iceoryx_binding_c/publisher.h🔗
Classes🔗
Name | |
---|---|
struct | iox_pub_options_t options to be set for a publisher |
Types🔗
Name | |
---|---|
typedef struct cpp2c_Publisher * | iox_pub_t publisher handle |
Functions🔗
Name | |
---|---|
void | iox_pub_options_init(iox_pub_options_t * options) initialize publisher options to default values |
bool | iox_pub_options_is_initialized(const iox_pub_options_t *const options) check whether the publisher options were initialized by iox_pub_options_init |
iox_pub_t | iox_pub_init(iox_pub_storage_t * self, const char const service, const char const instance, const char const event, const iox_pub_options_t const options) creates a publisher handle |
void | iox_pub_deinit(iox_pub_t const self) removes a publisher handle |
ENUM iox_AllocationResult | iox_pub_loan_chunk(iox_pub_t const self, void **const userPayload, const uint32_t userPayloadSize) allocates a chunk in the shared memory |
ENUM iox_AllocationResult | iox_pub_loan_aligned_chunk(iox_pub_t const self, void **const userPayload, const uint32_t userPayloadSize, const uint32_t userPayloadAlignment) allocates a chunk in the shared memory with a custom alignment for the user-payload |
ENUM iox_AllocationResult | iox_pub_loan_aligned_chunk_with_user_header(iox_pub_t const self, void **const userPayload, const uint32_t userPayloadSize, const uint32_t userPayloadAlignment, const uint32_t userHeaderSize, const uint32_t userHeaderAlignment) allocates a chunk in the shared memory with a section for the user-header and a custom alignment for the user-payload |
void | iox_pub_release_chunk(iox_pub_t const self, void *const userPayload) releases ownership of a previously allocated chunk without sending it |
void | iox_pub_publish_chunk(iox_pub_t const self, void *const userPayload) sends a previously allocated chunk |
void | iox_pub_offer(iox_pub_t const self) offers the service |
void | iox_pub_stop_offer(iox_pub_t const self) stop offering the service |
bool | iox_pub_is_offered(iox_pub_t const self) is the service still offered |
bool | iox_pub_has_subscribers(iox_pub_t const self) does the service have subscribers |
iox_service_description_t | iox_pub_get_service_description(iox_pub_t const self) returns the service description of the publisher |
Types Documentation🔗
typedef iox_pub_t🔗
typedef struct cpp2c_Publisher* iox_pub_t;
publisher handle
Functions Documentation🔗
function iox_pub_options_init🔗
void iox_pub_options_init(
iox_pub_options_t * options
)
initialize publisher options to default values
Parameters:
- options pointer to options to be initialized, emit warning if it is a null pointer
Attention: This must always be called on a newly created options struct to prevent uninitialized values. The options may get extended in the future.
function iox_pub_options_is_initialized🔗
bool iox_pub_options_is_initialized(
const iox_pub_options_t *const options
)
check whether the publisher options were initialized by iox_pub_options_init
Parameters:
- options pointer to options to be checked
Return: true if options are not null and were initialized, false otherwise
function iox_pub_init🔗
iox_pub_t iox_pub_init(
iox_pub_storage_t * self,
const char *const service,
const char *const instance,
const char *const event,
const iox_pub_options_t *const options
)
creates a publisher handle
Parameters:
- self pointer to preallocated memory of size = sizeof(iox_pub_storage_t)
- service serviceString
- instance instanceString
- event eventString
- options publisher options set by the user, if it is a null pointer default options are used
Return: handle of the publisher
function iox_pub_deinit🔗
void iox_pub_deinit(
iox_pub_t const self
)
removes a publisher handle
Parameters:
- self the handle which should be removed
function iox_pub_loan_chunk🔗
ENUM iox_AllocationResult iox_pub_loan_chunk(
iox_pub_t const self,
void **const userPayload,
const uint32_t userPayloadSize
)
allocates a chunk in the shared memory
Parameters:
- self handle of the publisher
- userPayload pointer in which a pointer to the user-payload of the allocated chunk is stored
- userPayloadSize user-payload size of the allocated chunk
Return: on success it returns AllocationResult_SUCCESS otherwise a value which describes the error
Note: for the user-payload alignment IOX_C_CHUNK_DEFAULT_USER_PAYLOAD_ALIGNMENT
is used for a custom user-payload alignment please use iox_pub_loan_aligned_chunk
function iox_pub_loan_aligned_chunk🔗
ENUM iox_AllocationResult iox_pub_loan_aligned_chunk(
iox_pub_t const self,
void **const userPayload,
const uint32_t userPayloadSize,
const uint32_t userPayloadAlignment
)
allocates a chunk in the shared memory with a custom alignment for the user-payload
Parameters:
- self handle of the publisher
- userPayload pointer in which a pointer to the user-payload of the allocated chunk is stored
- userPayloadSize user-payload size of the allocated chunk
- userPayloadAlignment user-payload alignment of the allocated chunk
Return: on success it returns AllocationResult_SUCCESS otherwise a value which describes the error
function iox_pub_loan_aligned_chunk_with_user_header🔗
ENUM iox_AllocationResult iox_pub_loan_aligned_chunk_with_user_header(
iox_pub_t const self,
void **const userPayload,
const uint32_t userPayloadSize,
const uint32_t userPayloadAlignment,
const uint32_t userHeaderSize,
const uint32_t userHeaderAlignment
)
allocates a chunk in the shared memory with a section for the user-header and a custom alignment for the user-payload
Parameters:
- self handle of the publisher
- userPayload pointer in which a pointer to the user-payload of the allocated chunk is stored
- userPayloadSize user-payload size of the allocated chunk
- userPayloadAlignment user-payload alignment of the allocated chunk
- userHeaderSize user-header size of the allocated chunk
- userHeaderAlignment user-header alignment of the allocated chunk
Return: on success it returns AllocationResult_SUCCESS otherwise a value which describes the error
function iox_pub_release_chunk🔗
void iox_pub_release_chunk(
iox_pub_t const self,
void *const userPayload
)
releases ownership of a previously allocated chunk without sending it
Parameters:
- self handle of the publisher
- userPayload pointer to the user-payload of the chunk which should be free'd
function iox_pub_publish_chunk🔗
void iox_pub_publish_chunk(
iox_pub_t const self,
void *const userPayload
)
sends a previously allocated chunk
Parameters:
- self handle of the publisher
- userPayload pointer to the user-payload of the chunk which should be send
function iox_pub_offer🔗
void iox_pub_offer(
iox_pub_t const self
)
offers the service
Parameters:
- self handle of the publisher
function iox_pub_stop_offer🔗
void iox_pub_stop_offer(
iox_pub_t const self
)
stop offering the service
Parameters:
- self handle of the publisher
function iox_pub_is_offered🔗
bool iox_pub_is_offered(
iox_pub_t const self
)
is the service still offered
Parameters:
- self handle of the publisher
Return: true is the service is offered otherwise false
function iox_pub_has_subscribers🔗
bool iox_pub_has_subscribers(
iox_pub_t const self
)
does the service have subscribers
Parameters:
- self handle of the publisher
Return: true if there are subscribers otherwise false
function iox_pub_get_service_description🔗
iox_service_description_t iox_pub_get_service_description(
iox_pub_t const self
)
returns the service description of the publisher
Parameters:
- self handle to the publisher
Return: the service description
Source code🔗
// Copyright (c) 2020 by Robert Bosch GmbH. All rights reserved.
// Copyright (c) 2020 - 2021 by Apex.AI Inc. All rights reserved.
//
// 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.
//
// SPDX-License-Identifier: Apache-2.0
#ifndef IOX_BINDING_C_PUBLISHER_H
#define IOX_BINDING_C_PUBLISHER_H
#include "iceoryx_binding_c/enums.h"
#include "iceoryx_binding_c/internal/c2cpp_binding.h"
#include "iceoryx_binding_c/service_description.h"
#include "iceoryx_binding_c/types.h"
typedef struct cpp2c_Publisher* iox_pub_t;
typedef struct
{
uint64_t historyCapacity;
const char* nodeName;
bool offerOnCreate;
ENUM iox_ConsumerTooSlowPolicy subscriberTooSlowPolicy;
uint64_t initCheck;
} iox_pub_options_t;
void iox_pub_options_init(iox_pub_options_t* options);
bool iox_pub_options_is_initialized(const iox_pub_options_t* const options);
iox_pub_t iox_pub_init(iox_pub_storage_t* self,
const char* const service,
const char* const instance,
const char* const event,
const iox_pub_options_t* const options);
void iox_pub_deinit(iox_pub_t const self);
ENUM iox_AllocationResult iox_pub_loan_chunk(iox_pub_t const self,
void** const userPayload,
const uint32_t userPayloadSize);
ENUM iox_AllocationResult iox_pub_loan_aligned_chunk(iox_pub_t const self,
void** const userPayload,
const uint32_t userPayloadSize,
const uint32_t userPayloadAlignment);
ENUM iox_AllocationResult iox_pub_loan_aligned_chunk_with_user_header(iox_pub_t const self,
void** const userPayload,
const uint32_t userPayloadSize,
const uint32_t userPayloadAlignment,
const uint32_t userHeaderSize,
const uint32_t userHeaderAlignment);
void iox_pub_release_chunk(iox_pub_t const self, void* const userPayload);
void iox_pub_publish_chunk(iox_pub_t const self, void* const userPayload);
void iox_pub_offer(iox_pub_t const self);
void iox_pub_stop_offer(iox_pub_t const self);
bool iox_pub_is_offered(iox_pub_t const self);
bool iox_pub_has_subscribers(iox_pub_t const self);
iox_service_description_t iox_pub_get_service_description(iox_pub_t const self);
#endif
Updated on 17 March 2022 at 12:15:57 CET