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ROS 2 Client Library for Elixir.

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rclex src nif_funcs.c
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src/nif_funcs.c 

#include "macros.h"

#include "msg_funcs.h" // IWYU pragma: keep

#include "qos.h"

#include "rcl_clock.h"

#include "rcl_init.h"

#include "rcl_node.h"

#include "rcl_publisher.h"

#include "rcl_subscription.h"

#include "rcl_timer.h"

#include "rcl_wait.h"

#include "resource_types.h"

#include "terms.h"

#include <erl_nif.h>

#include <stddef.h>



#define REGULAR_NIF 0

/*

 if not regular nif, use ERL_NIF_DIRTY_JOB_CPU_BOUND or

 ERL_NIF_DIRTY_JOB_IO_BOUND ref.

 https://www.erlang.org/doc/man/erl_nif.html#ErlNifFunc

*/

#define nif_io_bound_func(name, arity)                                                             \

  { #name "!", arity, nif_##name, ERL_NIF_DIRTY_JOB_IO_BOUND }



#define nif_regular_func(name, arity)                                                              \

  { #name "!", arity, nif_##name, REGULAR_NIF }



static ErlNifFunc nif_funcs[] = {

    // clang-format off

    nif_regular_func(test_raise, 0),

    nif_regular_func(test_raise_with_message, 0),

    nif_regular_func(test_qos_profile, 1),

    nif_io_bound_func(rcl_init, 0),

    nif_io_bound_func(rcl_fini, 1),

    nif_io_bound_func(rcl_node_init, 3),

    nif_io_bound_func(rcl_node_fini, 1),

    nif_io_bound_func(rcl_publisher_init, 4),

    nif_io_bound_func(rcl_publisher_fini, 2),

    nif_regular_func(rcl_publish, 2),

    nif_io_bound_func(rcl_subscription_init, 4),

    nif_io_bound_func(rcl_subscription_fini, 2),

    nif_regular_func(rcl_subscription_set_on_new_message_callback, 1),

    nif_regular_func(rcl_subscription_clear_message_callback, 2),

    nif_regular_func(rcl_take, 2),

    nif_io_bound_func(rcl_clock_init, 0),

    nif_io_bound_func(rcl_clock_fini, 1),

    nif_io_bound_func(rcl_timer_init, 3),

    nif_io_bound_func(rcl_timer_fini, 1),

    nif_io_bound_func(rcl_timer_is_ready, 1),

    nif_io_bound_func(rcl_timer_call, 1),

    nif_io_bound_func(rcl_wait_set_init_subscription, 1),

    nif_io_bound_func(rcl_wait_set_init_timer, 1),

    nif_io_bound_func(rcl_wait_set_fini, 1),

    nif_io_bound_func(rcl_wait_subscription, 3),

    nif_io_bound_func(rcl_wait_timer, 3),

    nif_regular_func(rmw_qos_profile_sensor_data, 0),

    nif_regular_func(rmw_qos_profile_parameters, 0),

    nif_regular_func(rmw_qos_profile_default, 0),

    nif_regular_func(rmw_qos_profile_services_default, 0),

    nif_regular_func(rmw_qos_profile_parameter_events, 0),

    nif_regular_func(rmw_qos_profile_system_default, 0),

#include "msg_funcs.ec" // IWYU pragma: keep

    // clang-format on

};



static int load(ErlNifEnv *env, void **priv_data, ERL_NIF_TERM load_info) {

  ignore_unused(priv_data);

  ignore_unused(load_info);



  make_common_atoms(env);

  make_qos_atoms(env);

  make_subscription_atom(env);



  // open_resource_types/2 the 2nd argument is module_str, but document says following.

  // > Argument module_str is not (yet) used and must be NULL

  if (open_resource_types(env, NULL) != 0) return 1;



  return 0;

}



static int upgrade(ErlNifEnv *env, void **priv_data, void **old_priv_data, ERL_NIF_TERM load_info) {

  ignore_unused(old_priv_data);



  return load(env, priv_data, load_info);

}



ERL_NIF_INIT(Elixir.Rclex.Nif, nif_funcs, load, NULL, upgrade, NULL)