refactors and renames

Signed-off-by: William Woodall <william@osrfoundation.org>

rmw/include/rmw/init.h

@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef RMW__RMW_H_
-#define RMW__RMW_H_
+#ifndef RMW__INIT_H_
+#define RMW__INIT_H_
 
 #ifdef __cplusplus
 extern "C"
@@ -23,7 +23,7 @@ extern "C"
 #include <stdint.h>
 
 #include "rmw/macros.h"
-#include "rmw/types.h"
+#include "rmw/ret_types.h"
 #include "rmw/visibility_control.h"
 
 /// Implementation defined options structure used during rmw_init().
@@ -44,6 +44,7 @@ typedef struct RMW_PUBLIC_TYPE rmw_init_options_t {
   /// Implementation identifier, used to ensure two different implementations are not being mixed.
   const char * implementation_identifier;
   /// Implementation defined init options.
+  /** May be NULL if there are no implementation defined options. */
   rmw_init_options_impl_t * impl;
 } rmw_init_options_t;
 
@@ -60,23 +61,24 @@ rmw_get_default_init_options(void);
 /**
  * This should be defined by the rmw implementation.
  */
-typedef struct rmw_init_context_impl_t rmw_init_context_impl_t;
+typedef struct rmw_context_impl_t rmw_context_impl_t;
 
 /// Initialization context structure which is used to store init specific information.
-typedef struct RMW_PUBLIC_TYPE rmw_init_context_t {
+typedef struct RMW_PUBLIC_TYPE rmw_context_t {
   /// Locally (process local) unique ID that represents this init/shutdown cycle.
   uint64_t instance_id;
   /// Implementation identifier, used to ensure two different implementations are not being mixed.
   const char * implementation_identifier;
   /// Implementation defined init context information.
-  rmw_init_context_impl_t * impl;
-} rmw_init_context_t;
+  /** May be NULL if there is no implementation defined context information. */
+  rmw_context_impl_t * impl;
+} rmw_context_t;
 
 /// Return a zero initialized init context structure.
 RMW_PUBLIC
 RMW_WARN_UNUSED
-rmw_init_context_t
-rmw_get_zero_initialized_init_context(void);
+rmw_context_t
+rmw_get_zero_initialized_context(void);
 
 /// Initialize the middleware with the given options, and yielding an init context.
 /**
@@ -106,7 +108,7 @@ rmw_get_zero_initialized_init_context(void);
 RMW_PUBLIC
 RMW_WARN_UNUSED
 rmw_ret_t
-rmw_init(const rmw_init_options_t * options, rmw_init_context_t * context);
+rmw_init(const rmw_init_options_t * options, rmw_context_t * context);
 
 /// Shutdown the middleware for a given init context.
 /**
@@ -133,10 +135,10 @@ rmw_init(const rmw_init_options_t * options, rmw_init_context_t * context);
 RMW_PUBLIC
 RMW_WARN_UNUSED
 rmw_ret_t
-rmw_shutdown(rmw_init_context_t * context);
+rmw_shutdown(rmw_context_t * context);
 
 #ifdef __cplusplus
 }
 #endif
 
-#endif  // RMW__RMW_H_
+#endif  // RMW__INIT_H_

rmw/include/rmw/ret_types.h

@@ -0,0 +1,41 @@
+// Copyright 2014-2018 Open Source Robotics Foundation, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef RMW__RET_TYPES_H_
+#define RMW__RET_TYPES_H_
+
+#ifdef __cplusplus
+extern "C"
+{
+#endif
+
+#include <stdint.h>
+
+typedef int32_t rmw_ret_t;
+#define RMW_RET_OK 0
+#define RMW_RET_ERROR 1
+#define RMW_RET_TIMEOUT 2
+
+/// Failed to allocate memory return code.
+#define RMW_RET_BAD_ALLOC 10
+/// Invalid argument return code.
+#define RMW_RET_INVALID_ARGUMENT 11
+/// Incorrect rmw implementation.
+#define RMW_RET_INCORRECT_RMW_IMPLEMENTATION 12
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif  // RMW__RET_TYPES_H_

rmw/include/rmw/rmw.h

@@ -124,12 +124,12 @@ rmw_get_serialization_format(void);
 /// Create a node and return a handle to that node.
 /**
  * This function can fail, and therefore return `NULL`, if:
- *   - init_context, name, namespace_, or security_options is `NULL`
- *   - init_context, security_options is invalid
+ *   - context, name, namespace_, or security_options is `NULL`
+ *   - context, security_options is invalid
  *   - memory allocation fails during node creation
  *   - an unspecified error occurs
  *
- * The init_context must be non-null and valid, i.e. it has been initialized
+ * The context must be non-null and valid, i.e. it has been initialized
  * by `rmw_init()` and has not been finalized by `rmw_shutdown()`.
  *
  * The name and namespace_ should be valid node name and namespace,
@@ -153,7 +153,7 @@ rmw_get_serialization_format(void);
  *
  * This should be defined by the rmw implementation.
  *
- * \param[in] init_context init context that this node should be associated with
+ * \param[in] context init context that this node should be associated with
  * \param[in] name the node name
  * \param[in] namespace_ the node namespace
  * \param[in] domain_id the id of the domain that the node should join
@@ -164,7 +164,7 @@ RMW_PUBLIC
 RMW_WARN_UNUSED
 rmw_node_t *
 rmw_create_node(
-  rmw_init_context_t * init_context,
+  rmw_context_t * context,
   const char * name,
   const char * namespace_,
   size_t domain_id,
@@ -438,12 +438,12 @@ rmw_send_response(
 /// Create a guard condition and return a handle to that guard condition.
 /**
  * This function can fail, and therefore return `NULL`, if:
- *   - init_context is `NULL`
- *   - init_context is invalid
+ *   - context is `NULL`
+ *   - context is invalid
  *   - memory allocation fails during guard condition creation
  *   - an unspecified error occurs
  *
- * The init_context must be non-null and valid, i.e. it has been initialized
+ * The context must be non-null and valid, i.e. it has been initialized
  * by `rmw_init()` and has not been finalized by `rmw_shutdown()`.
  *
  * <hr>
@@ -457,13 +457,13 @@ rmw_send_response(
  *
  * This should be defined by the rmw implementation.
  *
- * \param[in] init_context init context that this node should be associated with
+ * \param[in] context init context that this node should be associated with
  * \return rmw guard condition handle or `NULL` if there was an error
  */
 RMW_PUBLIC
 RMW_WARN_UNUSED
 rmw_guard_condition_t *
-rmw_create_guard_condition(rmw_init_context_t * init_context);
+rmw_create_guard_condition(rmw_context_t * context);
 
 
 /// Finalize a given guard condition handle, reclaim the resources, and deallocate the handle.

rmw/include/rmw/types.h

@@ -27,35 +27,22 @@ extern "C"
 // map rcutils specific log levels to rmw speicfic type
 #include <rcutils/logging.h>
 
+#include "rmw/init.h"
+#include "rmw/ret_types.h"
 #include "rmw/serialized_message.h"
 #include "rmw/visibility_control.h"
 
-typedef int rmw_ret_t;
-#define RMW_RET_OK 0
-#define RMW_RET_ERROR 1
-#define RMW_RET_TIMEOUT 2
-
-/// Failed to allocate memory return code.
-#define RMW_RET_BAD_ALLOC 10
-/// Invalid argument return code.
-#define RMW_RET_INVALID_ARGUMENT 11
-/// Incorrect rmw implementation.
-#define RMW_RET_INCORRECT_RMW_IMPLEMENTATION 12
-
 // 24 bytes is the most memory needed to represent the GID by any current
 // implementation. It may need to be increased in the future.
 #define RMW_GID_STORAGE_SIZE 24
 
-// forward declaration to avoid circular dependency
-typedef struct rmw_init_context_t rmw_init_context_t;
-
 typedef struct RMW_PUBLIC_TYPE rmw_node_t
 {
   const char * implementation_identifier;
   void * data;
   const char * name;
   const char * namespace_;
-  rmw_init_context_t * init_context;
+  rmw_context_t * context;
 } rmw_node_t;
 
 typedef struct RMW_PUBLIC_TYPE rmw_publisher_t
@@ -90,7 +77,7 @@ typedef struct RMW_PUBLIC_TYPE rmw_guard_condition_t
 {
   const char * implementation_identifier;
   void * data;
-  rmw_init_context_t * init_context;
+  rmw_context_t * context;
 } rmw_guard_condition_t;
 
 /// Array of subscriber handles.

rmw/src/init.c

@@ -12,17 +12,19 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
+#include <stddef.h>
+
 #include "rmw/init.h"
 
 #ifdef __cplusplus
 extern "C"
 {
 #endif
 
-rmw_init_context_t
-rmw_get_zero_initialized_init_context(void)
+rmw_context_t
+rmw_get_zero_initialized_context(void)
 {
-  return (const rmw_init_context_t) {
+  return (const rmw_context_t) {
     .instance_id = 0,
     .impl = NULL
   };