CIface.h

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/*
 * Copyright (C) 2019 Open Source Robotics Foundation
 *
 * 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 INCLUDE_IGNITION_TRANSPORT_CIFACE_H_
#define INCLUDE_IGNITION_TRANSPORT_CIFACE_H_

#include "ignition/transport/Export.hh"

#ifdef __cplusplus
extern "C" {
#endif
  typedef struct SubscribeOpts
  {
    // cppcheck-suppress unusedStructMember
    unsigned int msgsPerSec;
  } SubscribeOpts;

  typedef struct IgnTransportNode IgnTransportNode;

  IgnTransportNode IGNITION_TRANSPORT_VISIBLE *ignTransportNodeCreate(
      const char *_partition);

  void IGNITION_TRANSPORT_VISIBLE
  ignTransportNodeDestroy(IgnTransportNode **_node);

  int IGNITION_TRANSPORT_VISIBLE
  ignTransportAdvertise(IgnTransportNode *_node,
                      const char *_topic,
                      const char *_msgType);


  int IGNITION_TRANSPORT_VISIBLE
  ignTransportPublish(IgnTransportNode *_node,
                      const char *_topic,
                      const void *_data,
                      const char *_msgType);

  int IGNITION_TRANSPORT_VISIBLE
  ignTransportSubscribe(IgnTransportNode *_node,
                const char *_topic,
                void (*_callback)(const char *, size_t, const char *, void *),
                void *_userData);

  int IGNITION_TRANSPORT_VISIBLE
  ignTransportSubscribeOptions(IgnTransportNode *_node,
                const char *_topic, SubscribeOpts _opts,
                void (*_callback)(const char *, size_t, const char *, void *),
                void *_userData);

  int IGNITION_TRANSPORT_VISIBLE
  ignTransportSubscribeNonConst(IgnTransportNode *_node, char *_topic,
                            void (*_callback)(char *, size_t, char *, void *),
                            void *_userData);

  int IGNITION_TRANSPORT_VISIBLE
  ignTransportUnsubscribe(IgnTransportNode *_node, const char *_topic);

  void IGNITION_TRANSPORT_VISIBLE ignTransportWaitForShutdown();

#ifdef __cplusplus
}
#endif

// INCLUDE_IGNITION_TRANSPORT_CIFACE_H_
#endif