File astutedds.h

File astutedds.h

FileList > astutedds > c > astutedds.h

Go to the source code of this file

  • #include <stddef.h>
  • #include <stdint.h>

Classes

Type Name
struct AstuteDDS_DataReaderQos
struct AstuteDDS_DataWriterQos
struct AstuteDDS_Sample

Public Types

Type Name
typedef struct AstuteDDS_DataReader_s * AstuteDDS_DataReader
typedef struct AstuteDDS_DataWriter_s * AstuteDDS_DataWriter
enum AstuteDDS_Durability
enum AstuteDDS_HistoryKind
typedef struct AstuteDDS_Participant_s * AstuteDDS_Participant
typedef struct AstuteDDS_Publisher_s * AstuteDDS_Publisher
enum AstuteDDS_Reliability
enum AstuteDDS_ReturnCode
typedef struct AstuteDDS_Subscriber_s * AstuteDDS_Subscriber
typedef struct AstuteDDS_Topic_s * AstuteDDS_Topic

Public Functions

Type Name
AstuteDDS_DataReader astutedds_create_datareader (AstuteDDS_Subscriber sub, AstuteDDS_Topic topic, const AstuteDDS_DataReaderQos * qos)
AstuteDDS_DataWriter astutedds_create_datawriter (AstuteDDS_Publisher pub, AstuteDDS_Topic topic, const AstuteDDS_DataWriterQos * qos)
AstuteDDS_Participant astutedds_create_participant (uint32_t domain_id)
AstuteDDS_Publisher astutedds_create_publisher (AstuteDDS_Participant p)
AstuteDDS_Subscriber astutedds_create_subscriber (AstuteDDS_Participant p)
AstuteDDS_Topic astutedds_create_topic (AstuteDDS_Participant p, const char * topic_name, const char * type_name)
void astutedds_delete_datareader (AstuteDDS_Subscriber sub, AstuteDDS_DataReader r)
void astutedds_delete_datawriter (AstuteDDS_Publisher pub, AstuteDDS_DataWriter w)
void astutedds_delete_participant (AstuteDDS_Participant p)
void astutedds_delete_publisher (AstuteDDS_Participant p, AstuteDDS_Publisher pub)
void astutedds_delete_subscriber (AstuteDDS_Participant p, AstuteDDS_Subscriber sub)
void astutedds_delete_topic (AstuteDDS_Participant p, AstuteDDS_Topic t)
AstuteDDS_ReturnCode astutedds_take_next (AstuteDDS_DataReader r, AstuteDDS_Sample * out)
const char * astutedds_topic_name (AstuteDDS_Topic t)
const char * astutedds_topic_type_name (AstuteDDS_Topic t)
size_t astutedds_unread_count (AstuteDDS_DataReader r)
AstuteDDS_ReturnCode astutedds_write (AstuteDDS_DataWriter w, const uint8_t * data, size_t len)

Public Static Functions

Type Name
AstuteDDS_DataReaderQos astutedds_default_datareader_qos (void)
AstuteDDS_DataWriterQos astutedds_default_datawriter_qos (void)

Public Types Documentation

typedef AstuteDDS_DataReader

typedef struct AstuteDDS_DataReader_s* AstuteDDS_DataReader;

typedef AstuteDDS_DataWriter

typedef struct AstuteDDS_DataWriter_s* AstuteDDS_DataWriter;

enum AstuteDDS_Durability

enum AstuteDDS_Durability {
    ASTUTEDDS_VOLATILE = 0,
    ASTUTEDDS_TRANSIENT_LOCAL = 1
};

enum AstuteDDS_HistoryKind

enum AstuteDDS_HistoryKind {
    ASTUTEDDS_KEEP_LAST = 0,
    ASTUTEDDS_KEEP_ALL = 1
};

typedef AstuteDDS_Participant

typedef struct AstuteDDS_Participant_s* AstuteDDS_Participant;

typedef AstuteDDS_Publisher

typedef struct AstuteDDS_Publisher_s* AstuteDDS_Publisher;

enum AstuteDDS_Reliability

enum AstuteDDS_Reliability {
    ASTUTEDDS_BEST_EFFORT = 0,
    ASTUTEDDS_RELIABLE = 1
};

enum AstuteDDS_ReturnCode

enum AstuteDDS_ReturnCode {
    ASTUTEDDS_OK = 0,
    ASTUTEDDS_ERROR = 1,
    ASTUTEDDS_UNSUPPORTED = 2,
    ASTUTEDDS_BAD_PARAM = 3,
    ASTUTEDDS_PRECONDITION = 4,
    ASTUTEDDS_OUT_OF_RESOURCES = 5,
    ASTUTEDDS_NOT_ENABLED = 6,
    ASTUTEDDS_TIMEOUT = 10,
    ASTUTEDDS_NO_DATA = 11
};

typedef AstuteDDS_Subscriber

typedef struct AstuteDDS_Subscriber_s* AstuteDDS_Subscriber;

typedef AstuteDDS_Topic

typedef struct AstuteDDS_Topic_s* AstuteDDS_Topic;

Public Functions Documentation

function astutedds_create_datareader

AstuteDDS_DataReader astutedds_create_datareader (
    AstuteDDS_Subscriber sub,
    AstuteDDS_Topic topic,
    const AstuteDDS_DataReaderQos * qos
)

NULL → default QoS

function astutedds_create_datawriter

AstuteDDS_DataWriter astutedds_create_datawriter (
    AstuteDDS_Publisher pub,
    AstuteDDS_Topic topic,
    const AstuteDDS_DataWriterQos * qos
)

NULL → default QoS

function astutedds_create_participant

AstuteDDS_Participant astutedds_create_participant (
    uint32_t domain_id
)

Create and enable a DomainParticipant.

Returns:

Handle, or NULL on failure.

function astutedds_create_publisher

AstuteDDS_Publisher astutedds_create_publisher (
    AstuteDDS_Participant p
)

function astutedds_create_subscriber

AstuteDDS_Subscriber astutedds_create_subscriber (
    AstuteDDS_Participant p
)

function astutedds_create_topic

AstuteDDS_Topic astutedds_create_topic (
    AstuteDDS_Participant p,
    const char * topic_name,
    const char * type_name
)

function astutedds_delete_datareader

void astutedds_delete_datareader (
    AstuteDDS_Subscriber sub,
    AstuteDDS_DataReader r
)

function astutedds_delete_datawriter

void astutedds_delete_datawriter (
    AstuteDDS_Publisher pub,
    AstuteDDS_DataWriter w
)

function astutedds_delete_participant

void astutedds_delete_participant (
    AstuteDDS_Participant p
)

Stop and destroy a DomainParticipant. All child entities must have been deleted first.

function astutedds_delete_publisher

void astutedds_delete_publisher (
    AstuteDDS_Participant p,
    AstuteDDS_Publisher pub
)

function astutedds_delete_subscriber

void astutedds_delete_subscriber (
    AstuteDDS_Participant p,
    AstuteDDS_Subscriber sub
)

function astutedds_delete_topic

void astutedds_delete_topic (
    AstuteDDS_Participant p,
    AstuteDDS_Topic t
)

function astutedds_take_next

AstuteDDS_ReturnCode astutedds_take_next (
    AstuteDDS_DataReader r,
    AstuteDDS_Sample * out
)

Take the next available sample (removes it from the reader cache).

On ASTUTEDDS_OK the sample fields are populated and the internal buffer is valid until the next call to astutedds_take_next() on the same reader. Copy *data before calling again.

Returns:

ASTUTEDDS_OK | ASTUTEDDS_NO_DATA | ASTUTEDDS_ERROR

function astutedds_topic_name

const char * astutedds_topic_name (
    AstuteDDS_Topic t
)

function astutedds_topic_type_name

const char * astutedds_topic_type_name (
    AstuteDDS_Topic t
)

function astutedds_unread_count

size_t astutedds_unread_count (
    AstuteDDS_DataReader r
)

Return the number of unread samples in the reader cache.

function astutedds_write

AstuteDDS_ReturnCode astutedds_write (
    AstuteDDS_DataWriter w,
    const uint8_t * data,
    size_t len
)

Write a serialised sample.

Parameters:

  • data CDR-encoded payload bytes.
  • len Byte length of data.

Public Static Functions Documentation

function astutedds_default_datareader_qos

static inline AstuteDDS_DataReaderQos astutedds_default_datareader_qos (
    void
)

function astutedds_default_datawriter_qos

static inline AstuteDDS_DataWriterQos astutedds_default_datawriter_qos (
    void
)

The documentation for this class was generated from the following file include/astutedds/c/astutedds.h