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_GZ_TRANSPORT_CIFACE_H_
#define INCLUDE_GZ_TRANSPORT_CIFACE_H_
 
#include <cstddef>
 
#include "gz/transport/Export.hh"
 
#ifdef __cplusplus
extern "C" {
#endif
  typedef struct SubscribeOpts
  {
    // cppcheck-suppress unusedStructMember
    unsigned int msgsPerSec;
  } SubscribeOpts;
 
  typedef struct GzTransportNode GzTransportNode;
 
  GzTransportNode GZ_TRANSPORT_VISIBLE *gzTransportNodeCreate(
      const char *_partition);
 
  void GZ_TRANSPORT_VISIBLE
  gzTransportNodeDestroy(GzTransportNode **_node);
 
  int GZ_TRANSPORT_VISIBLE
  gzTransportAdvertise(GzTransportNode *_node,
                      const char *_topic,
                      const char *_msgType);
 
  int GZ_TRANSPORT_VISIBLE
  gzTransportPublishRaw(GzTransportNode *_node,
                        const char *_topic,
                        const void *_data,
                        size_t _size,
                        const char *_msgType);
 
  GZ_DEPRECATED(15)
  int GZ_TRANSPORT_VISIBLE
  gzTransportPublish(GzTransportNode *_node,
                     const char *_topic,
                     const void *_data,
                     const char *_msgType);
 
  int GZ_TRANSPORT_VISIBLE
  gzTransportSubscribe(
                  GzTransportNode *_node,
                  const char *_topic,
                  void (*_callback)(const char *, size_t, const char *, void *),
                  void *_userData);
 
  int GZ_TRANSPORT_VISIBLE
  gzTransportSubscribeOptions(GzTransportNode *_node,
                const char *_topic, SubscribeOpts _opts,
                void (*_callback)(const char *, size_t, const char *, void *),
                void *_userData);
 
  int GZ_TRANSPORT_VISIBLE
  gzTransportSubscribeNonConst(GzTransportNode *_node, char *_topic,
                            void (*_callback)(char *, size_t, char *, void *),
                            void *_userData);
 
  int GZ_TRANSPORT_VISIBLE
  gzTransportUnsubscribe(GzTransportNode *_node, const char *_topic);
 
  void GZ_TRANSPORT_VISIBLE gzTransportWaitForShutdown();
 
#ifdef __cplusplus
}
#endif
 
// INCLUDE_GZ_TRANSPORT_CIFACE_H_
#endif