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init.h
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init.h
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// 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 RCL__INIT_H_
#define RCL__INIT_H_
#ifdef __cplusplus
extern "C"
{
#endif
#include "rcl/allocator.h"
#include "rcl/context.h"
#include "rcl/init_options.h"
#include "rcl/macros.h"
#include "rcl/types.h"
#include "rcl/visibility_control.h"
/// Initialization of rcl.
/**
* This function can be run any number of times, so long as the given context
* has been properly prepared.
*
* The given rcl_context_t must be zero initialized with the function
* rcl_get_zero_initialized_context() and must not be already initialized
* by this function.
* If the context is already initialized this function will fail and return the
* #RCL_RET_ALREADY_INIT error code.
* A context may be initialized again after it has been finalized with the
* rcl_shutdown() function and zero initialized again with
* rcl_get_zero_initialized_context().
*
* The `argc` and `argv` parameters may contain command line arguments for the
* program.
* rcl specific arguments will be parsed, but not removed.
* If `argc` is `0` and `argv` is `NULL` no parameters will be parsed.
*
* The `options` argument must be non-`NULL` and must have been initialized
* with rcl_init_options_init().
* It is unmodified by this function, and the ownership is not transfered to
* the context, but instead a copy is made into the context for later reference.
* Therefore, the given options need to be cleaned up with
* rcl_init_options_fini() after this function returns.
*
* <hr>
* Attribute | Adherence
* ------------------ | -------------
* Allocates Memory | Yes
* Thread-Safe | No
* Uses Atomics | Yes
* Lock-Free | Yes [1]
* <i>[1] if `atomic_is_lock_free()` returns true for `atomic_uint_least64_t`</i>
*
* \param[in] argc number of strings in argv
* \param[in] argv command line arguments; rcl specific arguments are removed
* \param[in] options options used during initialization
* \param[out] context resulting context object that represents this init
* \return #RCL_RET_OK if initialization is successful, or
* \return #RCL_RET_ALREADY_INIT if rcl_init has already been called, or
* \return #RCL_RET_INVALID_ARGUMENT if any arguments are invalid, or
* \return #RCL_RET_INVALID_ROS_ARGS if an invalid ROS argument is found, or
* \return #RCL_RET_BAD_ALLOC if allocating memory failed, or
* \return #RCL_RET_ERROR if an unspecified error occurs.
*/
RCL_PUBLIC
RCL_WARN_UNUSED
rcl_ret_t
rcl_init(
int argc,
char const * const * argv,
const rcl_init_options_t * options,
rcl_context_t * context);
/// Shutdown a given rcl context.
/**
* The given context must have been initialized with rcl_init().
* If not, this function will fail with #RCL_RET_ALREADY_SHUTDOWN.
*
* When this function is called:
* - Any rcl objects created using this context are invalidated.
* - Functions called on invalid objects may or may not fail.
* - Calls to rcl_context_is_initialized() will return `false`.
*
* <hr>
* Attribute | Adherence
* ------------------ | -------------
* Allocates Memory | Yes
* Thread-Safe | Yes
* Uses Atomics | Yes
* Lock-Free | Yes [1]
* <i>[1] if `atomic_is_lock_free()` returns true for `atomic_uint_least64_t`</i>
*
* \param[inout] context object to shutdown
* \return #RCL_RET_OK if the shutdown was completed successfully, or
* \return #RCL_RET_INVALID_ARGUMENT if any arguments are invalid, or
* \return #RCL_RET_ALREADY_SHUTDOWN if the context is not currently valid, or
* \return #RCL_RET_ERROR if an unspecified error occur.
*/
RCL_PUBLIC
RCL_WARN_UNUSED
rcl_ret_t
rcl_shutdown(rcl_context_t * context);
#ifdef __cplusplus
}
#endif
#endif // RCL__INIT_H_