https://github.com/ros2/rcutils

Common C functions and data structures used in ROS 2
https://github.com/ros2/rcutils

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Common C functions and data structures used in ROS 2

• Host: GitHub
• URL: https://github.com/ros2/rcutils
• Owner: ros2
• License: apache-2.0
• Created: 2017-02-09T18:56:35.000Z (almost 8 years ago)
• Default Branch: rolling
• Last Pushed: 2024-04-22T10:45:56.000Z (7 months ago)
• Last Synced: 2024-04-22T11:50:15.922Z (7 months ago)
• Topics: hacktoberfest
• Language: C
• Homepage:
• Size: 1.04 MB
• Stars: 54
• Watchers: 27
• Forks: 97
• Open Issues: 20
• Metadata Files:
  • Readme: README.md
  • Changelog: CHANGELOG.rst
  • Contributing: CONTRIBUTING.md
  • License: LICENSE
  • Codeowners: CODEOWNERS

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README

        
# rcutils: ROS 2 C Utilities data structures

`rcutils` is a C API consisting of macros, functions, and data structures used through out the ROS 2 code base.

## Quality Declaration

This package claims to be in the **Quality Level 1** category, see the [Quality Declaration](./QUALITY_DECLARATION.md) for more details.

## API

The API is a combination of parts:

- Allocator concept, used to inject the allocating and deallocating methods into a function or type.

  - rcutils_allocator_t

  - rcutils/allocator.h

- Command line interface utilities:

  - rcutils/cmdline_parser.h

- Utilities for setting error states (error message, file, and line number) like `strerror` for `errno`:

  - rcutils/error_handling.h

- Some basic filesystem utilities like checking for path existence, getting the cwd, etc...:

  - rcutils/filesystem.h

- A C string find method:

  - rcutils_find()

  - rcutils_find_last()

  - rcutils/find.h

- A convenient string formatting function, which takes a custom allocator:

  - rcutils_format_string()

  - rcutils/format_string.h

- Functions for interfacing with process environment variables:

  - rcutils_get_env()

  - rcutils_get_home_dir()

  - rcutils_set_env()

  - rcutils/env.h

- Extensible logging macros:

  - Some examples (not exhaustive):

    - RCUTILS_LOG_DEBUG()

    - RCUTILS_LOG_INFO_NAMED()

    - RCUTILS_LOG_WARN_ONCE()

    - RCUTILS_LOG_ERROR_SKIPFIRST_NAMED()

  - rcutils/logging_macros.h

  - rcutils/logging.h

- Some basic utilities to load, unload and get symbols from shared libraries at run-time.

  - rcutils/shared_library.h

- A string replacement function which takes an allocator, based on http://creativeandcritical.net/str-replace-c:

  - rcutils_repl_str()

  - rcutils/repl_str.h

- String splitting functions which take a custom allocator:

  - rcutils_split()

  - rcutils_split_last()

  - rcutils/split.h

- A version of `strdup` which takes an allocator:

  - rcutils_strdup()

  - rcutils/strdup.h

- Portable implementations of "get system time" and "get steady time":

  - rcutils_system_time_now()

  - rcutils_steady_time_now()

  - rcutils/time.h

- Some useful data structures:

  - A "string array" data structure (analogous to `std::vector`):

    - rcutils_string_array_t

    - rcutils/types/string_array.h

  - A "string-string map" data structure (analogous to `std::map`)

    - rcutils_string_map_t

    - rcutils/types/string_map.h

- Macros for controlling symbol visibility and linkage for this library:

  - rcutils/visibility_control.h