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 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<std::string>):
    • rcutils_string_array_t
    • rcutils/types/string_array.h
  • A “string-string map” data structure (analogous to std::map<std::string, std::string>)
    • rcutils_string_map_t
    • rcutils/types/string_map.h
• Macros for controlling symbol visibility and linkage for this library:
  • rcutils/visibility_control.h

Changelog for package rcutils

6.2.4 (2024-09-17)

• Add new API to set envar while specifying overwrite (backport #473) (#481) (cherry picked from commit ea3675f63b0ce95dc81dc4a4aa3e263a75615c22) Co-authored-by: Yadu <<yadunund@intrinsic.ai>> Co-authored-by: Alejandro Hernández Cordero <<ahcorde@gmail.com>>
• Contributors: mergify[bot]

6.2.3 (2024-04-19)

• Fix if(TARGET ...) condition for test (#449)
• Contributors: Christophe Bedard

6.2.2 (2023-11-17)

• memmove for overlaping memory (#436)
• Contributors: Tyler Weaver

6.2.1 (2023-04-12)

• fix memory leak (#423)
• Contributors: Chen Lihui

6.2.0 (2023-04-11)

• Add convenience error handling macros (#421)
• Calculate the next power-of-two for the user in hash_map_init. (#420)
• update cast to modern style (#418)
• Remove deprecated header get_env.h (#417)
• Updates to rcutils to make rosdoc2 generation happier. (#416)
• add RCUTILS_LOGGING_AUTOINIT_WITH_ALLOCATOR. (#415)
• Fix memory leak in string_map.c in rcutils (#411)
• avoid unnecessary copy for rcutils_char_array_vsprintf. (#412)
• Contributors: Chris Lalancette, Emerson Knapp, Mario Prats, Nikolai Morin, Tomoya Fujita, methylDragon

6.1.1 (2023-02-24)

• Add missing stddef include for size_t (#410)
• Contributors: Emerson Knapp

6.1.0 (2023-02-13)

• Add SHA256 utility implementation (#408)
• Upgrade rcutils to C++17. (#392)
• [rolling] Update maintainers - 2022-11-07 (#404)
• Contributors: Audrow Nash, Chris Lalancette, Emerson Knapp

6.0.1 (2022-11-02)

• Fix build on OpenHarmony (#395)
• regression of thread-safety for logging macros (#393)
• add portable nonnull macros (#382)
• Fix memory leak when adding the same key to the logger hash map multiple times (#391)
• time_unix: uses ZEPHYR_VERSION_CODE instead (#390)
• Cleanup time_unix.c (#389)
• time_unix: namespace zephyr headers (#383)
• Restrict overmatching MACH ifdef to only trigger on OSX and Mach (#386)
• Contributors: AIxWall, Chris Lalancette, Felipe Neves, Jacob Perron, Maximilian Downey Twiss, William Woodall

6.0.0 (2022-09-13)

• Optimize rcutils_logging_get_logger_effective_level() (#381)
• Change syntax __VAR_ARGS_ to __VA_ARGS_ (#376)
• Fix a bug in hash_map_get_next_key_and_data. (#375)
• More fixes from review.
• Fixes from review.
• Make g_rcutils_logging_output_handler static.
• Make g_rcutils_logging_default_logger_level static.
• Optimize rcutils_find_lastn where possible.

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