micro-ROS Utils
micro-ROS Types Utilities
Classes
Name | |
---|---|
struct | micro_ros_utilities_memory_rule_t Memory rule. |
struct | micro_ros_utilities_memory_conf_t Memory configuration string. |
Functions
Name | |
---|---|
MICRO_ROS_UTILITIES_PUBLIC rosidl_runtime_c__String | micro_ros_utilities_type_info(const rosidl_message_type_support_t * type_support) Returns a string with the type introspection data. |
MICRO_ROS_UTILITIES_PUBLIC size_t | micro_ros_utilities_get_dynamic_size(const rosidl_message_type_support_t * type_support, const micro_ros_utilities_memory_conf_t conf) Returns the dynamic memory size that will be used for a type. |
MICRO_ROS_UTILITIES_PUBLIC size_t | micro_ros_utilities_get_static_size(const rosidl_message_type_support_t * type_support, const micro_ros_utilities_memory_conf_t conf) Returns the static memory size that will be used for a type. |
MICRO_ROS_UTILITIES_PUBLIC bool | micro_ros_utilities_create_message_memory(const rosidl_message_type_support_t * type_support, void * ros_msg, const micro_ros_utilities_memory_conf_t conf) Allocates the dynamic memory required for a message. |
MICRO_ROS_UTILITIES_PUBLIC bool | micro_ros_utilities_create_static_message_memory(const rosidl_message_type_support_t * type_support, void * ros_msg, const micro_ros_utilities_memory_conf_t conf, uint8_t * buffer, size_t buffer_len) Allocates the memory required for a message in a user-provided buffer. |
MICRO_ROS_UTILITIES_PUBLIC bool | micro_ros_utilities_destroy_message_memory(const rosidl_message_type_support_t * type_support, void * ros_msg, const micro_ros_utilities_memory_conf_t conf) Deallocates the dynamic memory of a message. |
Functions Documentation
function micro_ros_utilities_type_info
MICRO_ROS_UTILITIES_PUBLIC rosidl_runtime_c__String micro_ros_utilities_type_info(
const rosidl_message_type_support_t * type_support
)
Returns a string with the type introspection data.
Parameters:
- type_support ROS 2 typesupport
Return: rosidl_runtime_c__String
string containing data
Attribute | Adherence |
---|---|
Allocates Memory | Yes |
Thread-Safe | No |
Uses Atomics | No |
Lock-Free | Yes |
function micro_ros_utilities_get_dynamic_size
MICRO_ROS_UTILITIES_PUBLIC size_t micro_ros_utilities_get_dynamic_size(
const rosidl_message_type_support_t * type_support,
const micro_ros_utilities_memory_conf_t conf
)
Returns the dynamic memory size that will be used for a type.
Parameters:
- type_support ROS 2 typesupport
- conf Utils configurator
Return: size_t
Size in Bytes that will be used
Attribute | Adherence |
---|---|
Allocates Memory | Yes |
Thread-Safe | No |
Uses Atomics | No |
Lock-Free | Yes |
function micro_ros_utilities_get_static_size
MICRO_ROS_UTILITIES_PUBLIC size_t micro_ros_utilities_get_static_size(
const rosidl_message_type_support_t * type_support,
const micro_ros_utilities_memory_conf_t conf
)
Returns the static memory size that will be used for a type.
Parameters:
- type_support ROS 2 typesupport
- conf Utils configurator
Return: size_t
Size in Bytes that will be used
Attribute | Adherence |
---|---|
Allocates Memory | Yes |
Thread-Safe | No |
Uses Atomics | No |
Lock-Free | Yes |
function micro_ros_utilities_create_message_memory
MICRO_ROS_UTILITIES_PUBLIC bool micro_ros_utilities_create_message_memory(
const rosidl_message_type_support_t * type_support,
void * ros_msg,
const micro_ros_utilities_memory_conf_t conf
)
Allocates the dynamic memory required for a message.
Parameters:
- type_support ROS 2 typesupport
- ros_msg ROS 2 msg with no type
- conf Utils configurator
Return: bool
true if success
Attribute | Adherence |
---|---|
Allocates Memory | Yes |
Thread-Safe | No |
Uses Atomics | No |
Lock-Free | Yes |
function micro_ros_utilities_create_static_message_memory
MICRO_ROS_UTILITIES_PUBLIC bool micro_ros_utilities_create_static_message_memory(
const rosidl_message_type_support_t * type_support,
void * ros_msg,
const micro_ros_utilities_memory_conf_t conf,
uint8_t * buffer,
size_t buffer_len
)
Allocates the memory required for a message in a user-provided buffer.
Parameters:
- type_support ROS 2 typesupport
- ros_msg ROS 2 msg with no type
- conf Utils configurator
- buffer User buffer
- buffer_len User buffer length
Return: bool
true if success
Attribute | Adherence |
---|---|
Allocates Memory | Yes |
Thread-Safe | No |
Uses Atomics | No |
Lock-Free | Yes |
function micro_ros_utilities_destroy_message_memory
MICRO_ROS_UTILITIES_PUBLIC bool micro_ros_utilities_destroy_message_memory(
const rosidl_message_type_support_t * type_support,
void * ros_msg,
const micro_ros_utilities_memory_conf_t conf
)
Deallocates the dynamic memory of a message.
Parameters:
- type_support ROS 2 typesupport
- ros_msg ROS 2 msg with no type
- conf Utils configurator
Return: bool
true if success
Attribute | Adherence |
---|---|
Allocates Memory | Yes |
Thread-Safe | No |
Uses Atomics | No |
Lock-Free | Yes |
Attributes Documentation
variable micro_ros_utilities_memory_conf_default
static const micro_ros_utilities_memory_conf_t micro_ros_utilities_memory_conf_default =
{20, 5, 5, NULL, 0, NULL};
micro-ROS String Utilities
Functions
Name | |
---|---|
MICRO_ROS_UTILITIES_PUBLIC rosidl_runtime_c__String | micro_ros_string_utilities_init(const char * data) Create a rosidl_runtime_c__String from a char pointer. |
MICRO_ROS_UTILITIES_PUBLIC rosidl_runtime_c__String | micro_ros_string_utilities_init_with_size(const size_t size) Create a rosidl_runtime_c__String from a size. |
MICRO_ROS_UTILITIES_PUBLIC rosidl_runtime_c__String | micro_ros_string_utilities_set(const rosidl_runtime_c__String str, const char * data) Create a rosidl_runtime_c__String from a char pointer. |
MICRO_ROS_UTILITIES_PUBLIC const char * | micro_ros_string_utilities_get_c_str(const rosidl_runtime_c__String str) Returns the char pointer to the rosidl_runtime_c__String data. |
rosidl_runtime_c__String | micro_ros_string_utilities_append(const rosidl_runtime_c__String str, const char * data) Appends a char pointer to the end of a rosidl_runtime_c__String. |
MICRO_ROS_UTILITIES_PUBLIC rosidl_runtime_c__String | micro_ros_string_utilities_remove_tail_chars(const rosidl_runtime_c__String str, const size_t n) Removes characters from the end of a string. |
MICRO_ROS_UTILITIES_PUBLIC void | micro_ros_string_utilities_destroy(rosidl_runtime_c__String *const str) Destroys a rosidl_runtime_c__String. |
Functions Documentation
function micro_ros_string_utilities_init
MICRO_ROS_UTILITIES_PUBLIC rosidl_runtime_c__String micro_ros_string_utilities_init(
const char * data
)
Create a rosidl_runtime_c__String from a char pointer.
Parameters:
- data char pointer
Return: rosidl_runtime_c__String
string containing data
Attribute | Adherence |
---|---|
Allocates Memory | Yes |
Thread-Safe | No |
Uses Atomics | No |
Lock-Free | Yes |
function micro_ros_string_utilities_init_with_size
MICRO_ROS_UTILITIES_PUBLIC rosidl_runtime_c__String micro_ros_string_utilities_init_with_size(
const size_t size
)
Create a rosidl_runtime_c__String from a size.
Parameters:
- size size of the required string
Return: rosidl_runtime_c__String
string of size size
Attribute | Adherence |
---|---|
Allocates Memory | Yes |
Thread-Safe | No |
Uses Atomics | No |
Lock-Free | Yes |
function micro_ros_string_utilities_set
MICRO_ROS_UTILITIES_PUBLIC rosidl_runtime_c__String micro_ros_string_utilities_set(
const rosidl_runtime_c__String str,
const char * data
)
Create a rosidl_runtime_c__String from a char pointer.
Parameters:
- str rosidl_runtime_c__String to set
- data char pointer
Return: rosidl_runtime_c__String
string containing data
Attribute | Adherence |
---|---|
Allocates Memory | Yes |
Thread-Safe | No |
Uses Atomics | No |
Lock-Free | Yes |
function micro_ros_string_utilities_get_c_str
MICRO_ROS_UTILITIES_PUBLIC const char * micro_ros_string_utilities_get_c_str(
const rosidl_runtime_c__String str
)
Returns the char pointer to the rosidl_runtime_c__String data.
Parameters:
- str a rosidl_runtime_c__String
Return: const char
char pointer
Attribute | Adherence |
---|---|
Allocates Memory | Yes |
Thread-Safe | No |
Uses Atomics | No |
Lock-Free | Yes |
function micro_ros_string_utilities_append
rosidl_runtime_c__String micro_ros_string_utilities_append(
const rosidl_runtime_c__String str,
const char * data
)
Appends a char pointer to the end of a rosidl_runtime_c__String.
Parameters:
- str a rosidl_runtime_c__String
- data characters to append
Return: rosidl_runtime_c__String
new string
Attribute | Adherence |
---|---|
Allocates Memory | Yes |
Thread-Safe | No |
Uses Atomics | No |
Lock-Free | Yes |
function micro_ros_string_utilities_remove_tail_chars
MICRO_ROS_UTILITIES_PUBLIC rosidl_runtime_c__String micro_ros_string_utilities_remove_tail_chars(
const rosidl_runtime_c__String str,
const size_t n
)
Removes characters from the end of a string.
Parameters:
- str a rosidl_runtime_c__String
- n number of characters to remove
Return: rosidl_runtime_c__String
new string
Attribute | Adherence |
---|---|
Allocates Memory | Yes |
Thread-Safe | No |
Uses Atomics | No |
Lock-Free | Yes |
function micro_ros_string_utilities_destroy
MICRO_ROS_UTILITIES_PUBLIC void micro_ros_string_utilities_destroy(
rosidl_runtime_c__String *const str
)
Destroys a rosidl_runtime_c__String.
Parameters:
- str a rosidl_runtime_c__String
Attribute | Adherence |
---|---|
Allocates Memory | Yes |
Thread-Safe | No |
Uses Atomics | No |
Lock-Free | Yes |
micro_ros_utilities_memory_rule_t
Memory rule.
#include <type_utilities.h>
Public Attributes
Name | |
---|---|
const char * | rule Pattern matching the fully qualified name of a msg field. |
size_t | size Maximum string or sequence capacity for fields matching rule. |
Public Attributes Documentation
variable rule
const char * rule;
Pattern matching the fully qualified name of a msg field.
variable size
size_t size;
Maximum string or sequence capacity for fields matching rule.
micro_ros_utilities_memory_conf_t
Memory configuration string.
#include <type_utilities.h>
Public Attributes
Name | |
---|---|
size_t | max_string_capacity Maximum string capacity to use for msg fields in case they don’t have a custom rule assigned to them. |
size_t | max_ros2_type_sequence_capacity Maximum capacity to use for sequence type msg fields (ie: unbounded arrays and lists) which contain ROS 2 msg types, in case they don’t have a custom rule assigned to them. |
size_t | max_basic_type_sequence_capacity Maximum capacity to use for sequence type msg fields (ie: unbounded arrays and lists) which contain basic types (ie: primitive field types), in case they don’t have a custom rule assigned to them. |
const micro_ros_utilities_memory_rule_t * | rules All rules defined in this configuration. |
size_t | n_rules Total number of rules defined in this configuration. |
const rcutils_allocator_t * | allocator The allocator to use when applying this configuration. |
Public Attributes Documentation
variable max_string_capacity
size_t max_string_capacity;
Maximum string capacity to use for msg fields in case they don’t have a custom rule assigned to them.
variable max_ros2_type_sequence_capacity
size_t max_ros2_type_sequence_capacity;
Maximum capacity to use for sequence type msg fields (ie: unbounded arrays and lists) which contain ROS 2 msg types, in case they don’t have a custom rule assigned to them.
variable max_basic_type_sequence_capacity
size_t max_basic_type_sequence_capacity;
Maximum capacity to use for sequence type msg fields (ie: unbounded arrays and lists) which contain basic types (ie: primitive field types), in case they don’t have a custom rule assigned to them.
variable rules
const micro_ros_utilities_memory_rule_t * rules;
All rules defined in this configuration.
variable n_rules
size_t n_rules;
Total number of rules defined in this configuration.
variable allocator
const rcutils_allocator_t * allocator;
The allocator to use when applying this configuration.
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