subscription.h

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#ifndef NROS_SUBSCRIPTION_H
#define NROS_SUBSCRIPTION_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/subscription.h>` continues to compile. */
#include "rclc/types.h"
/* phase-454 W10 — the DECLARED QoS depth of this component's subscriptions,
 * and `NROS_ASSERT_DECLARED_DEPTH` over it. Included HERE, from the subscribe
 * surface, so a C call site that spells a depth reaches the check without
 * naming a second header — and so `<rclc/rclc.h>` carries it, which is what
 * `just check c`'s umbrella syntax check compiles. Costs nothing when no
 * contract declared anything: the table is then absent and every assertion is
 * a comparison of a number with itself. */
#include "rclc/detail/declared_qos.h"
 
#ifndef __cplusplus
/* issue 1256 -- `rclc/detail/declared_qos.h` is freestanding, so the policy values its
 * table answers in are literals there. This is the first header that sees both
 * them and the enums they stand for, so the two are held equal HERE: a drift
 * fails every C build that includes the subscribe surface, rather than checking
 * every call site against the wrong enumerator. */
_Static_assert(_NROS_DQ_C_NROS_DQ_RELIABLE == RCLC_QOS_RELIABILITY_RELIABLE,
               "declared_qos.h's reliable value drifted from RCLC_QOS_RELIABILITY_RELIABLE");
_Static_assert(_NROS_DQ_C_NROS_DQ_BEST_EFFORT == RCLC_QOS_RELIABILITY_BEST_EFFORT,
               "declared_qos.h's best_effort value drifted from RCLC_QOS_RELIABILITY_BEST_EFFORT");
_Static_assert(_NROS_DQ_C_NROS_DQ_VOLATILE == RCLC_QOS_DURABILITY_VOLATILE,
               "declared_qos.h's volatile value drifted from RCLC_QOS_DURABILITY_VOLATILE");
_Static_assert(_NROS_DQ_C_NROS_DQ_TRANSIENT_LOCAL == RCLC_QOS_DURABILITY_TRANSIENT_LOCAL,
               "declared_qos.h's transient_local value drifted from "
               "RCLC_QOS_DURABILITY_TRANSIENT_LOCAL");
#endif
 
static inline rcl_ret_t rclc_subscription_init_best_effort(
    struct rcl_subscription_t* subscription, const struct rcl_node_t* node,
    const struct rclc_message_type_t* type_info, const char* topic_name) {
    return rclc_subscription_init_with_qos(subscription, node, type_info, topic_name,
                                           &RCLC_QOS_SENSOR_DATA);
}
 
#endif /* NROS_SUBSCRIPTION_H */
 
/* Every upstream-path header carries the whole C API, as `<rclc/rclc.h>` does
 * (phase-492): a ported file that includes only `<rclc/subscription.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"