text: // Copyright (c) 2020 - for information on the respective copyright owner
  // see the NOTICE file and/or the repository https://github.com/ros2/rclc.
  // Copyright 2014 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 RCLC__SERVICE_H_
  #define RCLC__SERVICE_H_
  
  #if __cplusplus
  extern "C"
  {
  #endif
  
  #include <rcl/service.h>
  #include <rcl/allocator.h>
  #include <rclc/types.h>
  #include "rclc/visibility_control.h"
  
  /**
   *  Creates an rcl service.
   *
   *  * <hr>
   * Attribute          | Adherence
   * ------------------ | -------------
   * Allocates Memory   | Yes (in RCL)
   * Thread-Safe        | No
   * Uses Atomics       | No
   * Lock-Free          | Yes
   *
   * \param[inout] service a zero_initialized rcl_service_t
   * \param[in] node pointer to an initialized rcl node
   * \param[in] type_support type of the request message
   * \param[in] service_name the name of service topic
   * \return `RCL_RET_OK` if successful
   * \return `RCL_ERROR` (or other error code) if an error has occurred
   */
  RCLC_PUBLIC
  rcl_ret_t
  rclc_service_init_default(
    rcl_service_t * service,
    const rcl_node_t * node,
    const rosidl_service_type_support_t * type_support,
    const char * service_name);
  
  /**
   *  Creates an rcl service with quality-of-service option best effort
   *
   *  * <hr>
   * Attribute          | Adherence
   * ------------------ | -------------
   * Allocates Memory   | Yes (in RCL)
   * Thread-Safe        | No
   * Uses Atomics       | No
   * Lock-Free          | Yes
   *
   * \param[inout] service a zero_initialized rcl_service_t
   * \param[in] node pointer to an initialized rcl node
   * \param[in] type_support type of the request message
   * \param[in] service_name the name of service topic
   * \return `RCL_RET_OK` if successful
   * \return `RCL_ERROR` (or other error code) if an error has occurred
   */
  RCLC_PUBLIC
  rcl_ret_t
  rclc_service_init_best_effort(
    rcl_service_t * service,
    const rcl_node_t * node,
    const rosidl_service_type_support_t * type_support,
    const char * service_name);
  
  #if __cplusplus
  }
  #endif
  
  #endif  // RCLC__SERVICE_H_
  