.h | 39 + ...cloud__rosidl_typesupport_microxrcedds_c.h | 39 + ...field__rosidl_typesupport_microxrcedds_c.h | 39 + ...range__rosidl_typesupport_microxrcedds_c.h | 39 + ...erest__rosidl_typesupport_microxrcedds_c.h | 39 + ...idity__rosidl_typesupport_microxrcedds_c.h | 39 + ...ature__rosidl_typesupport_microxrcedds_c.h | 39 + ...rence__rosidl_typesupport_microxrcedds_c.h | 39 + ...pport_microxrcedds_c__visibility_control.h | 43 + .../sensor_msgs/msg/battery_state.h | 12 + .../sensor_msgs/sensor_msgs/msg/camera_info.h | 12 + .../sensor_msgs/msg/channel_float32.h | 12 + .../sensor_msgs/msg/compressed_image.h | 12 + .../msg/detail/battery_state__description.c | 352 ++ .../msg/detail/battery_state__functions.c | 421 ++ .../msg/detail/battery_state__functions.h | 210 + ...tate__rosidl_typesupport_introspection_c.h | 26 + .../msg/detail/battery_state__struct.h | 260 + .../msg/detail/battery_state__type_support.c | 482 ++ .../msg/detail/battery_state__type_support.h | 36 + .../msg/detail/camera_info__description.c | 389 ++ .../msg/detail/camera_info__functions.c | 382 ++ .../msg/detail/camera_info__functions.h | 210 + ...info__rosidl_typesupport_introspection_c.h | 26 + .../msg/detail/camera_info__struct.h | 171 + .../msg/detail/camera_info__type_support.c | 476 ++ .../msg/detail/camera_info__type_support.h | 36 + .../msg/detail/channel_float32__description.c | 135 + .../msg/detail/channel_float32__functions.c | 272 + .../msg/detail/channel_float32__functions.h | 210 + ...at32__rosidl_typesupport_introspection_c.h | 26 + .../msg/detail/channel_float32__struct.h | 71 + .../detail/channel_float32__type_support.c | 167 + .../detail/channel_float32__type_support.h | 36 + .../detail/compressed_image__description.c | 196 + .../msg/detail/compressed_image__functions.c | 293 ++ .../msg/detail/compressed_image__functions.h | 210 + ...mage__rosidl_typesupport_introspection_c.h | 26 + .../msg/detail/compressed_image__struct.h | 92 + .../detail/compressed_image__type_support.c | 191 + .../detail/compressed_image__type_support.h | 36 + .../msg/detail/fluid_pressure__description.c | 167 + .../msg/detail/fluid_pressure__functions.c | 267 + .../msg/detail/fluid_pressure__functions.h | 210 + ...sure__rosidl_typesupport_introspection_c.h | 26 + .../msg/detail/fluid_pressure__struct.h | 59 + .../msg/detail/fluid_pressure__type_support.c | 132 + .../msg/detail/fluid_pressure__type_support.h | 36 + .../msg/detail/illuminance__description.c | 175 + .../msg/detail/illuminance__functions.c | 267 + .../msg/detail/illuminance__functions.h | 210 + ...ance__rosidl_typesupport_introspection_c.h | 26 + .../msg/detail/illuminance__struct.h | 67 + .../msg/detail/illuminance__type_support.c | 132 + .../msg/detail/illuminance__type_support.h | 36 + .../msg/detail/image__description.c | 225 + .../sensor_msgs/msg/detail/image__functions.c | 325 ++ .../sensor_msgs/msg/detail/image__functions.h | 210 + ...mage__rosidl_typesupport_introspection_c.h | 26 + .../sensor_msgs/msg/detail/image__struct.h | 79 + .../msg/detail/image__type_support.c | 263 + .../msg/detail/image__type_support.h | 36 + .../sensor_msgs/msg/detail/imu__description.c | 253 + .../sensor_msgs/msg/detail/imu__functions.c | 349 ++ .../sensor_msgs/msg/detail/imu__functions.h | 210 + .../imu__rosidl_typesupport_introspection_c.h | 26 + .../sensor_msgs/msg/detail/imu__struct.h | 75 + .../msg/detail/imu__type_support.c | 355 ++ .../msg/detail/imu__type_support.h | 36 + .../msg/detail/joint_state__description.c | 202 + .../msg/detail/joint_state__functions.c | 333 ++ .../msg/detail/joint_state__functions.h | 210 + ...tate__rosidl_typesupport_introspection_c.h | 26 + .../msg/detail/joint_state__struct.h | 76 + .../msg/detail/joint_state__type_support.c | 394 ++ .../msg/detail/joint_state__type_support.h | 36 + .../sensor_msgs/msg/detail/joy__description.c | 165 + .../sensor_msgs/msg/detail/joy__functions.c | 292 ++ .../sensor_msgs/msg/detail/joy__functions.h | 210 + .../joy__rosidl_typesupport_introspection_c.h | 26 + .../sensor_msgs/msg/detail/joy__struct.h | 57 + .../msg/detail/joy__type_support.c | 245 + .../msg/detail/joy__type_support.h | 36 + .../msg/detail/joy_feedback__description.c | 136 + .../msg/detail/joy_feedback__functions.c | 252 + .../msg/detail/joy_feedback__functions.h | 210 + ...back__rosidl_typesupport_introspection_c.h | 26 + .../msg/detail/joy_feedback__struct.h | 69 + .../msg/detail/joy_feedback__type_support.c | 124 + .../msg/detail/joy_feedback__type_support.h | 36 + .../detail/joy_feedback_array__description.c | 120 + .../detail/joy_feedback_array__functions.c | 251 + .../detail/joy_feedback_array__functions.h | 210 + ...rray__rosidl_typesupport_introspection_c.h | 26 + .../msg/detail/joy_feedback_array__struct.h | 49 + .../detail/joy_feedback_array__type_support.c | 151 + .../detail/joy_feedback_array__type_support.h | 36 + .../msg/detail/laser_echo__description.c | 105 + .../msg/detail/laser_echo__functions.c | 251 + .../msg/detail/laser_echo__functions.h | 210 + ...echo__rosidl_typesupport_introspection_c.h | 26 + .../msg/detail/laser_echo__struct.h | 52 + .../msg/detail/laser_echo__type_support.c | 147 + .../msg/detail/laser_echo__type_support.h | 36 + .../msg/detail/laser_scan__description.c | 262 + .../msg/detail/laser_scan__functions.c | 348 ++ .../msg/detail/laser_scan__functions.h | 210 + ...scan__rosidl_typesupport_introspection_c.h | 26 + .../msg/detail/laser_scan__struct.h | 85 + .../msg/detail/laser_scan__type_support.c | 371 ++ .../msg/detail/laser_scan__type_support.h | 36 + .../msg/detail/magnetic_field__description.c | 191 + .../msg/detail/magnetic_field__functions.c | 284 ++ .../msg/detail/magnetic_field__functions.h | 210 + ...ield__rosidl_typesupport_introspection_c.h | 26 + .../msg/detail/magnetic_field__struct.h | 70 + .../msg/detail/magnetic_field__type_support.c | 183 + .../msg/detail/magnetic_field__type_support.h | 36 + .../multi_dof_joint_state__description.c | 278 ++ .../detail/multi_dof_joint_state__functions.c | 335 ++ .../detail/multi_dof_joint_state__functions.h | 210 + ...tate__rosidl_typesupport_introspection_c.h | 26 + .../detail/multi_dof_joint_state__struct.h | 79 + .../multi_dof_joint_state__type_support.c | 408 ++ .../multi_dof_joint_state__type_support.h | 36 + .../multi_echo_laser_scan__description.c | 279 ++ .../detail/multi_echo_laser_scan__functions.c | 348 ++ .../detail/multi_echo_laser_scan__functions.h | 210 + ...scan__rosidl_typesupport_introspection_c.h | 26 + .../detail/multi_echo_laser_scan__struct.h | 87 + .../multi_echo_laser_scan__type_support.c | 378 ++ .../multi_echo_laser_scan__type_support.h | 36 + .../msg/detail/nav_sat_fix__description.c | 259 + .../msg/detail/nav_sat_fix__functions.c | 316 ++ .../msg/detail/nav_sat_fix__functions.h | 210 + ..._fix__rosidl_typesupport_introspection_c.h | 26 + .../msg/detail/nav_sat_fix__struct.h | 107 + .../msg/detail/nav_sat_fix__type_support.c | 255 + .../msg/detail/nav_sat_fix__type_support.h | 36 + .../msg/detail/nav_sat_status__description.c | 136 + .../msg/detail/nav_sat_status__functions.c | 245 + .../msg/detail/nav_sat_status__functions.h | 210 + ...atus__rosidl_typesupport_introspection_c.h | 26 + .../msg/detail/nav_sat_status__struct.h | 134 + .../msg/detail/nav_sat_status__type_support.c | 106 + .../msg/detail/nav_sat_status__type_support.h | 36 + .../msg/detail/point_cloud2__description.c | 262 + .../msg/detail/point_cloud2__functions.c | 341 ++ .../msg/detail/point_cloud2__functions.h | 210 + ...oud2__rosidl_typesupport_introspection_c.h | 26 + .../msg/detail/point_cloud2__struct.h | 77 + .../msg/detail/point_cloud2__type_support.c | 358 ++ .../msg/detail/point_cloud2__type_support.h | 36 + .../msg/detail/point_cloud__description.c | 202 + .../msg/detail/point_cloud__functions.c | 293 ++ .../msg/detail/point_cloud__functions.h | 210 + ...loud__rosidl_typesupport_introspection_c.h | 26 + .../msg/detail/point_cloud__struct.h | 64 + .../msg/detail/point_cloud__type_support.c | 254 + .../msg/detail/point_cloud__type_support.h | 36 + .../msg/detail/point_field__description.c | 149 + .../msg/detail/point_field__functions.c | 275 + .../msg/detail/point_field__functions.h | 210 + ...ield__rosidl_typesupport_introspection_c.h | 26 + .../msg/detail/point_field__struct.h | 106 + .../msg/detail/point_field__type_support.c | 146 + .../msg/detail/point_field__type_support.h | 36 + .../msg/detail/range__description.c | 241 + .../sensor_msgs/msg/detail/range__functions.c | 299 ++ .../sensor_msgs/msg/detail/range__functions.h | 210 + ...ange__rosidl_typesupport_introspection_c.h | 26 + .../sensor_msgs/msg/detail/range__struct.h | 101 + .../msg/detail/range__type_support.c | 204 + .../msg/detail/range__type_support.h | 36 + .../detail/region_of_interest__description.c | 163 + .../detail/region_of_interest__functions.c | 268 + .../detail/region_of_interest__functions.h | 210 + ...rest__rosidl_typesupport_introspection_c.h | 26 + .../msg/detail/region_of_interest__struct.h | 64 + .../detail/region_of_interest__type_support.c | 160 + .../detail/region_of_interest__type_support.h | 36 + .../detail/relative_humidity__description.c | 168 + .../msg/detail/relative_humidity__functions.c | 267 + .../msg/detail/relative_humidity__functions.h | 210 + ...dity__rosidl_typesupport_introspection_c.h | 26 + .../msg/detail/relative_humidity__struct.h | 60 + .../detail/relative_humidity__type_support.c | 132 + .../detail/relative_humidity__type_support.h | 36 + .../msg/detail/temperature__description.c | 163 + .../msg/detail/temperature__functions.c | 267 + .../msg/detail/temperature__functions.h | 210 + ...ture__rosidl_typesupport_introspection_c.h | 26 + .../msg/detail/temperature__struct.h | 55 + .../msg/detail/temperature__type_support.c | 132 + .../msg/detail/temperature__type_support.h | 36 + .../msg/detail/time_reference__description.c | 162 + .../msg/detail/time_reference__functions.c | 293 ++ .../msg/detail/time_reference__functions.h | 210 + ...ence__rosidl_typesupport_introspection_c.h | 26 + .../msg/detail/time_reference__struct.h | 59 + .../msg/detail/time_reference__type_support.c | 140 + .../msg/detail/time_reference__type_support.h | 36 + .../sensor_msgs/msg/fluid_pressure.h | 12 + .../sensor_msgs/sensor_msgs/msg/illuminance.h | 12 + .../sensor_msgs/sensor_msgs/msg/image.h | 12 + .../include/sensor_msgs/sensor_msgs/msg/imu.h | 12 + .../sensor_msgs/sensor_msgs/msg/joint_state.h | 12 + .../include/sensor_msgs/sensor_msgs/msg/joy.h | 12 + .../sensor_msgs/msg/joy_feedback.h | 12 + .../sensor_msgs/msg/joy_feedback_array.h | 12 + .../sensor_msgs/sensor_msgs/msg/laser_echo.h | 12 + .../sensor_msgs/sensor_msgs/msg/laser_scan.h | 12 + .../sensor_msgs/msg/magnetic_field.h | 12 + .../sensor_msgs/msg/multi_dof_joint_state.h | 12 + .../sensor_msgs/msg/multi_echo_laser_scan.h | 12 + .../sensor_msgs/sensor_msgs/msg/nav_sat_fix.h | 12 + .../sensor_msgs/msg/nav_sat_status.h | 12 + .../sensor_msgs/sensor_msgs/msg/point_cloud.h | 12 + .../sensor_msgs/msg/point_cloud2.h | 12 + .../sensor_msgs/sensor_msgs/msg/point_field.h | 12 + .../sensor_msgs/sensor_msgs/msg/range.h | 12 + .../sensor_msgs/msg/region_of_interest.h | 12 + .../sensor_msgs/msg/relative_humidity.h | 12 + .../rosidl_generator_c__visibility_control.h | 42 + ...port_introspection_c__visibility_control.h | 43 + .../sensor_msgs/sensor_msgs/msg/temperature.h | 12 + .../sensor_msgs/msg/time_reference.h | 12 + .../srv/detail/set_camera_info__description.c | 579 +++ .../srv/detail/set_camera_info__functions.c | 780 +++ .../srv/detail/set_camera_info__functions.h | 585 +++ ...info__rosidl_typesupport_introspection_c.h | 58 + .../srv/detail/set_camera_info__struct.h | 109 + .../detail/set_camera_info__type_support.c | 555 ++ .../detail/set_camera_info__type_support.h | 100 + .../sensor_msgs/srv/set_camera_info.h | 12 + ..._info__rosidl_typesupport_microxrcedds_c.h | 132 + ..._info__rosidl_typesupport_microxrcedds_c.h | 39 + ...pport_microxrcedds_c__visibility_control.h | 43 + .../detail/service_event_info__description.c | 172 + .../detail/service_event_info__functions.c | 279 ++ .../detail/service_event_info__functions.h | 210 + ...info__rosidl_typesupport_introspection_c.h | 26 + .../msg/detail/service_event_info__struct.h | 82 + .../detail/service_event_info__type_support.c | 19 + .../detail/service_event_info__type_support.h | 36 + .../rosidl_generator_c__visibility_control.h | 42 + ...port_introspection_c__visibility_control.h | 43 + .../service_msgs/msg/service_event_info.h | 12 + .../mesh__rosidl_typesupport_microxrcedds_c.h | 39 + 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...gger__rosidl_typesupport_introspection_c.h | 58 + .../std_srvs/srv/detail/trigger__struct.h | 104 + .../srv/detail/trigger__type_support.c | 547 ++ .../srv/detail/trigger__type_support.h | 100 + .../include/std_srvs/std_srvs/srv/empty.h | 12 + .../include/std_srvs/std_srvs/srv/set_bool.h | 12 + .../include/std_srvs/std_srvs/srv/trigger.h | 12 + ...image__rosidl_typesupport_microxrcedds_c.h | 39 + ...pport_microxrcedds_c__visibility_control.h | 43 + .../msg/detail/disparity_image__description.c | 269 + .../msg/detail/disparity_image__functions.c | 333 ++ .../msg/detail/disparity_image__functions.h | 210 + ...mage__rosidl_typesupport_introspection_c.h | 26 + .../msg/detail/disparity_image__struct.h | 77 + .../detail/disparity_image__type_support.c | 19 + .../detail/disparity_image__type_support.h | 36 + .../stereo_msgs/msg/disparity_image.h | 12 + .../rosidl_generator_c__visibility_control.h | 42 + ...port_introspection_c__visibility_control.h | 43 + ...nacci__rosidl_typesupport_microxrcedds_c.h | 411 ++ ...ssage__rosidl_typesupport_microxrcedds_c.h | 411 ++ ...rrays__rosidl_typesupport_microxrcedds_c.h | 39 + ...types__rosidl_typesupport_microxrcedds_c.h | 39 + ...ences__rosidl_typesupport_microxrcedds_c.h | 39 + ...ences__rosidl_typesupport_microxrcedds_c.h | 39 + ...ltins__rosidl_typesupport_microxrcedds_c.h | 39 + ...tants__rosidl_typesupport_microxrcedds_c.h | 39 + ...aults__rosidl_typesupport_microxrcedds_c.h | 39 + ...empty__rosidl_typesupport_microxrcedds_c.h | 39 + ...ested__rosidl_typesupport_microxrcedds_c.h | 39 + ...ested__rosidl_typesupport_microxrcedds_c.h | 39 + ...rings__rosidl_typesupport_microxrcedds_c.h | 39 + ...ences__rosidl_typesupport_microxrcedds_c.h | 39 + ...rings__rosidl_typesupport_microxrcedds_c.h | 39 + ...pport_microxrcedds_c__visibility_control.h | 43 + ...rrays__rosidl_typesupport_microxrcedds_c.h | 132 + ...types__rosidl_typesupport_microxrcedds_c.h | 132 + ...empty__rosidl_typesupport_microxrcedds_c.h | 132 + .../action/detail/fibonacci__description.c | 1593 ++++++ .../action/detail/fibonacci__functions.c | 2545 ++++++++++ .../action/detail/fibonacci__functions.h | 1866 +++++++ ...acci__rosidl_typesupport_introspection_c.h | 146 + .../action/detail/fibonacci__struct.h | 283 ++ .../action/detail/fibonacci__type_support.c | 1685 +++++++ .../action/detail/fibonacci__type_support.h | 242 + .../detail/nested_message__description.c | 1971 ++++++++ .../action/detail/nested_message__functions.c | 2692 ++++++++++ .../action/detail/nested_message__functions.h | 1866 +++++++ ...sage__rosidl_typesupport_introspection_c.h | 146 + .../action/detail/nested_message__struct.h | 311 ++ .../detail/nested_message__type_support.c | 1748 +++++++ .../detail/nested_message__type_support.h | 242 + .../test_msgs/test_msgs/action/fibonacci.h | 12 + .../test_msgs/action/nested_message.h | 12 + .../test_msgs/test_msgs/message_fixtures.hpp | 583 +++ .../include/test_msgs/test_msgs/msg/arrays.h | 12 + .../test_msgs/test_msgs/msg/basic_types.h | 12 + .../test_msgs/msg/bounded_plain_sequences.h | 12 + .../test_msgs/msg/bounded_sequences.h | 12 + .../test_msgs/test_msgs/msg/builtins.h | 12 + .../test_msgs/test_msgs/msg/constants.h | 12 + .../test_msgs/test_msgs/msg/defaults.h | 12 + .../msg/detail/arrays__description.c | 537 ++ .../test_msgs/msg/detail/arrays__functions.c | 757 +++ .../test_msgs/msg/detail/arrays__functions.h | 210 + ...rays__rosidl_typesupport_introspection_c.h | 26 + .../test_msgs/msg/detail/arrays__struct.h | 88 + .../msg/detail/arrays__type_support.c | 2064 ++++++++ .../msg/detail/arrays__type_support.h | 36 + .../msg/detail/basic_types__description.c | 245 + .../msg/detail/basic_types__functions.c | 332 ++ .../msg/detail/basic_types__functions.h | 210 + ...ypes__rosidl_typesupport_introspection_c.h | 26 + .../msg/detail/basic_types__struct.h | 54 + .../msg/detail/basic_types__type_support.c | 304 ++ .../msg/detail/basic_types__type_support.h | 36 + .../bounded_plain_sequences__description.c | 512 ++ .../bounded_plain_sequences__functions.c | 913 ++++ .../bounded_plain_sequences__functions.h | 210 + ...nces__rosidl_typesupport_introspection_c.h | 26 + .../detail/bounded_plain_sequences__struct.h | 257 + .../bounded_plain_sequences__type_support.c | 2252 +++++++++ .../bounded_plain_sequences__type_support.h | 36 + .../detail/bounded_sequences__description.c | 537 ++ .../msg/detail/bounded_sequences__functions.c | 982 ++++ .../msg/detail/bounded_sequences__functions.h | 210 + ...nces__rosidl_typesupport_introspection_c.h | 26 + .../msg/detail/bounded_sequences__struct.h | 272 + .../detail/bounded_sequences__type_support.c | 2401 +++++++++ .../detail/bounded_sequences__type_support.h | 36 + .../msg/detail/builtins__description.c | 146 + .../msg/detail/builtins__functions.c | 272 + .../msg/detail/builtins__functions.h | 210 + ...tins__rosidl_typesupport_introspection_c.h | 26 + .../test_msgs/msg/detail/builtins__struct.h | 49 + .../msg/detail/builtins__type_support.c | 120 + .../msg/detail/builtins__type_support.h | 36 + .../msg/detail/constants__description.c | 113 + .../msg/detail/constants__functions.c | 236 + .../msg/detail/constants__functions.h | 210 + ...ants__rosidl_typesupport_introspection_c.h | 26 + .../test_msgs/msg/detail/constants__struct.h | 111 + .../msg/detail/constants__type_support.c | 88 + .../msg/detail/constants__type_support.h | 36 + .../msg/detail/defaults__description.c | 258 + .../msg/detail/defaults__functions.c | 345 ++ .../msg/detail/defaults__functions.h | 210 + ...ults__rosidl_typesupport_introspection_c.h | 26 + .../test_msgs/msg/detail/defaults__struct.h | 54 + .../msg/detail/defaults__type_support.c | 304 ++ .../msg/detail/defaults__type_support.h | 36 + .../test_msgs/msg/detail/empty__description.c | 99 + .../test_msgs/msg/detail/empty__functions.c | 236 + .../test_msgs/msg/detail/empty__functions.h | 210 + ...mpty__rosidl_typesupport_introspection_c.h | 26 + .../test_msgs/msg/detail/empty__struct.h | 42 + .../msg/detail/empty__type_support.c | 88 + .../msg/detail/empty__type_support.h | 36 + .../msg/detail/multi_nested__description.c | 291 ++ .../msg/detail/multi_nested__functions.c | 437 ++ .../msg/detail/multi_nested__functions.h | 210 + ...sted__rosidl_typesupport_introspection_c.h | 26 + .../msg/detail/multi_nested__struct.h | 84 + .../msg/detail/multi_nested__type_support.c | 741 +++ .../msg/detail/multi_nested__type_support.h | 36 + .../msg/detail/nested__description.c | 119 + .../test_msgs/msg/detail/nested__functions.c | 251 + .../test_msgs/msg/detail/nested__functions.h | 210 + ...sted__rosidl_typesupport_introspection_c.h | 26 + .../test_msgs/msg/detail/nested__struct.h | 46 + .../msg/detail/nested__type_support.c | 96 + .../msg/detail/nested__type_support.h | 36 + .../msg/detail/strings__description.c | 244 + .../test_msgs/msg/detail/strings__functions.c | 551 ++ .../test_msgs/msg/detail/strings__functions.h | 210 + ...ings__rosidl_typesupport_introspection_c.h | 26 + .../test_msgs/msg/detail/strings__struct.h | 103 + .../msg/detail/strings__type_support.c | 301 ++ .../msg/detail/strings__type_support.h | 36 + .../detail/unbounded_sequences__description.c | 537 ++ .../detail/unbounded_sequences__functions.c | 982 ++++ .../detail/unbounded_sequences__functions.h | 210 + ...nces__rosidl_typesupport_introspection_c.h | 26 + .../msg/detail/unbounded_sequences__struct.h | 115 + .../unbounded_sequences__type_support.c | 2401 +++++++++ .../unbounded_sequences__type_support.h | 36 + .../msg/detail/w_strings__description.c | 179 + .../msg/detail/w_strings__functions.c | 404 ++ .../msg/detail/w_strings__functions.h | 210 + ...ings__rosidl_typesupport_introspection_c.h | 26 + .../test_msgs/msg/detail/w_strings__struct.h | 68 + .../msg/detail/w_strings__type_support.c | 361 ++ .../msg/detail/w_strings__type_support.h | 36 + .../include/test_msgs/test_msgs/msg/empty.h | 12 + .../test_msgs/test_msgs/msg/multi_nested.h | 12 + .../include/test_msgs/test_msgs/msg/nested.h | 12 + .../rosidl_generator_c__visibility_control.h | 42 + ...port_introspection_c__visibility_control.h | 43 + .../include/test_msgs/test_msgs/msg/strings.h | 12 + .../test_msgs/msg/unbounded_sequences.h | 12 + .../test_msgs/test_msgs/msg/w_strings.h | 12 + .../test_msgs/test_msgs/service_fixtures.hpp | 220 + .../include/test_msgs/test_msgs/srv/arrays.h | 12 + .../test_msgs/test_msgs/srv/basic_types.h | 12 + .../srv/detail/arrays__description.c | 1324 +++++ .../test_msgs/srv/detail/arrays__functions.c | 1772 +++++++ .../test_msgs/srv/detail/arrays__functions.h | 585 +++ ...rays__rosidl_typesupport_introspection_c.h | 58 + .../test_msgs/srv/detail/arrays__struct.h | 183 + .../srv/detail/arrays__type_support.c | 4448 +++++++++++++++++ .../srv/detail/arrays__type_support.h | 100 + .../srv/detail/basic_types__description.c | 774 +++ .../srv/detail/basic_types__functions.c | 981 ++++ .../srv/detail/basic_types__functions.h | 585 +++ ...ypes__rosidl_typesupport_introspection_c.h | 58 + .../srv/detail/basic_types__struct.h | 132 + .../srv/detail/basic_types__type_support.c | 1002 ++++ .../srv/detail/basic_types__type_support.h | 100 + .../test_msgs/srv/detail/empty__description.c | 460 ++ .../test_msgs/srv/detail/empty__functions.c | 742 +++ .../test_msgs/srv/detail/empty__functions.h | 585 +++ ...mpty__rosidl_typesupport_introspection_c.h | 58 + .../test_msgs/srv/detail/empty__struct.h | 97 + .../srv/detail/empty__type_support.c | 525 ++ .../srv/detail/empty__type_support.h | 100 + .../include/test_msgs/test_msgs/srv/empty.h | 12 + .../tracetools/tracetools/tracetools.h | 126 +- ...ctory__rosidl_typesupport_microxrcedds_c.h | 39 + ...point__rosidl_typesupport_microxrcedds_c.h | 39 + ...ctory__rosidl_typesupport_microxrcedds_c.h | 39 + ...point__rosidl_typesupport_microxrcedds_c.h | 39 + ...pport_microxrcedds_c__visibility_control.h | 43 + .../detail/joint_trajectory__description.c | 196 + .../msg/detail/joint_trajectory__functions.c | 293 ++ .../msg/detail/joint_trajectory__functions.h | 210 + ...tory__rosidl_typesupport_introspection_c.h | 26 + .../msg/detail/joint_trajectory__struct.h | 60 + .../detail/joint_trajectory__type_support.c | 250 + .../detail/joint_trajectory__type_support.h | 36 + .../joint_trajectory_point__description.c | 188 + .../joint_trajectory_point__functions.c | 332 ++ .../joint_trajectory_point__functions.h | 210 + ...oint__rosidl_typesupport_introspection_c.h | 26 + .../detail/joint_trajectory_point__struct.h | 73 + .../joint_trajectory_point__type_support.c | 393 ++ .../joint_trajectory_point__type_support.h | 36 + .../multi_dof_joint_trajectory__description.c | 255 + .../multi_dof_joint_trajectory__functions.c | 293 ++ .../multi_dof_joint_trajectory__functions.h | 210 + ...tory__rosidl_typesupport_introspection_c.h | 26 + .../multi_dof_joint_trajectory__struct.h | 59 + ...multi_dof_joint_trajectory__type_support.c | 250 + ...multi_dof_joint_trajectory__type_support.h | 36 + ..._dof_joint_trajectory_point__description.c | 222 + ...ti_dof_joint_trajectory_point__functions.c | 313 ++ ...ti_dof_joint_trajectory_point__functions.h | 210 + ...oint__rosidl_typesupport_introspection_c.h | 26 + ...multi_dof_joint_trajectory_point__struct.h | 60 + ...dof_joint_trajectory_point__type_support.c | 331 ++ ...dof_joint_trajectory_point__type_support.h | 36 + .../trajectory_msgs/msg/joint_trajectory.h | 12 + .../msg/joint_trajectory_point.h | 12 + .../msg/multi_dof_joint_trajectory.h | 12 + .../msg/multi_dof_joint_trajectory_point.h | 12 + .../rosidl_generator_c__visibility_control.h | 42 + ...port_introspection_c__visibility_control.h | 43 + ...field__rosidl_typesupport_microxrcedds_c.h | 39 + ..._type__rosidl_typesupport_microxrcedds_c.h | 39 + ...ption__rosidl_typesupport_microxrcedds_c.h | 39 + ...value__rosidl_typesupport_microxrcedds_c.h | 39 + ...ption__rosidl_typesupport_microxrcedds_c.h | 39 + ...ource__rosidl_typesupport_microxrcedds_c.h | 39 + ...pport_microxrcedds_c__visibility_control.h | 43 + ...ption__rosidl_typesupport_microxrcedds_c.h | 132 + .../msg/detail/field__description.c | 149 + .../msg/detail/field__functions.c | 292 ++ .../msg/detail/field__functions.h | 210 + ...ield__rosidl_typesupport_introspection_c.h | 26 + .../msg/detail/field__struct.h | 58 + .../msg/detail/field__type_support.c | 135 + .../msg/detail/field__type_support.h | 36 + .../msg/detail/field_type__description.c | 290 ++ .../msg/detail/field_type__functions.c | 276 + .../msg/detail/field_type__functions.h | 210 + ...type__rosidl_typesupport_introspection_c.h | 26 + .../msg/detail/field_type__struct.h | 662 +++ .../msg/detail/field_type__type_support.c | 146 + .../msg/detail/field_type__type_support.h | 36 + ...individual_type_description__description.c | 155 + .../individual_type_description__functions.c | 272 + .../individual_type_description__functions.h | 210 + ...tion__rosidl_typesupport_introspection_c.h | 26 + .../individual_type_description__struct.h | 66 + ...ndividual_type_description__type_support.c | 171 + ...ndividual_type_description__type_support.h | 36 + .../msg/detail/key_value__description.c | 115 + .../msg/detail/key_value__functions.c | 271 + .../msg/detail/key_value__functions.h | 210 + ...alue__rosidl_typesupport_introspection_c.h | 26 + .../msg/detail/key_value__struct.h | 51 + .../msg/detail/key_value__type_support.c | 111 + .../msg/detail/key_value__type_support.h | 36 + .../detail/type_description__description.c | 165 + .../msg/detail/type_description__functions.c | 271 + .../msg/detail/type_description__functions.h | 210 + ...tion__rosidl_typesupport_introspection_c.h | 26 + .../msg/detail/type_description__struct.h | 53 + .../detail/type_description__type_support.c | 173 + .../detail/type_description__type_support.h | 36 + .../msg/detail/type_source__description.c | 138 + .../msg/detail/type_source__functions.c | 291 ++ .../msg/detail/type_source__functions.h | 210 + ...urce__rosidl_typesupport_introspection_c.h | 26 + .../msg/detail/type_source__struct.h | 62 + .../msg/detail/type_source__type_support.c | 130 + .../msg/detail/type_source__type_support.h | 36 + .../type_description_interfaces/msg/field.h | 12 + .../msg/field_type.h | 12 + .../msg/individual_type_description.h | 12 + .../msg/key_value.h | 12 + .../rosidl_generator_c__visibility_control.h | 42 + ...port_introspection_c__visibility_control.h | 43 + .../msg/type_description.h | 12 + .../msg/type_source.h | 12 + .../get_type_description__description.c | 732 +++ .../detail/get_type_description__functions.c | 873 ++++ .../detail/get_type_description__functions.h | 585 +++ ...tion__rosidl_typesupport_introspection_c.h | 58 + .../srv/detail/get_type_description__struct.h | 131 + .../get_type_description__type_support.c | 771 +++ .../get_type_description__type_support.h | 100 + .../srv/get_type_description.h | 12 + .../uuid__rosidl_typesupport_microxrcedds_c.h | 39 + ...pport_microxrcedds_c__visibility_control.h | 43 + .../msg/detail/uuid__description.c | 106 + .../msg/detail/uuid__functions.c | 240 + .../msg/detail/uuid__functions.h | 210 + ...uuid__rosidl_typesupport_introspection_c.h | 26 + .../msg/detail/uuid__struct.h | 48 + .../msg/detail/uuid__type_support.c | 19 + .../msg/detail/uuid__type_support.h | 36 + .../rosidl_generator_c__visibility_control.h | 42 + ...port_introspection_c__visibility_control.h | 43 + .../unique_identifier_msgs/msg/uuid.h | 12 + ...arker__rosidl_typesupport_microxrcedds_c.h | 39 + ...arker__rosidl_typesupport_microxrcedds_c.h | 39 + ...ntrol__rosidl_typesupport_microxrcedds_c.h | 39 + ...dback__rosidl_typesupport_microxrcedds_c.h | 39 + ..._init__rosidl_typesupport_microxrcedds_c.h | 39 + ..._pose__rosidl_typesupport_microxrcedds_c.h | 39 + ...pdate__rosidl_typesupport_microxrcedds_c.h | 39 + ...arker__rosidl_typesupport_microxrcedds_c.h | 39 + ...array__rosidl_typesupport_microxrcedds_c.h | 39 + ...entry__rosidl_typesupport_microxrcedds_c.h | 39 + ..._file__rosidl_typesupport_microxrcedds_c.h | 39 + ...inate__rosidl_typesupport_microxrcedds_c.h | 39 + ...pport_microxrcedds_c__visibility_control.h | 43 + ...rkers__rosidl_typesupport_microxrcedds_c.h | 132 + .../msg/detail/image_marker__description.c | 346 ++ .../msg/detail/image_marker__functions.c | 435 ++ .../msg/detail/image_marker__functions.h | 210 + ...rker__rosidl_typesupport_introspection_c.h | 26 + .../msg/detail/image_marker__struct.h | 124 + .../msg/detail/image_marker__type_support.c | 454 ++ .../msg/detail/image_marker__type_support.h | 36 + .../detail/interactive_marker__description.c | 405 ++ .../detail/interactive_marker__functions.c | 363 ++ .../detail/interactive_marker__functions.h | 210 + ...rker__rosidl_typesupport_introspection_c.h | 26 + .../msg/detail/interactive_marker__struct.h | 76 + .../detail/interactive_marker__type_support.c | 335 ++ .../detail/interactive_marker__type_support.h | 36 + .../interactive_marker_control__description.c | 437 ++ .../interactive_marker_control__functions.c | 345 ++ .../interactive_marker_control__functions.h | 210 + ...trol__rosidl_typesupport_introspection_c.h | 26 + .../interactive_marker_control__struct.h | 184 + ...interactive_marker_control__type_support.c | 286 ++ ...interactive_marker_control__type_support.h | 36 + ...interactive_marker_feedback__description.c | 308 ++ .../interactive_marker_feedback__functions.c | 378 ++ .../interactive_marker_feedback__functions.h | 210 + ...back__rosidl_typesupport_introspection_c.h | 26 + .../interactive_marker_feedback__struct.h | 120 + ...nteractive_marker_feedback__type_support.c | 256 + ...nteractive_marker_feedback__type_support.h | 36 + .../interactive_marker_init__description.c | 364 ++ .../interactive_marker_init__functions.c | 280 ++ .../interactive_marker_init__functions.h | 210 + ...init__rosidl_typesupport_introspection_c.h | 26 + .../detail/interactive_marker_init__struct.h | 61 + .../interactive_marker_init__type_support.c | 189 + .../interactive_marker_init__type_support.h | 36 + .../interactive_marker_pose__description.c | 210 + .../interactive_marker_pose__functions.c | 293 ++ .../interactive_marker_pose__functions.h | 210 + ...pose__rosidl_typesupport_introspection_c.h | 26 + .../detail/interactive_marker_pose__struct.h | 56 + .../interactive_marker_pose__type_support.c | 140 + .../interactive_marker_pose__type_support.h | 36 + .../interactive_marker_update__description.c | 430 ++ .../interactive_marker_update__functions.c | 329 ++ .../interactive_marker_update__functions.h | 210 + ...date__rosidl_typesupport_introspection_c.h | 26 + .../interactive_marker_update__struct.h | 86 + .../interactive_marker_update__type_support.c | 360 ++ .../interactive_marker_update__type_support.h | 36 + .../msg/detail/marker__description.c | 547 ++ .../msg/detail/marker__functions.c | 560 +++ .../msg/detail/marker__functions.h | 210 + ...rker__rosidl_typesupport_introspection_c.h | 26 + .../msg/detail/marker__struct.h | 228 + .../msg/detail/marker__type_support.c | 642 +++ .../msg/detail/marker__type_support.h | 36 + .../msg/detail/marker_array__description.c | 284 ++ .../msg/detail/marker_array__functions.c | 251 + .../msg/detail/marker_array__functions.h | 210 + ...rray__rosidl_typesupport_introspection_c.h | 26 + .../msg/detail/marker_array__struct.h | 46 + .../msg/detail/marker_array__type_support.c | 151 + .../msg/detail/marker_array__type_support.h | 36 + .../msg/detail/menu_entry__description.c | 198 + .../msg/detail/menu_entry__functions.c | 295 ++ .../msg/detail/menu_entry__functions.h | 210 + ...ntry__rosidl_typesupport_introspection_c.h | 26 + .../msg/detail/menu_entry__struct.h | 114 + .../msg/detail/menu_entry__type_support.c | 165 + .../msg/detail/menu_entry__type_support.h | 36 + .../msg/detail/mesh_file__description.c | 119 + .../msg/detail/mesh_file__functions.c | 272 + .../msg/detail/mesh_file__functions.h | 210 + ...file__rosidl_typesupport_introspection_c.h | 26 + .../msg/detail/mesh_file__struct.h | 55 + .../msg/detail/mesh_file__type_support.c | 167 + .../msg/detail/mesh_file__type_support.h | 36 + .../msg/detail/uv_coordinate__description.c | 115 + .../msg/detail/uv_coordinate__functions.c | 244 + .../msg/detail/uv_coordinate__functions.h | 210 + ...nate__rosidl_typesupport_introspection_c.h | 26 + .../msg/detail/uv_coordinate__struct.h | 47 + .../msg/detail/uv_coordinate__type_support.c | 106 + .../msg/detail/uv_coordinate__type_support.h | 36 + .../visualization_msgs/msg/image_marker.h | 12 + .../msg/interactive_marker.h | 12 + .../msg/interactive_marker_control.h | 12 + .../msg/interactive_marker_feedback.h | 12 + .../msg/interactive_marker_init.h | 12 + .../msg/interactive_marker_pose.h | 12 + .../msg/interactive_marker_update.h | 12 + .../visualization_msgs/msg/marker.h | 12 + .../visualization_msgs/msg/marker_array.h | 12 + .../visualization_msgs/msg/menu_entry.h | 12 + .../visualization_msgs/msg/mesh_file.h | 12 + .../rosidl_generator_c__visibility_control.h | 42 + ...port_introspection_c__visibility_control.h | 43 + .../visualization_msgs/msg/uv_coordinate.h | 12 + .../get_interactive_markers__description.c | 895 ++++ .../get_interactive_markers__functions.c | 765 +++ .../get_interactive_markers__functions.h | 585 +++ ...kers__rosidl_typesupport_introspection_c.h | 58 + .../detail/get_interactive_markers__struct.h | 103 + .../get_interactive_markers__type_support.c | 606 +++ .../get_interactive_markers__type_support.h | 100 + .../srv/get_interactive_markers.h | 12 + 2398 files changed, 387344 insertions(+), 139 deletions(-) create mode 100644 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ports/espressif/microros-ext/include/unique_identifier_msgs/msg/detail/uuid__rosidl_typesupport_microxrcedds_c.h create mode 100644 ports/espressif/microros-ext/include/unique_identifier_msgs/msg/rosidl_typesupport_microxrcedds_c__visibility_control.h create mode 100644 ports/espressif/microros-ext/include/unique_identifier_msgs/unique_identifier_msgs/msg/detail/uuid__description.c create mode 100644 ports/espressif/microros-ext/include/unique_identifier_msgs/unique_identifier_msgs/msg/detail/uuid__functions.c create mode 100644 ports/espressif/microros-ext/include/unique_identifier_msgs/unique_identifier_msgs/msg/detail/uuid__functions.h create mode 100644 ports/espressif/microros-ext/include/unique_identifier_msgs/unique_identifier_msgs/msg/detail/uuid__rosidl_typesupport_introspection_c.h create mode 100644 ports/espressif/microros-ext/include/unique_identifier_msgs/unique_identifier_msgs/msg/detail/uuid__struct.h create mode 100644 ports/espressif/microros-ext/include/unique_identifier_msgs/unique_identifier_msgs/msg/detail/uuid__type_support.c create mode 100644 ports/espressif/microros-ext/include/unique_identifier_msgs/unique_identifier_msgs/msg/detail/uuid__type_support.h create mode 100644 ports/espressif/microros-ext/include/unique_identifier_msgs/unique_identifier_msgs/msg/rosidl_generator_c__visibility_control.h create mode 100644 ports/espressif/microros-ext/include/unique_identifier_msgs/unique_identifier_msgs/msg/rosidl_typesupport_introspection_c__visibility_control.h create mode 100644 ports/espressif/microros-ext/include/unique_identifier_msgs/unique_identifier_msgs/msg/uuid.h create mode 100644 ports/espressif/microros-ext/include/visualization_msgs/msg/detail/image_marker__rosidl_typesupport_microxrcedds_c.h create mode 100644 ports/espressif/microros-ext/include/visualization_msgs/msg/detail/interactive_marker__rosidl_typesupport_microxrcedds_c.h create mode 100644 ports/espressif/microros-ext/include/visualization_msgs/msg/detail/interactive_marker_control__rosidl_typesupport_microxrcedds_c.h create mode 100644 ports/espressif/microros-ext/include/visualization_msgs/msg/detail/interactive_marker_feedback__rosidl_typesupport_microxrcedds_c.h create mode 100644 ports/espressif/microros-ext/include/visualization_msgs/msg/detail/interactive_marker_init__rosidl_typesupport_microxrcedds_c.h create mode 100644 ports/espressif/microros-ext/include/visualization_msgs/msg/detail/interactive_marker_pose__rosidl_typesupport_microxrcedds_c.h create mode 100644 ports/espressif/microros-ext/include/visualization_msgs/msg/detail/interactive_marker_update__rosidl_typesupport_microxrcedds_c.h create mode 100644 ports/espressif/microros-ext/include/visualization_msgs/msg/detail/marker__rosidl_typesupport_microxrcedds_c.h create mode 100644 ports/espressif/microros-ext/include/visualization_msgs/msg/detail/marker_array__rosidl_typesupport_microxrcedds_c.h create mode 100644 ports/espressif/microros-ext/include/visualization_msgs/msg/detail/menu_entry__rosidl_typesupport_microxrcedds_c.h create mode 100644 ports/espressif/microros-ext/include/visualization_msgs/msg/detail/mesh_file__rosidl_typesupport_microxrcedds_c.h create mode 100644 ports/espressif/microros-ext/include/visualization_msgs/msg/detail/uv_coordinate__rosidl_typesupport_microxrcedds_c.h create mode 100644 ports/espressif/microros-ext/include/visualization_msgs/msg/rosidl_typesupport_microxrcedds_c__visibility_control.h create mode 100644 ports/espressif/microros-ext/include/visualization_msgs/srv/detail/get_interactive_markers__rosidl_typesupport_microxrcedds_c.h create mode 100644 ports/espressif/microros-ext/include/visualization_msgs/visualization_msgs/msg/detail/image_marker__description.c create mode 100644 ports/espressif/microros-ext/include/visualization_msgs/visualization_msgs/msg/detail/image_marker__functions.c create mode 100644 ports/espressif/microros-ext/include/visualization_msgs/visualization_msgs/msg/detail/image_marker__functions.h create mode 100644 ports/espressif/microros-ext/include/visualization_msgs/visualization_msgs/msg/detail/image_marker__rosidl_typesupport_introspection_c.h create mode 100644 ports/espressif/microros-ext/include/visualization_msgs/visualization_msgs/msg/detail/image_marker__struct.h create mode 100644 ports/espressif/microros-ext/include/visualization_msgs/visualization_msgs/msg/detail/image_marker__type_support.c create mode 100644 ports/espressif/microros-ext/include/visualization_msgs/visualization_msgs/msg/detail/image_marker__type_support.h create mode 100644 ports/espressif/microros-ext/include/visualization_msgs/visualization_msgs/msg/detail/interactive_marker__description.c create mode 100644 ports/espressif/microros-ext/include/visualization_msgs/visualization_msgs/msg/detail/interactive_marker__functions.c create mode 100644 ports/espressif/microros-ext/include/visualization_msgs/visualization_msgs/msg/detail/interactive_marker__functions.h create mode 100644 ports/espressif/microros-ext/include/visualization_msgs/visualization_msgs/msg/detail/interactive_marker__rosidl_typesupport_introspection_c.h create mode 100644 ports/espressif/microros-ext/include/visualization_msgs/visualization_msgs/msg/detail/interactive_marker__struct.h create mode 100644 ports/espressif/microros-ext/include/visualization_msgs/visualization_msgs/msg/detail/interactive_marker__type_support.c create mode 100644 ports/espressif/microros-ext/include/visualization_msgs/visualization_msgs/msg/detail/interactive_marker__type_support.h create mode 100644 ports/espressif/microros-ext/include/visualization_msgs/visualization_msgs/msg/detail/interactive_marker_control__description.c create mode 100644 ports/espressif/microros-ext/include/visualization_msgs/visualization_msgs/msg/detail/interactive_marker_control__functions.c create mode 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ports/espressif/microros-ext/include/visualization_msgs/visualization_msgs/msg/detail/interactive_marker_feedback__functions.c create mode 100644 ports/espressif/microros-ext/include/visualization_msgs/visualization_msgs/msg/detail/interactive_marker_feedback__functions.h create mode 100644 ports/espressif/microros-ext/include/visualization_msgs/visualization_msgs/msg/detail/interactive_marker_feedback__rosidl_typesupport_introspection_c.h create mode 100644 ports/espressif/microros-ext/include/visualization_msgs/visualization_msgs/msg/detail/interactive_marker_feedback__struct.h create mode 100644 ports/espressif/microros-ext/include/visualization_msgs/visualization_msgs/msg/detail/interactive_marker_feedback__type_support.c create mode 100644 ports/espressif/microros-ext/include/visualization_msgs/visualization_msgs/msg/detail/interactive_marker_feedback__type_support.h create mode 100644 ports/espressif/microros-ext/include/visualization_msgs/visualization_msgs/msg/detail/interactive_marker_init__description.c create mode 100644 ports/espressif/microros-ext/include/visualization_msgs/visualization_msgs/msg/detail/interactive_marker_init__functions.c create mode 100644 ports/espressif/microros-ext/include/visualization_msgs/visualization_msgs/msg/detail/interactive_marker_init__functions.h create mode 100644 ports/espressif/microros-ext/include/visualization_msgs/visualization_msgs/msg/detail/interactive_marker_init__rosidl_typesupport_introspection_c.h create mode 100644 ports/espressif/microros-ext/include/visualization_msgs/visualization_msgs/msg/detail/interactive_marker_init__struct.h create mode 100644 ports/espressif/microros-ext/include/visualization_msgs/visualization_msgs/msg/detail/interactive_marker_init__type_support.c create mode 100644 ports/espressif/microros-ext/include/visualization_msgs/visualization_msgs/msg/detail/interactive_marker_init__type_support.h create mode 100644 ports/espressif/microros-ext/include/visualization_msgs/visualization_msgs/msg/detail/interactive_marker_pose__description.c create mode 100644 ports/espressif/microros-ext/include/visualization_msgs/visualization_msgs/msg/detail/interactive_marker_pose__functions.c create mode 100644 ports/espressif/microros-ext/include/visualization_msgs/visualization_msgs/msg/detail/interactive_marker_pose__functions.h create mode 100644 ports/espressif/microros-ext/include/visualization_msgs/visualization_msgs/msg/detail/interactive_marker_pose__rosidl_typesupport_introspection_c.h create mode 100644 ports/espressif/microros-ext/include/visualization_msgs/visualization_msgs/msg/detail/interactive_marker_pose__struct.h create mode 100644 ports/espressif/microros-ext/include/visualization_msgs/visualization_msgs/msg/detail/interactive_marker_pose__type_support.c create mode 100644 ports/espressif/microros-ext/include/visualization_msgs/visualization_msgs/msg/detail/interactive_marker_pose__type_support.h create mode 100644 ports/espressif/microros-ext/include/visualization_msgs/visualization_msgs/msg/detail/interactive_marker_update__description.c create mode 100644 ports/espressif/microros-ext/include/visualization_msgs/visualization_msgs/msg/detail/interactive_marker_update__functions.c create mode 100644 ports/espressif/microros-ext/include/visualization_msgs/visualization_msgs/msg/detail/interactive_marker_update__functions.h create mode 100644 ports/espressif/microros-ext/include/visualization_msgs/visualization_msgs/msg/detail/interactive_marker_update__rosidl_typesupport_introspection_c.h create mode 100644 ports/espressif/microros-ext/include/visualization_msgs/visualization_msgs/msg/detail/interactive_marker_update__struct.h create mode 100644 ports/espressif/microros-ext/include/visualization_msgs/visualization_msgs/msg/detail/interactive_marker_update__type_support.c create mode 100644 ports/espressif/microros-ext/include/visualization_msgs/visualization_msgs/msg/detail/interactive_marker_update__type_support.h create mode 100644 ports/espressif/microros-ext/include/visualization_msgs/visualization_msgs/msg/detail/marker__description.c create mode 100644 ports/espressif/microros-ext/include/visualization_msgs/visualization_msgs/msg/detail/marker__functions.c create mode 100644 ports/espressif/microros-ext/include/visualization_msgs/visualization_msgs/msg/detail/marker__functions.h create mode 100644 ports/espressif/microros-ext/include/visualization_msgs/visualization_msgs/msg/detail/marker__rosidl_typesupport_introspection_c.h create mode 100644 ports/espressif/microros-ext/include/visualization_msgs/visualization_msgs/msg/detail/marker__struct.h create mode 100644 ports/espressif/microros-ext/include/visualization_msgs/visualization_msgs/msg/detail/marker__type_support.c create mode 100644 ports/espressif/microros-ext/include/visualization_msgs/visualization_msgs/msg/detail/marker__type_support.h create mode 100644 ports/espressif/microros-ext/include/visualization_msgs/visualization_msgs/msg/detail/marker_array__description.c create mode 100644 ports/espressif/microros-ext/include/visualization_msgs/visualization_msgs/msg/detail/marker_array__functions.c create mode 100644 ports/espressif/microros-ext/include/visualization_msgs/visualization_msgs/msg/detail/marker_array__functions.h create mode 100644 ports/espressif/microros-ext/include/visualization_msgs/visualization_msgs/msg/detail/marker_array__rosidl_typesupport_introspection_c.h create mode 100644 ports/espressif/microros-ext/include/visualization_msgs/visualization_msgs/msg/detail/marker_array__struct.h create mode 100644 ports/espressif/microros-ext/include/visualization_msgs/visualization_msgs/msg/detail/marker_array__type_support.c create mode 100644 ports/espressif/microros-ext/include/visualization_msgs/visualization_msgs/msg/detail/marker_array__type_support.h create mode 100644 ports/espressif/microros-ext/include/visualization_msgs/visualization_msgs/msg/detail/menu_entry__description.c create mode 100644 ports/espressif/microros-ext/include/visualization_msgs/visualization_msgs/msg/detail/menu_entry__functions.c create mode 100644 ports/espressif/microros-ext/include/visualization_msgs/visualization_msgs/msg/detail/menu_entry__functions.h create mode 100644 ports/espressif/microros-ext/include/visualization_msgs/visualization_msgs/msg/detail/menu_entry__rosidl_typesupport_introspection_c.h create mode 100644 ports/espressif/microros-ext/include/visualization_msgs/visualization_msgs/msg/detail/menu_entry__struct.h create mode 100644 ports/espressif/microros-ext/include/visualization_msgs/visualization_msgs/msg/detail/menu_entry__type_support.c create mode 100644 ports/espressif/microros-ext/include/visualization_msgs/visualization_msgs/msg/detail/menu_entry__type_support.h create mode 100644 ports/espressif/microros-ext/include/visualization_msgs/visualization_msgs/msg/detail/mesh_file__description.c create mode 100644 ports/espressif/microros-ext/include/visualization_msgs/visualization_msgs/msg/detail/mesh_file__functions.c create mode 100644 ports/espressif/microros-ext/include/visualization_msgs/visualization_msgs/msg/detail/mesh_file__functions.h create mode 100644 ports/espressif/microros-ext/include/visualization_msgs/visualization_msgs/msg/detail/mesh_file__rosidl_typesupport_introspection_c.h create mode 100644 ports/espressif/microros-ext/include/visualization_msgs/visualization_msgs/msg/detail/mesh_file__struct.h create mode 100644 ports/espressif/microros-ext/include/visualization_msgs/visualization_msgs/msg/detail/mesh_file__type_support.c create mode 100644 ports/espressif/microros-ext/include/visualization_msgs/visualization_msgs/msg/detail/mesh_file__type_support.h create mode 100644 ports/espressif/microros-ext/include/visualization_msgs/visualization_msgs/msg/detail/uv_coordinate__description.c create mode 100644 ports/espressif/microros-ext/include/visualization_msgs/visualization_msgs/msg/detail/uv_coordinate__functions.c create mode 100644 ports/espressif/microros-ext/include/visualization_msgs/visualization_msgs/msg/detail/uv_coordinate__functions.h create mode 100644 ports/espressif/microros-ext/include/visualization_msgs/visualization_msgs/msg/detail/uv_coordinate__rosidl_typesupport_introspection_c.h create mode 100644 ports/espressif/microros-ext/include/visualization_msgs/visualization_msgs/msg/detail/uv_coordinate__struct.h create mode 100644 ports/espressif/microros-ext/include/visualization_msgs/visualization_msgs/msg/detail/uv_coordinate__type_support.c create mode 100644 ports/espressif/microros-ext/include/visualization_msgs/visualization_msgs/msg/detail/uv_coordinate__type_support.h create mode 100644 ports/espressif/microros-ext/include/visualization_msgs/visualization_msgs/msg/image_marker.h create mode 100644 ports/espressif/microros-ext/include/visualization_msgs/visualization_msgs/msg/interactive_marker.h create mode 100644 ports/espressif/microros-ext/include/visualization_msgs/visualization_msgs/msg/interactive_marker_control.h create mode 100644 ports/espressif/microros-ext/include/visualization_msgs/visualization_msgs/msg/interactive_marker_feedback.h create mode 100644 ports/espressif/microros-ext/include/visualization_msgs/visualization_msgs/msg/interactive_marker_init.h create mode 100644 ports/espressif/microros-ext/include/visualization_msgs/visualization_msgs/msg/interactive_marker_pose.h create mode 100644 ports/espressif/microros-ext/include/visualization_msgs/visualization_msgs/msg/interactive_marker_update.h create mode 100644 ports/espressif/microros-ext/include/visualization_msgs/visualization_msgs/msg/marker.h create mode 100644 ports/espressif/microros-ext/include/visualization_msgs/visualization_msgs/msg/marker_array.h create mode 100644 ports/espressif/microros-ext/include/visualization_msgs/visualization_msgs/msg/menu_entry.h create mode 100644 ports/espressif/microros-ext/include/visualization_msgs/visualization_msgs/msg/mesh_file.h create mode 100644 ports/espressif/microros-ext/include/visualization_msgs/visualization_msgs/msg/rosidl_generator_c__visibility_control.h create mode 100644 ports/espressif/microros-ext/include/visualization_msgs/visualization_msgs/msg/rosidl_typesupport_introspection_c__visibility_control.h create mode 100644 ports/espressif/microros-ext/include/visualization_msgs/visualization_msgs/msg/uv_coordinate.h create mode 100644 ports/espressif/microros-ext/include/visualization_msgs/visualization_msgs/srv/detail/get_interactive_markers__description.c create mode 100644 ports/espressif/microros-ext/include/visualization_msgs/visualization_msgs/srv/detail/get_interactive_markers__functions.c create mode 100644 ports/espressif/microros-ext/include/visualization_msgs/visualization_msgs/srv/detail/get_interactive_markers__functions.h create mode 100644 ports/espressif/microros-ext/include/visualization_msgs/visualization_msgs/srv/detail/get_interactive_markers__rosidl_typesupport_introspection_c.h create mode 100644 ports/espressif/microros-ext/include/visualization_msgs/visualization_msgs/srv/detail/get_interactive_markers__struct.h create mode 100644 ports/espressif/microros-ext/include/visualization_msgs/visualization_msgs/srv/detail/get_interactive_markers__type_support.c create mode 100644 ports/espressif/microros-ext/include/visualization_msgs/visualization_msgs/srv/detail/get_interactive_markers__type_support.h create mode 100644 ports/espressif/microros-ext/include/visualization_msgs/visualization_msgs/srv/get_interactive_markers.h diff --git a/ports/espressif/Makefile b/ports/espressif/Makefile index 039d1078cd5c6..ee81b980a3f7e 100644 --- a/ports/espressif/Makefile +++ b/ports/espressif/Makefile @@ -424,6 +424,299 @@ endif ifneq ($(CIRCUITPY_MICROROS),0) CFLAGS += -isystem microros-ext/include +CFLAGS += -isystem microros-ext/include/rcl +CFLAGS += -isystem microros-ext/include/rcl/rcl +CFLAGS += -isystem microros-ext/include/statistics_msgs +CFLAGS += -isystem microros-ext/include/statistics_msgs/statistics_msgs +CFLAGS += -isystem microros-ext/include/statistics_msgs/statistics_msgs/msg +CFLAGS += -isystem microros-ext/include/statistics_msgs/statistics_msgs/msg/detail +CFLAGS += -isystem microros-ext/include/statistics_msgs/msg +CFLAGS += -isystem microros-ext/include/statistics_msgs/msg/detail +CFLAGS += -isystem microros-ext/include/statistics_msgs/msg/detail/microxrcedds +CFLAGS += -isystem microros-ext/include/composition_interfaces +CFLAGS += -isystem microros-ext/include/composition_interfaces/composition_interfaces +CFLAGS += -isystem microros-ext/include/composition_interfaces/composition_interfaces/msg +CFLAGS += -isystem microros-ext/include/composition_interfaces/composition_interfaces/srv +CFLAGS += -isystem microros-ext/include/composition_interfaces/composition_interfaces/srv/detail +CFLAGS += -isystem microros-ext/include/composition_interfaces/msg +CFLAGS += -isystem microros-ext/include/composition_interfaces/srv +CFLAGS += -isystem microros-ext/include/composition_interfaces/srv/detail +CFLAGS += -isystem microros-ext/include/composition_interfaces/srv/detail/microxrcedds +CFLAGS += -isystem microros-ext/include/example_interfaces +CFLAGS += -isystem microros-ext/include/example_interfaces/example_interfaces +CFLAGS += -isystem microros-ext/include/example_interfaces/example_interfaces/msg +CFLAGS += -isystem microros-ext/include/example_interfaces/example_interfaces/msg/detail +CFLAGS += -isystem microros-ext/include/example_interfaces/example_interfaces/action +CFLAGS += -isystem microros-ext/include/example_interfaces/example_interfaces/action/detail +CFLAGS += -isystem microros-ext/include/example_interfaces/example_interfaces/srv +CFLAGS += -isystem microros-ext/include/example_interfaces/example_interfaces/srv/detail +CFLAGS += -isystem microros-ext/include/example_interfaces/msg +CFLAGS += -isystem microros-ext/include/example_interfaces/msg/detail +CFLAGS += -isystem microros-ext/include/example_interfaces/msg/detail/microxrcedds +CFLAGS += -isystem microros-ext/include/example_interfaces/action +CFLAGS += -isystem microros-ext/include/example_interfaces/action/detail +CFLAGS += -isystem microros-ext/include/example_interfaces/action/detail/microxrcedds +CFLAGS += -isystem microros-ext/include/example_interfaces/srv +CFLAGS += -isystem microros-ext/include/example_interfaces/srv/detail +CFLAGS += -isystem microros-ext/include/example_interfaces/srv/detail/microxrcedds +CFLAGS += -isystem microros-ext/include/rmw_microxrcedds_c +CFLAGS += -isystem microros-ext/include/test_msgs +CFLAGS += -isystem microros-ext/include/test_msgs/test_msgs +CFLAGS += -isystem microros-ext/include/test_msgs/test_msgs/msg +CFLAGS += -isystem microros-ext/include/test_msgs/test_msgs/msg/detail +CFLAGS += -isystem microros-ext/include/test_msgs/test_msgs/action +CFLAGS += -isystem microros-ext/include/test_msgs/test_msgs/action/detail +CFLAGS += -isystem microros-ext/include/test_msgs/test_msgs/srv +CFLAGS += -isystem microros-ext/include/test_msgs/test_msgs/srv/detail +CFLAGS += -isystem microros-ext/include/test_msgs/msg +CFLAGS += -isystem microros-ext/include/test_msgs/msg/detail +CFLAGS += -isystem microros-ext/include/test_msgs/msg/detail/microxrcedds +CFLAGS += -isystem microros-ext/include/test_msgs/action +CFLAGS += -isystem microros-ext/include/test_msgs/action/detail +CFLAGS += -isystem microros-ext/include/test_msgs/action/detail/microxrcedds +CFLAGS += -isystem microros-ext/include/test_msgs/srv +CFLAGS += -isystem microros-ext/include/test_msgs/srv/detail +CFLAGS += -isystem microros-ext/include/test_msgs/srv/detail/microxrcedds +CFLAGS += -isystem microros-ext/include/std_msgs +CFLAGS += -isystem microros-ext/include/std_msgs/std_msgs +CFLAGS += -isystem microros-ext/include/std_msgs/std_msgs/msg +CFLAGS += -isystem microros-ext/include/std_msgs/std_msgs/msg/detail +CFLAGS += -isystem microros-ext/include/std_msgs/msg +CFLAGS += -isystem microros-ext/include/std_msgs/msg/detail +CFLAGS += -isystem microros-ext/include/std_msgs/msg/detail/microxrcedds +CFLAGS += -isystem microros-ext/include/rcutils +CFLAGS += -isystem microros-ext/include/rcutils/rcutils +CFLAGS += -isystem microros-ext/include/rcutils/rcutils/types +CFLAGS += -isystem microros-ext/include/rcutils/rcutils/testing +CFLAGS += -isystem microros-ext/include/rcutils/rcutils/stdatomic_helper +CFLAGS += -isystem microros-ext/include/rcutils/rcutils/stdatomic_helper/gcc +CFLAGS += -isystem microros-ext/include/rcutils/rcutils/stdatomic_helper/win32 +CFLAGS += -isystem microros-ext/include/lifecycle_msgs +CFLAGS += -isystem microros-ext/include/lifecycle_msgs/lifecycle_msgs +CFLAGS += -isystem microros-ext/include/lifecycle_msgs/lifecycle_msgs/msg +CFLAGS += -isystem microros-ext/include/lifecycle_msgs/lifecycle_msgs/msg/detail +CFLAGS += -isystem microros-ext/include/lifecycle_msgs/lifecycle_msgs/srv +CFLAGS += -isystem microros-ext/include/lifecycle_msgs/lifecycle_msgs/srv/detail +CFLAGS += -isystem microros-ext/include/lifecycle_msgs/msg +CFLAGS += -isystem microros-ext/include/lifecycle_msgs/msg/detail +CFLAGS += -isystem microros-ext/include/lifecycle_msgs/msg/detail/microxrcedds +CFLAGS += -isystem microros-ext/include/lifecycle_msgs/srv +CFLAGS += -isystem microros-ext/include/lifecycle_msgs/srv/detail +CFLAGS += -isystem microros-ext/include/lifecycle_msgs/srv/detail/microxrcedds +CFLAGS += -isystem microros-ext/include/rosidl_typesupport_interface +CFLAGS += -isystem microros-ext/include/rosidl_typesupport_interface/rosidl_typesupport_interface +CFLAGS += -isystem microros-ext/include/service_msgs +CFLAGS += -isystem microros-ext/include/service_msgs/service_msgs +CFLAGS += -isystem microros-ext/include/service_msgs/service_msgs/msg +CFLAGS += -isystem microros-ext/include/service_msgs/service_msgs/msg/detail +CFLAGS += -isystem microros-ext/include/service_msgs/msg +CFLAGS += -isystem microros-ext/include/service_msgs/msg/detail +CFLAGS += -isystem microros-ext/include/service_msgs/msg/detail/microxrcedds +CFLAGS += -isystem microros-ext/include/visualization_msgs +CFLAGS += -isystem microros-ext/include/visualization_msgs/visualization_msgs +CFLAGS += -isystem microros-ext/include/visualization_msgs/visualization_msgs/msg +CFLAGS += -isystem microros-ext/include/visualization_msgs/visualization_msgs/msg/detail +CFLAGS += -isystem microros-ext/include/visualization_msgs/visualization_msgs/srv +CFLAGS += -isystem microros-ext/include/visualization_msgs/visualization_msgs/srv/detail +CFLAGS += -isystem microros-ext/include/visualization_msgs/msg +CFLAGS += -isystem microros-ext/include/visualization_msgs/msg/detail +CFLAGS += -isystem microros-ext/include/visualization_msgs/msg/detail/microxrcedds +CFLAGS += -isystem microros-ext/include/visualization_msgs/srv +CFLAGS += -isystem microros-ext/include/visualization_msgs/srv/detail +CFLAGS += -isystem microros-ext/include/visualization_msgs/srv/detail/microxrcedds +CFLAGS += -isystem microros-ext/include/rosidl_dynamic_typesupport +CFLAGS += -isystem microros-ext/include/rosidl_dynamic_typesupport/rosidl_dynamic_typesupport +CFLAGS += -isystem microros-ext/include/rosidl_dynamic_typesupport/rosidl_dynamic_typesupport/api +CFLAGS += -isystem microros-ext/include/stereo_msgs +CFLAGS += -isystem microros-ext/include/stereo_msgs/stereo_msgs +CFLAGS += -isystem microros-ext/include/stereo_msgs/stereo_msgs/msg +CFLAGS += -isystem microros-ext/include/stereo_msgs/stereo_msgs/msg/detail +CFLAGS += -isystem microros-ext/include/stereo_msgs/msg +CFLAGS += -isystem microros-ext/include/stereo_msgs/msg/detail +CFLAGS += -isystem microros-ext/include/stereo_msgs/msg/detail/microxrcedds +CFLAGS += -isystem microros-ext/include/ucdr +CFLAGS += -isystem microros-ext/include/rosidl_typesupport_c +CFLAGS += -isystem microros-ext/include/rosidl_typesupport_c/rosidl_typesupport_c +CFLAGS += -isystem microros-ext/include/std_srvs +CFLAGS += -isystem microros-ext/include/std_srvs/msg +CFLAGS += -isystem microros-ext/include/std_srvs/std_srvs +CFLAGS += -isystem microros-ext/include/std_srvs/std_srvs/msg +CFLAGS += -isystem microros-ext/include/std_srvs/std_srvs/srv +CFLAGS += -isystem microros-ext/include/std_srvs/std_srvs/srv/detail +CFLAGS += -isystem microros-ext/include/std_srvs/srv +CFLAGS += -isystem microros-ext/include/std_srvs/srv/detail +CFLAGS += -isystem microros-ext/include/std_srvs/srv/detail/microxrcedds +CFLAGS += -isystem microros-ext/include/rcl_lifecycle +CFLAGS += -isystem microros-ext/include/rcl_lifecycle/rcl_lifecycle +CFLAGS += -isystem microros-ext/include/action_msgs +CFLAGS += -isystem microros-ext/include/action_msgs/msg +CFLAGS += -isystem microros-ext/include/action_msgs/msg/detail +CFLAGS += -isystem microros-ext/include/action_msgs/msg/detail/microxrcedds +CFLAGS += -isystem microros-ext/include/action_msgs/action_msgs +CFLAGS += -isystem microros-ext/include/action_msgs/action_msgs/msg +CFLAGS += -isystem microros-ext/include/action_msgs/action_msgs/msg/detail +CFLAGS += -isystem microros-ext/include/action_msgs/action_msgs/srv +CFLAGS += -isystem microros-ext/include/action_msgs/action_msgs/srv/detail +CFLAGS += -isystem microros-ext/include/action_msgs/srv +CFLAGS += -isystem microros-ext/include/action_msgs/srv/detail +CFLAGS += -isystem microros-ext/include/action_msgs/srv/detail/microxrcedds +CFLAGS += -isystem microros-ext/include/micro_ros_utilities +CFLAGS += -isystem microros-ext/include/rcl_action +CFLAGS += -isystem microros-ext/include/rcl_action/rcl_action +CFLAGS += -isystem microros-ext/include/rcl_logging_interface +CFLAGS += -isystem microros-ext/include/rcl_logging_interface/rcl_logging_interface +CFLAGS += -isystem microros-ext/include/type_description_interfaces +CFLAGS += -isystem microros-ext/include/type_description_interfaces/msg +CFLAGS += -isystem microros-ext/include/type_description_interfaces/msg/detail +CFLAGS += -isystem microros-ext/include/type_description_interfaces/msg/detail/microxrcedds +CFLAGS += -isystem microros-ext/include/type_description_interfaces/type_description_interfaces +CFLAGS += -isystem microros-ext/include/type_description_interfaces/type_description_interfaces/msg +CFLAGS += -isystem microros-ext/include/type_description_interfaces/type_description_interfaces/msg/detail +CFLAGS += -isystem microros-ext/include/type_description_interfaces/type_description_interfaces/srv +CFLAGS += -isystem microros-ext/include/type_description_interfaces/type_description_interfaces/srv/detail +CFLAGS += -isystem microros-ext/include/type_description_interfaces/srv +CFLAGS += -isystem microros-ext/include/type_description_interfaces/srv/detail +CFLAGS += -isystem microros-ext/include/type_description_interfaces/srv/detail/microxrcedds +CFLAGS += -isystem microros-ext/include/nav_msgs +CFLAGS += -isystem microros-ext/include/nav_msgs/msg +CFLAGS += -isystem microros-ext/include/nav_msgs/msg/detail +CFLAGS += -isystem microros-ext/include/nav_msgs/msg/detail/microxrcedds +CFLAGS += -isystem microros-ext/include/nav_msgs/nav_msgs +CFLAGS += -isystem microros-ext/include/nav_msgs/nav_msgs/msg +CFLAGS += -isystem microros-ext/include/nav_msgs/nav_msgs/msg/detail +CFLAGS += -isystem microros-ext/include/nav_msgs/nav_msgs/srv +CFLAGS += -isystem microros-ext/include/nav_msgs/nav_msgs/srv/detail +CFLAGS += -isystem microros-ext/include/nav_msgs/srv +CFLAGS += -isystem microros-ext/include/nav_msgs/srv/detail +CFLAGS += -isystem microros-ext/include/nav_msgs/srv/detail/microxrcedds +CFLAGS += -isystem microros-ext/include/actionlib_msgs +CFLAGS += -isystem microros-ext/include/actionlib_msgs/msg +CFLAGS += -isystem microros-ext/include/actionlib_msgs/msg/detail +CFLAGS += -isystem microros-ext/include/actionlib_msgs/msg/detail/microxrcedds +CFLAGS += -isystem microros-ext/include/actionlib_msgs/actionlib_msgs +CFLAGS += -isystem microros-ext/include/actionlib_msgs/actionlib_msgs/msg +CFLAGS += -isystem microros-ext/include/actionlib_msgs/actionlib_msgs/msg/detail +CFLAGS += -isystem microros-ext/include/rmw +CFLAGS += -isystem microros-ext/include/rmw/rmw +CFLAGS += -isystem microros-ext/include/rmw/rmw/impl +CFLAGS += -isystem microros-ext/include/rmw/rmw/impl/cpp +CFLAGS += -isystem microros-ext/include/rmw/rmw/events_statuses +CFLAGS += -isystem microros-ext/include/rclc_parameter +CFLAGS += -isystem microros-ext/include/geometry_msgs +CFLAGS += -isystem microros-ext/include/geometry_msgs/msg +CFLAGS += -isystem microros-ext/include/geometry_msgs/msg/detail +CFLAGS += -isystem microros-ext/include/geometry_msgs/msg/detail/microxrcedds +CFLAGS += -isystem microros-ext/include/geometry_msgs/geometry_msgs +CFLAGS += -isystem microros-ext/include/geometry_msgs/geometry_msgs/msg +CFLAGS += -isystem microros-ext/include/geometry_msgs/geometry_msgs/msg/detail +CFLAGS += -isystem microros-ext/include/sensor_msgs +CFLAGS += -isystem microros-ext/include/sensor_msgs/msg +CFLAGS += -isystem microros-ext/include/sensor_msgs/msg/detail +CFLAGS += -isystem microros-ext/include/sensor_msgs/msg/detail/microxrcedds +CFLAGS += -isystem microros-ext/include/sensor_msgs/sensor_msgs +CFLAGS += -isystem microros-ext/include/sensor_msgs/sensor_msgs/msg +CFLAGS += -isystem microros-ext/include/sensor_msgs/sensor_msgs/msg/detail +CFLAGS += -isystem microros-ext/include/sensor_msgs/sensor_msgs/srv +CFLAGS += -isystem microros-ext/include/sensor_msgs/sensor_msgs/srv/detail +CFLAGS += -isystem microros-ext/include/sensor_msgs/srv +CFLAGS += -isystem microros-ext/include/sensor_msgs/srv/detail +CFLAGS += -isystem microros-ext/include/sensor_msgs/srv/detail/microxrcedds +CFLAGS += -isystem microros-ext/include/trajectory_msgs +CFLAGS += -isystem microros-ext/include/trajectory_msgs/msg +CFLAGS += -isystem microros-ext/include/trajectory_msgs/msg/detail +CFLAGS += -isystem microros-ext/include/trajectory_msgs/msg/detail/microxrcedds +CFLAGS += -isystem microros-ext/include/trajectory_msgs/trajectory_msgs +CFLAGS += -isystem microros-ext/include/trajectory_msgs/trajectory_msgs/msg +CFLAGS += -isystem microros-ext/include/trajectory_msgs/trajectory_msgs/msg/detail +CFLAGS += -isystem microros-ext/include/shape_msgs +CFLAGS += -isystem microros-ext/include/shape_msgs/msg +CFLAGS += -isystem microros-ext/include/shape_msgs/msg/detail +CFLAGS += -isystem microros-ext/include/shape_msgs/msg/detail/microxrcedds +CFLAGS += -isystem microros-ext/include/shape_msgs/shape_msgs +CFLAGS += -isystem microros-ext/include/shape_msgs/shape_msgs/msg +CFLAGS += -isystem microros-ext/include/shape_msgs/shape_msgs/msg/detail +CFLAGS += -isystem microros-ext/include/rosidl_runtime_c +CFLAGS += -isystem microros-ext/include/rosidl_runtime_c/rosidl_runtime_c +CFLAGS += -isystem microros-ext/include/rosidl_runtime_c/rosidl_runtime_c/type_description +CFLAGS += -isystem microros-ext/include/rclc +CFLAGS += -isystem microros-ext/include/rosgraph_msgs +CFLAGS += -isystem microros-ext/include/rosgraph_msgs/msg +CFLAGS += -isystem microros-ext/include/rosgraph_msgs/msg/detail +CFLAGS += -isystem microros-ext/include/rosgraph_msgs/msg/detail/microxrcedds +CFLAGS += -isystem microros-ext/include/rosgraph_msgs/rosgraph_msgs +CFLAGS += -isystem microros-ext/include/rosgraph_msgs/rosgraph_msgs/msg +CFLAGS += -isystem microros-ext/include/rosgraph_msgs/rosgraph_msgs/msg/detail +CFLAGS += -isystem microros-ext/include/rclc_lifecycle +CFLAGS += -isystem microros-ext/include/rcl_interfaces +CFLAGS += -isystem microros-ext/include/rcl_interfaces/msg +CFLAGS += -isystem microros-ext/include/rcl_interfaces/msg/detail +CFLAGS += -isystem microros-ext/include/rcl_interfaces/msg/detail/microxrcedds +CFLAGS += -isystem microros-ext/include/rcl_interfaces/rcl_interfaces +CFLAGS += -isystem microros-ext/include/rcl_interfaces/rcl_interfaces/msg +CFLAGS += -isystem microros-ext/include/rcl_interfaces/rcl_interfaces/msg/detail +CFLAGS += -isystem microros-ext/include/rcl_interfaces/rcl_interfaces/srv +CFLAGS += -isystem microros-ext/include/rcl_interfaces/rcl_interfaces/srv/detail +CFLAGS += -isystem microros-ext/include/rcl_interfaces/srv +CFLAGS += -isystem microros-ext/include/rcl_interfaces/srv/detail +CFLAGS += -isystem microros-ext/include/rcl_interfaces/srv/detail/microxrcedds +CFLAGS += -isystem microros-ext/include/diagnostic_msgs +CFLAGS += -isystem microros-ext/include/diagnostic_msgs/msg +CFLAGS += -isystem microros-ext/include/diagnostic_msgs/msg/detail +CFLAGS += -isystem microros-ext/include/diagnostic_msgs/msg/detail/microxrcedds +CFLAGS += -isystem microros-ext/include/diagnostic_msgs/diagnostic_msgs +CFLAGS += -isystem microros-ext/include/diagnostic_msgs/diagnostic_msgs/msg +CFLAGS += -isystem microros-ext/include/diagnostic_msgs/diagnostic_msgs/msg/detail +CFLAGS += -isystem microros-ext/include/diagnostic_msgs/diagnostic_msgs/srv +CFLAGS += -isystem microros-ext/include/diagnostic_msgs/diagnostic_msgs/srv/detail +CFLAGS += -isystem microros-ext/include/diagnostic_msgs/srv +CFLAGS += -isystem microros-ext/include/diagnostic_msgs/srv/detail +CFLAGS += -isystem microros-ext/include/diagnostic_msgs/srv/detail/microxrcedds +CFLAGS += -isystem microros-ext/include/micro_ros_msgs +CFLAGS += -isystem microros-ext/include/micro_ros_msgs/msg +CFLAGS += -isystem microros-ext/include/micro_ros_msgs/msg/detail +CFLAGS += -isystem microros-ext/include/micro_ros_msgs/msg/detail/microxrcedds +CFLAGS += -isystem microros-ext/include/micro_ros_msgs/micro_ros_msgs +CFLAGS += -isystem microros-ext/include/micro_ros_msgs/micro_ros_msgs/msg +CFLAGS += -isystem microros-ext/include/micro_ros_msgs/micro_ros_msgs/msg/detail +CFLAGS += -isystem microros-ext/include/rosidl_typesupport_introspection_c +CFLAGS += -isystem microros-ext/include/rosidl_typesupport_introspection_c/rosidl_typesupport_introspection_c +CFLAGS += -isystem microros-ext/include/uxr +CFLAGS += -isystem microros-ext/include/uxr/client +CFLAGS += -isystem microros-ext/include/uxr/client/core +CFLAGS += -isystem microros-ext/include/uxr/client/core/type +CFLAGS += -isystem microros-ext/include/uxr/client/core/communication +CFLAGS += -isystem microros-ext/include/uxr/client/core/session +CFLAGS += -isystem microros-ext/include/uxr/client/core/session/stream +CFLAGS += -isystem microros-ext/include/uxr/client/util +CFLAGS += -isystem microros-ext/include/uxr/client/profile +CFLAGS += -isystem microros-ext/include/uxr/client/profile/transport +CFLAGS += -isystem microros-ext/include/uxr/client/profile/transport/can +CFLAGS += -isystem microros-ext/include/uxr/client/profile/transport/stream_framing +CFLAGS += -isystem microros-ext/include/uxr/client/profile/transport/ip +CFLAGS += -isystem microros-ext/include/uxr/client/profile/transport/ip/udp +CFLAGS += -isystem microros-ext/include/uxr/client/profile/transport/ip/tcp +CFLAGS += -isystem microros-ext/include/uxr/client/profile/transport/custom +CFLAGS += -isystem microros-ext/include/uxr/client/profile/transport/serial +CFLAGS += -isystem microros-ext/include/uxr/client/profile/discovery +CFLAGS += -isystem microros-ext/include/uxr/client/profile/multithread +CFLAGS += -isystem microros-ext/include/unique_identifier_msgs +CFLAGS += -isystem microros-ext/include/unique_identifier_msgs/msg +CFLAGS += -isystem microros-ext/include/unique_identifier_msgs/msg/detail +CFLAGS += -isystem microros-ext/include/unique_identifier_msgs/msg/detail/microxrcedds +CFLAGS += -isystem microros-ext/include/unique_identifier_msgs/unique_identifier_msgs +CFLAGS += -isystem microros-ext/include/unique_identifier_msgs/unique_identifier_msgs/msg +CFLAGS += -isystem microros-ext/include/unique_identifier_msgs/unique_identifier_msgs/msg/detail +CFLAGS += -isystem microros-ext/include/rosidl_typesupport_microxrcedds_c +CFLAGS += -isystem microros-ext/include/builtin_interfaces +CFLAGS += -isystem microros-ext/include/builtin_interfaces/msg +CFLAGS += -isystem microros-ext/include/builtin_interfaces/msg/detail +CFLAGS += -isystem microros-ext/include/builtin_interfaces/msg/detail/microxrcedds +CFLAGS += -isystem microros-ext/include/builtin_interfaces/builtin_interfaces +CFLAGS += -isystem microros-ext/include/builtin_interfaces/builtin_interfaces/msg +CFLAGS += -isystem microros-ext/include/builtin_interfaces/builtin_interfaces/msg/detail +CFLAGS += -isystem microros-ext/include/tracetools +CFLAGS += -isystem microros-ext/include/tracetools/tracetools +CFLAGS += -isystem microros-ext/include/rmw_microros endif ifneq ($(CIRCUITPY_ESPIDF),0) @@ -676,6 +969,7 @@ BINARY_BLOBS+= microros-ext/esp32s2/libmicroros.a else ifeq ($(IDF_TARGET),esp32s3) BINARY_BLOBS += microros-ext/esp32s3/libmicroros.a endif +endif ifneq ($(VALID_BOARD),) # From esp-idf/components/bootloader/Kconfig.projbuild diff --git a/ports/espressif/boards/m5stack_cardputer/board.c b/ports/espressif/boards/m5stack_cardputer/board.c index 6fdc2f8ea5c46..698864301bd0a 100644 --- a/ports/espressif/boards/m5stack_cardputer/board.c +++ b/ports/espressif/boards/m5stack_cardputer/board.c @@ -17,6 +17,16 @@ #include "py/ringbuf.h" #include "shared/runtime/interrupt_char.h" +// ROS TESTING +// #include +#include +#include +#include +#include +#include +// END ROS TESTING + + #define DELAY 0x80 @@ -42,6 +52,15 @@ uint8_t display_init_sequence[] = { // Overrides the weakly linked function from supervisor/shared/board.c void board_init(void) { + + // ROS TESTING + rcl_allocator_t allocator = rcl_get_default_allocator(); + rcl_init_options_t init_options = rcl_get_zero_initialized_init_options(); + rcl_init_options_init(&init_options, allocator); + + // END ROS TESTING + + busio_spi_obj_t *spi = common_hal_board_create_spi(0); fourwire_fourwire_obj_t *bus = &allocate_display_bus()->fourwire_bus; bus->base.type = &fourwire_fourwire_type; diff --git a/ports/espressif/microros-ext/esp32s3/libmicroros.a b/ports/espressif/microros-ext/esp32s3/libmicroros.a index a421e3371907f5aeab77a4acc8e8606e8e2d0fc4..6815c5679cb0ddcaa879aa82b135a97fd271f092 100644 GIT binary patch literal 17826814 zcmeEv54;sswf{O)^dzH1qv91Q885L=Q3+8oP*G7)(XgmEUG6;>E?w@$b1qk*q9QZ1 zq$esVD!;_Uq#`9nMMa}TMMa~cqT=w+z)?Sj 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