executor.h

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#ifndef NROS_EXECUTOR_H
#define NROS_EXECUTOR_H
 
/* Type and function definitions live in <rclc/detail/nros_generated.h>.
 * This per-module header is kept as a thin shim so existing code that
 * does `#include <rclc/executor.h>` continues to compile. */
#include "rclc/types.h"
#include "rclc/detail/nros_generated.h"
 
/*
 * Issue 0338 — the entity-registration family is spelled `nros_executor_add_*`,
 * matching rclc (`rclc_executor_add_subscription` / `_add_timer` /
 * `_add_client` / ...). It used to be `nros_executor_register_*` for every kind
 * EXCEPT `add_client`, which kept the rclc spelling — so the family was not even
 * internally consistent and a C user could not guess the verb.
 *
 * These macros keep the old spelling compiling for one release. They are macros
 * rather than exported symbols on purpose: no new ABI surface, and a
 * recompile is all a consumer needs. Code compiled against the old SYMBOLS must
 * be rebuilt.
 *
 * phase-417 stage 6 step B — the `nros_executor_add_timer` forwarder this
 * macro used to route through is DELETED, so `rclc_executor_register_timer`
 * now names `rclc_executor_add_timer` directly. It is the only member of the
 * family whose target moved: every other `nros_executor_add_*` here is a live
 * exported symbol, not a stage-6 rename. Note what the retirement costs this
 * one macro — it used to warn on the way through, and now resolves silently
 * until the 0338 aliases are themselves retired.
 *
 * phase-487 W1 — `nros_executor_register_subscription` is gone with its target:
 * the three-argument `nros_executor_add_subscription` dispatched a callback the
 * subscription struct stored, and that struct no longer stores one. Its
 * replacement takes the callback, `rclc_executor_add_subscription_raw`, so the
 * alias could not forward without changing arity. `_in_group` kept its alias
 * and gained the same two arguments. phase-487 W2 retired
 * `nros_executor_register_service` the same way: its target, the two-argument
 * `nros_executor_add_service`, is gone, and `rclc_executor_add_service_raw`
 * takes the callback.
 */
#ifndef NROS_NO_DEPRECATED_EXECUTOR_REGISTER_ALIASES
#define rclc_executor_register_subscription_raw_with_info                                          \
    rclc_executor_add_subscription_raw_with_info
#define rclc_executor_register_subscription_in_group rclc_executor_add_subscription_in_group
#define rclc_executor_register_timer rclc_executor_add_timer
#define rclc_executor_register_timer_in_group rclc_executor_add_timer_in_group
#define rclc_executor_register_action_server rclc_executor_attach_action_server
#define rclc_executor_register_action_client rclc_executor_attach_action_client
#define rclc_executor_register_time_triggered_dispatcher rclc_executor_add_time_triggered_dispatcher
#endif /* NROS_NO_DEPRECATED_EXECUTOR_REGISTER_ALIASES */
 
#endif /* NROS_EXECUTOR_H */
 
/* Every upstream-path header carries the whole C API, as `<rclc/rclc.h>` does
 * (phase-492): a ported file that includes only `<rclc/executor.h>` still finds
 * `RCLC_CHECK_RET`, `RCLC_LOG_*` and the rcl spellings. Outside the guard, so
 * this header's own declarations are complete before the umbrella reads them. */
#include "rclc/rclc.h"