Support usage without explicit stack allocations

rclc/include/rclc/executor.h

@@ -981,6 +981,47 @@ rclc_executor_trigger_one(
   unsigned int size,
   void * obj);
 
+/**
+ * Allocates an rclc_executor_t object and sets its values to zero. Can be
+ * used as an alternative to rclc_executor_get_zero_initialized_executor() if
+ * no stack allocation can or should be used.
+ *
+ *  * <hr>
+ * Attribute          | Adherence
+ * ------------------ | -------------
+ * Allocates Memory   | Yes
+ * Thread-Safe        | No
+ * Uses Atomics       | No
+ * Lock-Free          | No
+ *
+ * \param[in] allocator the rcl_allocator_t to be used
+ * \return pointer to the executor (rclc_executor_t)
+ * \return NULL, if no memory could be allocated.
+ */
+RCLC_PUBLIC
+rclc_executor_t *
+rclc_alloc_zero_initialized_executor(const rcl_allocator_t * const allocator);
+
+/**
+ *  De-allocates an rclc_executor_t object.
+ *
+ *  * <hr>
+ * Attribute          | Adherence
+ * ------------------ | -------------
+ * Allocates Memory   | Yes
+ * Thread-Safe        | No
+ * Uses Atomics       | No
+ * Lock-Free          | No
+ *
+ * \param[inout] executor a heap-allocated rclc_executor_t
+ * \return `RCL_RET_OK` if operation was successful
+ * \return `RCL_RET_INVALID_ARGUMENT` if any null pointer as argument
+ */
+RCLC_PUBLIC
+rcl_ret_t
+rclc_executor_free(
+  rclc_executor_t * executor);
+
 #if __cplusplus
 }
 #endif

rclc/include/rclc/executor_handle.h

@@ -57,6 +57,9 @@ typedef enum
   ON_NEW_DATA,
   ALWAYS
 } rclc_executor_handle_invocation_t;
+/** Can be used if the node cannot access defines.*/
+RCLC_PUBLIC extern const int32_t rclc_on_new_data;
+RCLC_PUBLIC extern const int32_t rclc_always;
 
 /// Type definition for subscription callback function
 /// - incoming message

rclc/include/rclc/init.h

@@ -104,6 +104,152 @@ rcl_ret_t
 rclc_support_fini(
   rclc_support_t * support);
 
+/**
+ *  Allocates memory for an rclc_support_t object.
+ *  Can be used if no stack allocation can or should be used.
+ *
+ *  * <hr>
+ * Attribute          | Adherence
+ * ------------------ | -------------
+ * Allocates Memory   | Yes
+ * Thread-Safe        | No
+ * Uses Atomics       | No
+ * Lock-Free          | No
+ *
+ * \param[in] allocator the rcl_allocator_t to be used
+ * \return pointer to the support (rclc_support_t)
+ * \return NULL, if no memory could be allocated.
+ */
+RCLC_PUBLIC
+rclc_support_t *
+rclc_support_alloc(const rcl_allocator_t * const allocator);
+
+/**
+ *  Return the pointer to the context member of struct support.
+ *
+ *  * <hr>
+ * Attribute          | Adherence
+ * ------------------ | -------------
+ * Allocates Memory   | No
+ * Thread-Safe        | No
+ * Uses Atomics       | No
+ * Lock-Free          | Yes
+ *
+ * \param[inout] support an instance of type rclc_support_t
+ * \return `RCL_RET_OK` if operation was successful
+ * \return `RCL_RET_INVALID_ARGUMENT` if any null pointer as argument
+ */
+rcl_context_t *
+rclc_get_context(
+  rclc_support_t * support);
+
+/**
+ *  Return the pointer to the allocator member of struct support.
+ *
+ *  * <hr>
+ * Attribute          | Adherence
+ * ------------------ | -------------
+ * Allocates Memory   | No
+ * Thread-Safe        | No
+ * Uses Atomics       | No
+ * Lock-Free          | Yes
+ *
+ * \param[inout] support an instance of type rclc_support_t
+ * \return `RCL_RET_OK` if operation was successful
+ * \return `RCL_RET_INVALID_ARGUMENT` if any null pointer as argument
+ */
+rcl_allocator_t *
+rclc_get_allocator(
+  rclc_support_t * support);
+
+/**
+ *  Return the pointer to the clock member of struct support.
+ *
+ *  * <hr>
+ * Attribute          | Adherence
+ * ------------------ | -------------
+ * Allocates Memory   | No
+ * Thread-Safe        | No
+ * Uses Atomics       | No
+ * Lock-Free          | Yes
+ *
+ * \param[inout] support an instance of type rclc_support_t
+ * \return `RCL_RET_OK` if operation was successful
+ * \return `RCL_RET_INVALID_ARGUMENT` if any null pointer as argument
+ */
+rcl_clock_t *
+rclc_get_clock(
+  rclc_support_t * support);
+
+/**
+ *  De-allocates an rclc_support_t object.
+ *
+ *  * <hr>
+ * Attribute          | Adherence
+ * ------------------ | -------------
+ * Allocates Memory   | Yes
+ * Thread-Safe        | No
+ * Uses Atomics       | No
+ * Lock-Free          | No
+ *
+ * \param[inout] support a heap-allocated rclc_support_t
+ * \param[in] allocator the rcl_allocator_t to be used
+ * \return `RCL_RET_OK` if operation was successful
+ * \return `RCL_RET_INVALID_ARGUMENT` if any null pointer as argument
+ */
+rcl_ret_t
+rclc_support_free(
+  rclc_support_t * support,
+  const rcl_allocator_t * const allocator);
+
+
+/**
+ *  Allocates the rcl_allocator_t object and sets it to default values.
+ *  Can be used as an alternative to rcl_get_default_allocator() if no
+ *  stack allocation can or should be used.
+ *
+ *  * <hr>
+ * Attribute          | Adherence
+ * ------------------ | -------------
+ * Allocates Memory   | Yes
+ * Thread-Safe        | No
+ * Uses Atomics       | No
+ * Lock-Free          | No
+ *
+ * \return pointer to the allocator (rcl_allocator_t)
+ * \return NULL, if no memory could be allocated.
+ */
+RCLC_PUBLIC
+rcl_allocator_t *
+rclc_allocator_alloc_default();
+
+/**
+ *  De-allocates an rcl_allocator_t object.
+ *
+ *  * <hr>
+ * Attribute          | Adherence
+ * ------------------ | -------------
+ * Allocates Memory   | Yes
+ * Thread-Safe        | No
+ * Uses Atomics       | No
+ * Lock-Free          | No
+ *
+ * \param[inout] allocator a heap-allocated rcl_allocator_t
+ * \return `RCL_RET_OK` if operation was successful
+ * \return `RCL_RET_INVALID_ARGUMENT` if any null pointer as argument
+ */
+RCLC_PUBLIC
+rcl_ret_t
+rclc_allocator_free(
+  rcl_allocator_t * allocator);
+
+
+/** Can be used if the node cannot access defines.*/
+RCLC_PUBLIC extern const int32_t rcl_ret_ok;
+RCLC_PUBLIC extern const int32_t rcl_ret_error;
+RCLC_PUBLIC extern const int32_t rcl_ret_timeout;
+RCLC_PUBLIC extern const int32_t rcl_ret_unsupported;
+
 #if __cplusplus
 }
 #endif

rclc/include/rclc/node.h

@@ -78,6 +78,48 @@ rclc_node_init_with_options(
   rclc_support_t * support,
   rcl_node_options_t * node_ops);
 
+/**
+ *  Allocates an rcl_node_t object and sets its values to zero.
+ *  Can be used as an alternative to rcl_get_zero_initialized_node() if no
+ *  stack allocation can or should be used.
+ *
+ *  * <hr>
+ * Attribute          | Adherence
+ * ------------------ | -------------
+ * Allocates Memory   | Yes
+ * Thread-Safe        | No
+ * Uses Atomics       | No
+ * Lock-Free          | No
+ *
+ * \param[in] allocator the rcl_allocator_t to be used
+ * \return pointer to the node (rcl_node_t)
+ * \return NULL, if no memory could be allocated.
+ */
+RCLC_PUBLIC
+rcl_node_t *
+rclc_alloc_zero_initialized_node(const rcl_allocator_t * const allocator);
+
+/**
+ *  De-allocates an rcl_node_t object.
+ *
+ *  * <hr>
+ * Attribute          | Adherence
+ * ------------------ | -------------
+ * Allocates Memory   | Yes
+ * Thread-Safe        | No
+ * Uses Atomics       | No
+ * Lock-Free          | No
+ *
+ * \param[inout] node a heap-allocated rcl_node_t
+ * \param[in] allocator the rcl_allocator_t to be used
+ * \return `RCL_RET_OK` if operation was successful
+ * \return `RCL_RET_INVALID_ARGUMENT` if any null pointer as argument
+ */
+RCLC_PUBLIC
+rcl_ret_t
+rclc_node_free(
+  rcl_node_t * node,
+  const rcl_allocator_t * const allocator);
 
 #if __cplusplus
 }

rclc/include/rclc/publisher.h

@@ -108,6 +108,48 @@ rclc_publisher_init(
   const char * topic_name,
   const rmw_qos_profile_t * qos_profile);
 
+/**
+ *  Allocates memory for an rcl_publisher_t object.
+ *  Can be used as if no stack allocation can or should be used.
+ *
+ *  * <hr>
+ * Attribute          | Adherence
+ * ------------------ | -------------
+ * Allocates Memory   | Yes
+ * Thread-Safe        | No
+ * Uses Atomics       | No
+ * Lock-Free          | No
+ *
+ * \param[in] allocator the rcl_allocator_t to be used
+ * \return pointer to a publisher (rcl_publisher_t)
+ * \return NULL, if no memory could be allocated.
+ */
+RCLC_PUBLIC
+rcl_publisher_t *
+rclc_publisher_alloc(
+  const rcl_allocator_t * const allocator);
+
+/**
+ *  De-allocates an rcl_publisher_t object.
+ *
+ *  * <hr>
+ * Attribute          | Adherence
+ * ------------------ | -------------
+ * Allocates Memory   | Yes
+ * Thread-Safe        | No
+ * Uses Atomics       | No
+ * Lock-Free          | No
+ *
+ * \param[inout] publisher a heap-allocated rcl_publisher_t
+ * \param[in] allocator the rcl_allocator_t to be used
+ * \return `RCL_RET_OK` if operation was successful
+ * \return `RCL_RET_INVALID_ARGUMENT` if any null pointer as argument
+ */
+rcl_ret_t
+rclc_publisher_free(
+  rcl_publisher_t * publisher,
+  const rcl_allocator_t * const allocator);
+
 #if __cplusplus
 }
 #endif

rclc/include/rclc/subscription.h

@@ -107,6 +107,51 @@ rclc_subscription_init(
   const char * topic_name,
   const rmw_qos_profile_t * qos_profile);
 
+/**
+ *  Allocates an rcl_subscription_t object and sets its values to zero.
+ *  Can be used as an alternative to rcl_get_zero_initialized_subscription() if no
+ *  stack allocation can or should be used.
+ *
+ *  * <hr>
+ * Attribute          | Adherence
+ * ------------------ | -------------
+ * Allocates Memory   | Yes
+ * Thread-Safe        | No
+ * Uses Atomics       | No
+ * Lock-Free          | No
+ *
+ * \param[in] allocator the rcl_allocator_t to be used
+ * \return pointer to the subscription (rcl_subscription_t)
+ * \return NULL, if no memory could be allocated.
+ */
+RCLC_PUBLIC
+rcl_subscription_t *
+rclc_alloc_zero_initialized_subscription(
+  const rcl_allocator_t * const allocator
+);
+
+/**
+ *  De-allocates an rcl_subscription_t object.
+ *
+ *  * <hr>
+ * Attribute          | Adherence
+ * ------------------ | -------------
+ * Allocates Memory   | Yes
+ * Thread-Safe        | No
+ * Uses Atomics       | No
+ * Lock-Free          | No
+ *
+ * \param[inout] subscription a heap-allocated rcl_subscription_t
+ * \param[in] allocator the rcl_allocator_t to be used
+ * \return `RCL_RET_OK` if operation was successful
+ * \return `RCL_RET_INVALID_ARGUMENT` if any null pointer as argument
+ */
+RCLC_PUBLIC
+rcl_ret_t
+rclc_subscription_free(
+  rcl_subscription_t * subscription,
+  const rcl_allocator_t * const allocator);
+
 #if __cplusplus
 }
 #endif