/
init_options.h
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/
init_options.h
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// 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.
/**
* @file
*/
#ifndef RMW_MICROROS__INIT_OPTIONS_H_
#define RMW_MICROROS__INIT_OPTIONS_H_
#include <rmw/rmw.h>
#include <rmw/ret_types.h>
#include <rmw/init_options.h>
#include <rmw_microxrcedds_c/config.h>
#include <ucdr/microcdr.h>
#if defined(__cplusplus)
extern "C"
{
#endif // if defined(__cplusplus)
/** \addtogroup rmw micro-ROS RMW API
* @{
*/
/**
* \brief Parses command line args and fills rmw implementation-specific options.
* `rmw_init_options allocator` is used to allocate the specific rmw options.
*
* \param[in] argc Number of arguments.
* \param[in] argv Arguments.
* \param[in,out] rmw_options Updated options with rmw specifics.
* \return RMW_RET_OK If arguments were valid and set in rmw_init_options.
* \return RMW_RET_INVALID_ARGUMENT If rmw_init_options is not valid or unexpected arguments.
*/
rmw_ret_t rmw_uros_init_options(
int argc,
const char * const argv[],
rmw_init_options_t * rmw_options);
/**
* \brief Fills rmw implementation-specific options with the given parameters.
*
* \param[in] dev Serial device.
* \param[in,out] rmw_options Updated options with rmw specifics.
* \return RMW_RET_OK If arguments were valid and set in rmw_init_options.
* \return RMW_RET_INVALID_ARGUMENT If rmw_init_options is not valid or unexpected arguments.
*/
rmw_ret_t rmw_uros_options_set_serial_device(
const char * dev,
rmw_init_options_t * rmw_options);
/**
* \brief Fills rmw implementation-specific options with the given parameters.
*
* \param[in] ip Agent IP address.
* \param[in] port Agent UDP port.
* \param[in,out] rmw_options Updated options with rmw specifics.
* \return RMW_RET_OK If arguments were valid and set in rmw_init_options.
* \return RMW_RET_INVALID_ARGUMENT If rmw_init_options is not valid or unexpected arguments.
*/
rmw_ret_t rmw_uros_options_set_udp_address(
const char * ip,
const char * port,
rmw_init_options_t * rmw_options);
/**
* \brief Fills rmw implementation-specific options with the given parameters.
*
* \param[in] client_key MicroXRCE-DDS client key.
* \param[in,out] rmw_options Updated options with rmw specifics.
* \return RMW_RET_OK If arguments were valid and set in rmw_init_options.
* \return RMW_RET_INVALID_ARGUMENT If rmw_init_options is not valid or unexpected arguments.
*/
rmw_ret_t rmw_uros_options_set_client_key(
uint32_t client_key,
rmw_init_options_t * rmw_options);
/** @}*/
#if defined(__cplusplus)
}
#endif // if defined(__cplusplus)
#endif // RMW_MICROROS__INIT_OPTIONS_H_