nros.hpp

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// nros-cpp: Umbrella header
// Include this single header to get the full nros C++ API.
//
// Freestanding C++ compatible — no STL, no exceptions, no RTTI required.
 
#ifndef NROS_CPP_HPP
#define NROS_CPP_HPP
 
// Phase 118.D — pull cbindgen-generated FFI before any wrapper hpp so
// `nros/qos.hpp`'s `#ifndef NROS_CPP_FFI_H` guard skips its local
// fallback definitions in favor of the canonical types.
#include "nros_cpp_ffi.h"
 
#include "nros/log.hpp"
#include "nros/result.hpp"
#include "nros/qos.hpp"
#include "nros/options.hpp"
#include "nros/future.hpp"
#include "nros/stream.hpp"
// Phase 84.G8: node.hpp no longer pulls in the heavy entity headers —
// each entity header carries its own out-of-line `Node::create_X<>()`
// template definition. The umbrella pulls in every entity explicitly so
// `#include <nros/nros.hpp>` still yields the full API.
#include "nros/node.hpp"
#include "nros/publisher.hpp"
#include "nros/subscription.hpp"
#include "nros/service.hpp"
#include "nros/client.hpp"
#include "nros/action_server.hpp"
#include "nros/action_client.hpp"
#include "nros/polling_action_server.hpp"
#include "nros/polling_action_client.hpp"
#include "nros/parameter.hpp"
#include "nros/tick_ctx.hpp"
#include "nros/lifecycle.hpp"
 
namespace nros {
 
inline void* global_handle() {
    if (!Node::global_initialized()) return nullptr;
    return Node::global_storage();
}
 
inline Result spin_once(int32_t timeout_ms = 10) {
    if (!Node::global_initialized()) {
        return Result(ErrorCode::NotInitialized);
    }
    return Result(nros_cpp_spin_once(Node::global_storage(), timeout_ms));
}
 
inline Result spin() {
    if (!Node::global_initialized()) {
        return Result(ErrorCode::NotInitialized);
    }
    Result last = Result::success();
    while (ok()) {
        last = Result(nros_cpp_spin_once(Node::global_storage(), 10));
        if (!last.ok()) return last;
    }
    return last;
}
 
inline Result spin(uint32_t duration_ms, int32_t poll_ms = 10) {
    if (!Node::global_initialized()) {
        return Result(ErrorCode::NotInitialized);
    }
    uint32_t elapsed = 0;
    Result last = Result::success();
    while (elapsed < duration_ms) {
        int32_t remaining = static_cast<int32_t>(duration_ms - elapsed);
        int32_t timeout = remaining < poll_ms ? remaining : poll_ms;
        last = Result(nros_cpp_spin_once(Node::global_storage(), timeout));
        if (!last.ok()) return last;
        elapsed += static_cast<uint32_t>(timeout);
    }
    return last;
}
 
} // namespace nros
 
#ifdef NROS_CPP_STD
#include "nros/std_compat.hpp"
#endif
 
#endif // NROS_CPP_HPP