Packages

rclex

0.11.2
0.13.1 0.13.0 0.12.0 0.11.3 0.11.2 0.11.1 0.11.0 0.10.1 0.10.0 0.9.3 0.9.2 0.9.1 0.9.0 0.8.5 0.8.4 0.8.3 0.8.2 0.8.1 0.8.0 0.7.2 0.7.1 0.7.0 0.6.2 0.6.1 0.6.0 0.5.3 0.5.2 0.5.1 0.5.0 0.4.1 0.4.0 0.3.1 0.3.0 0.2.0 0.1.0

ROS 2 Client Library for Elixir.

HexDocs

Current section

Files

Jump to
Readme
35 Versions
2 Dependencies
0 Dependants
Files
Activity
rclex src resource_types.c
Raw

src/resource_types.c 

#include "resource_types.h"

#include <erl_nif.h>

#include <stddef.h>



ErlNifResourceType *rt_rcl_context_t;

ErlNifResourceType *rt_rcl_node_t;

ErlNifResourceType *rt_rcl_publisher_t;

ErlNifResourceType *rt_rcl_subscription_t;

ErlNifResourceType *rt_rcl_clock_t;

ErlNifResourceType *rt_rcl_timer_t;

ErlNifResourceType *rt_rcl_wait_set_t;

ErlNifResourceType *rt_rosidl_message_type_support_t;

ErlNifResourceType *rt_ros_message;

ErlNifResourceType *rt_subscription_callback_resource;



#define open_rt_return_if_error(env, module, name, flags)                                          \

  rt_##name = enif_open_resource_type(env, module, #name, NULL, flags, NULL);                      \

  if (rt_##name == NULL) return 1;



int open_resource_types(ErlNifEnv *env, const char *module) {

  ErlNifResourceFlags flags = ERL_NIF_RT_CREATE | ERL_NIF_RT_TAKEOVER;



  open_rt_return_if_error(env, module, rcl_context_t, flags);

  open_rt_return_if_error(env, module, rcl_node_t, flags);

  open_rt_return_if_error(env, module, rcl_publisher_t, flags);

  open_rt_return_if_error(env, module, rcl_subscription_t, flags);

  open_rt_return_if_error(env, module, rcl_clock_t, flags);

  open_rt_return_if_error(env, module, rcl_timer_t, flags);

  open_rt_return_if_error(env, module, rcl_wait_set_t, flags);

  open_rt_return_if_error(env, module, rosidl_message_type_support_t, flags);

  open_rt_return_if_error(env, module, ros_message, flags);

  open_rt_return_if_error(env, module, subscription_callback_resource, flags);



  return 0;

}