rmw_entity.h File Reference

Typed entity structs for the nros RMW C surface. More...

#include <stdbool.h>
#include <stdint.h>
#include <stddef.h>

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Data Structures
struct	nros_rmw_publisher_t
struct	nros_rmw_qos_t
struct	nros_rmw_service_client_t
struct	nros_rmw_service_server_t
struct	nros_rmw_session_t
struct	nros_rmw_subscriber_t

Macros
#define	NROS_RMW_DURABILITY_TRANSIENT_LOCAL   1
#define	NROS_RMW_DURABILITY_VOLATILE   0
#define	NROS_RMW_HISTORY_KEEP_ALL   1
#define	NROS_RMW_HISTORY_KEEP_LAST   0
#define	NROS_RMW_QOS_PROFILE_DEFAULT
#define	NROS_RMW_QOS_PROFILE_PARAMETERS
#define	NROS_RMW_QOS_PROFILE_SENSOR_DATA
#define	NROS_RMW_QOS_PROFILE_SERVICES_DEFAULT   NROS_RMW_QOS_PROFILE_DEFAULT
#define	NROS_RMW_QOS_PROFILE_SYSTEM_DEFAULT   NROS_RMW_QOS_PROFILE_DEFAULT
#define	NROS_RMW_RELIABILITY_BEST_EFFORT   0
#define	NROS_RMW_RELIABILITY_RELIABLE   1

Enumerations
enum	nros_rmw_liveliness_kind_t { NROS_RMW_LIVELINESS_NONE = 0 , NROS_RMW_LIVELINESS_AUTOMATIC = 1 , NROS_RMW_LIVELINESS_MANUAL_BY_TOPIC = 2 , NROS_RMW_LIVELINESS_MANUAL_BY_NODE = 3 }

Detailed Description

Typed entity structs for the nros RMW C surface.

Same shape as upstream rmw.h's rmw_publisher_t / rmw_subscription_t family: visible metadata + a void * data tail (named backend_data here). No generic-handle typedef.

Lifetime rule. All const char * string fields are borrowed pointers — the storage pointing at them is owned by the caller (the runtime) and must outlive the entity. Backends never free or reallocate these strings; they hold them as-is for the entity's lifetime.

ABI commitment. These structs are part of the public ABI. Adding or reordering fields is a major version bump. Backends compile against this header and consumers compile against backend libraries — both sides must agree on the layout.

Forward-compat reserved bytes. Each entity carries an explicit _reserved[N] byte array sized to fill the natural alignment slot before backend_data. New fields up to N bytes can be added later without changing the struct's overall size or any field's offset after backend_data. Backends and runtime must zero the reserved bytes; the runtime relies on them being zero on read.

No-alloc + no-std preserved. No struct here owns heap-allocated storage. All metadata is either inline POD or a borrowed pointer.

Macro Definition Documentation

NROS_RMW_DURABILITY_TRANSIENT_LOCAL

#define NROS_RMW_DURABILITY_TRANSIENT_LOCAL   1

NROS_RMW_DURABILITY_VOLATILE

#define NROS_RMW_DURABILITY_VOLATILE   0

Durability policy values for nros_rmw_qos_t::durability.

NROS_RMW_HISTORY_KEEP_ALL

#define NROS_RMW_HISTORY_KEEP_ALL   1

NROS_RMW_HISTORY_KEEP_LAST

#define NROS_RMW_HISTORY_KEEP_LAST   0

History policy values for nros_rmw_qos_t::history.

NROS_RMW_QOS_PROFILE_DEFAULT

#define NROS_RMW_QOS_PROFILE_DEFAULT

Value:

    ((nros_rmw_qos_t){                                                   \
        .reliability = NROS_RMW_RELIABILITY_RELIABLE,                    \
        .durability  = NROS_RMW_DURABILITY_VOLATILE,                     \
        .history     = NROS_RMW_HISTORY_KEEP_LAST,                       \
        .liveliness_kind = NROS_RMW_LIVELINESS_AUTOMATIC,                \
        .depth       = 10,                                               \
        ._reserved0  = 0,                                                \
        .deadline_ms = 0,                                                \
        .lifespan_ms = 0,                                                \
        .liveliness_lease_ms = 0,                                        \
        .avoid_ros_namespace_conventions = 0,                            \
        ._reserved1  = {0, 0, 0},                                        \
    })

rmw_qos_profile_default-equivalent: reliable + volatile + keep-last(10), automatic liveliness, no deadline / lifespan.

NROS_RMW_QOS_PROFILE_PARAMETERS

#define NROS_RMW_QOS_PROFILE_PARAMETERS

Value:

    ((nros_rmw_qos_t){                                                   \
        .reliability = NROS_RMW_RELIABILITY_RELIABLE,                    \
        .durability  = NROS_RMW_DURABILITY_VOLATILE,                     \
        .history     = NROS_RMW_HISTORY_KEEP_LAST,                       \
        .liveliness_kind = NROS_RMW_LIVELINESS_AUTOMATIC,                \
        .depth       = 1000,                                             \
        ._reserved0  = 0,                                                \
        .deadline_ms = 0,                                                \
        .lifespan_ms = 0,                                                \
        .liveliness_lease_ms = 0,                                        \
        .avoid_ros_namespace_conventions = 0,                            \
        ._reserved1  = {0, 0, 0},                                        \
    })

rmw_qos_profile_parameters-equivalent: reliable + volatile + keep-last(1000).

NROS_RMW_QOS_PROFILE_SENSOR_DATA

#define NROS_RMW_QOS_PROFILE_SENSOR_DATA

Value:

    ((nros_rmw_qos_t){                                                   \
        .reliability = NROS_RMW_RELIABILITY_BEST_EFFORT,                 \
        .durability  = NROS_RMW_DURABILITY_VOLATILE,                     \
        .history     = NROS_RMW_HISTORY_KEEP_LAST,                       \
        .liveliness_kind = NROS_RMW_LIVELINESS_AUTOMATIC,                \
        .depth       = 5,                                                \
        ._reserved0  = 0,                                                \
        .deadline_ms = 0,                                                \
        .lifespan_ms = 0,                                                \
        .liveliness_lease_ms = 0,                                        \
        .avoid_ros_namespace_conventions = 0,                            \
        ._reserved1  = {0, 0, 0},                                        \
    })

rmw_qos_profile_sensor_data-equivalent: best-effort + volatile + keep-last(5).

NROS_RMW_QOS_PROFILE_SERVICES_DEFAULT

#define NROS_RMW_QOS_PROFILE_SERVICES_DEFAULT   NROS_RMW_QOS_PROFILE_DEFAULT

rmw_qos_profile_services_default-equivalent: reliable + volatile + keep-last(10).

NROS_RMW_QOS_PROFILE_SYSTEM_DEFAULT

#define NROS_RMW_QOS_PROFILE_SYSTEM_DEFAULT   NROS_RMW_QOS_PROFILE_DEFAULT

rmw_qos_profile_system_default-equivalent: same as DEFAULT.

NROS_RMW_RELIABILITY_BEST_EFFORT

#define NROS_RMW_RELIABILITY_BEST_EFFORT   0

Reliability policy values for nros_rmw_qos_t::reliability.

NROS_RMW_RELIABILITY_RELIABLE

#define NROS_RMW_RELIABILITY_RELIABLE   1

Enumeration Type Documentation

nros_rmw_liveliness_kind_t

enum nros_rmw_liveliness_kind_t

Liveliness kind values for nros_rmw_qos_t::liveliness_kind.

Enumerator
NROS_RMW_LIVELINESS_NONE	No liveliness assertion or tracking. Default for entities that don't care about liveliness.
NROS_RMW_LIVELINESS_AUTOMATIC	Backend's keepalive task asserts liveliness automatically.
NROS_RMW_LIVELINESS_MANUAL_BY_TOPIC	Application calls assert_liveliness() per topic explicitly.
NROS_RMW_LIVELINESS_MANUAL_BY_NODE	Application calls assert_liveliness() at the node level.