gz/transport/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 "gz/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_GZ_TRANSPORT_CIFACE_H_
#endif