.. _program_listing_file_include_rcl_client.h:

Program Listing for File client.h
=================================

|exhale_lsh| :ref:`Return to documentation for file <file_include_rcl_client.h>` (``include/rcl/client.h``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   // 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 RCL__CLIENT_H_
   #define RCL__CLIENT_H_
   
   #ifdef __cplusplus
   extern "C"
   {
   #endif
   
   #include "rosidl_runtime_c/service_type_support_struct.h"
   
   #include "rcl/allocator.h"
   #include "rcl/event_callback.h"
   #include "rcl/macros.h"
   #include "rcl/node.h"
   #include "rcl/publisher.h"
   #include "rcl/service_introspection.h"
   #include "rcl/time.h"
   #include "rcl/visibility_control.h"
   
   #include "rmw/types.h"
   
   typedef struct rcl_client_impl_s rcl_client_impl_t;
   
   typedef struct rcl_client_s
   {
     rcl_client_impl_t * impl;
   } rcl_client_t;
   
   typedef struct rcl_client_options_s
   {
     rmw_qos_profile_t qos;
   
     rcl_allocator_t allocator;
   } rcl_client_options_t;
   
   
   RCL_PUBLIC
   RCL_WARN_UNUSED
   rcl_client_t
   rcl_get_zero_initialized_client(void);
   
   
   RCL_PUBLIC
   RCL_WARN_UNUSED
   rcl_ret_t
   rcl_client_init(
     rcl_client_t * client,
     const rcl_node_t * node,
     const rosidl_service_type_support_t * type_support,
     const char * service_name,
     const rcl_client_options_t * options);
   
   
   RCL_PUBLIC
   RCL_WARN_UNUSED
   rcl_ret_t
   rcl_client_fini(rcl_client_t * client, rcl_node_t * node);
   
   
   RCL_PUBLIC
   RCL_WARN_UNUSED
   rcl_client_options_t
   rcl_client_get_default_options(void);
   
   
   RCL_PUBLIC
   RCL_WARN_UNUSED
   rcl_ret_t
   rcl_send_request(const rcl_client_t * client, const void * ros_request, int64_t * sequence_number);
   
   
   
   RCL_PUBLIC
   RCL_WARN_UNUSED
   rcl_ret_t
   rcl_take_response_with_info(
     const rcl_client_t * client,
     rmw_service_info_t * request_header,
     void * ros_response);
   
   RCL_PUBLIC
   RCL_WARN_UNUSED
   rcl_ret_t
   rcl_take_response(
     const rcl_client_t * client,
     rmw_request_id_t * request_header,
     void * ros_response);
   
   
   RCL_PUBLIC
   RCL_WARN_UNUSED
   const char *
   rcl_client_get_service_name(const rcl_client_t * client);
   
   
   RCL_PUBLIC
   RCL_WARN_UNUSED
   const rcl_client_options_t *
   rcl_client_get_options(const rcl_client_t * client);
   
   
   RCL_PUBLIC
   RCL_WARN_UNUSED
   rmw_client_t *
   rcl_client_get_rmw_handle(const rcl_client_t * client);
   
   
   RCL_PUBLIC
   bool
   rcl_client_is_valid(const rcl_client_t * client);
   
   
   RCL_PUBLIC
   RCL_WARN_UNUSED
   const rmw_qos_profile_t *
   rcl_client_request_publisher_get_actual_qos(const rcl_client_t * client);
   
   
   RCL_PUBLIC
   RCL_WARN_UNUSED
   const rmw_qos_profile_t *
   rcl_client_response_subscription_get_actual_qos(const rcl_client_t * client);
   
   
   RCL_PUBLIC
   RCL_WARN_UNUSED
   rcl_ret_t
   rcl_client_set_on_new_response_callback(
     const rcl_client_t * client,
     rcl_event_callback_t callback,
     const void * user_data);
   
   
   RCL_PUBLIC
   RCL_WARN_UNUSED
   rcl_ret_t
   rcl_client_configure_service_introspection(
     rcl_client_t * client,
     rcl_node_t * node,
     rcl_clock_t * clock,
     const rosidl_service_type_support_t * type_support,
     const rcl_publisher_options_t publisher_options,
     rcl_service_introspection_state_t introspection_state);
   
   #ifdef __cplusplus
   }
   #endif
   
   #endif  // RCL__CLIENT_H_