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micro-ROS rolling Library auto-update 06-04-2021 07:02 (#11)
Co-authored-by: pablogs9 <[email protected]>
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| // Copyright 2020 Ericsson AB | ||
| // | ||
| // 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. | ||
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| #ifndef RCL__NETWORK_FLOW_ENDPOINTS_H_ | ||
| #define RCL__NETWORK_FLOW_ENDPOINTS_H_ | ||
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| #ifdef __cplusplus | ||
| extern "C" | ||
| { | ||
| #endif | ||
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| #include <rmw/network_flow_endpoint.h> | ||
| #include <rmw/network_flow_endpoint_array.h> | ||
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| #include "rcl/allocator.h" | ||
| #include "rcl/arguments.h" | ||
| #include "rcl/context.h" | ||
| #include "rcl/macros.h" | ||
| #include "rcl/publisher.h" | ||
| #include "rcl/subscription.h" | ||
| #include "rcl/types.h" | ||
| #include "rcl/visibility_control.h" | ||
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| typedef rmw_network_flow_endpoint_t rcl_network_flow_endpoint_t; | ||
| typedef rmw_network_flow_endpoint_array_t rcl_network_flow_endpoint_array_t; | ||
| typedef rmw_transport_protocol_t rcl_transport_protocol_t; | ||
| typedef rmw_internet_protocol_t rcl_internet_protocol_t; | ||
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| #define rcl_get_zero_initialized_network_flow_endpoint_array \ | ||
| rmw_get_zero_initialized_network_flow_endpoint_array | ||
| #define rcl_network_flow_endpoint_array_fini rmw_network_flow_endpoint_array_fini | ||
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| #define rcl_network_flow_endpoint_get_transport_protocol_string \ | ||
| rmw_network_flow_endpoint_get_transport_protocol_string | ||
| #define rcl_network_flow_endpoint_get_internet_protocol_string \ | ||
| rmw_network_flow_endpoint_get_internet_protocol_string | ||
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| /// Get network flow endpoints of a publisher | ||
| /** | ||
| * Query the underlying middleware for a given publisher's network flow endpoints | ||
| * | ||
| * The `publisher` argument must point to a valid publisher. | ||
| * | ||
| * The `allocator` argument must be a valid allocator. | ||
| * | ||
| * The `network_flow_endpoint_array` argument must be allocated and zero-initialized. | ||
| * The function returns network flow endpoints in the `network_flow_endpoint_array` argument, | ||
| * using the allocator to allocate memory for the `network_flow_endpoint_array` | ||
| * argument's internal data structures whenever required. The caller is | ||
| * reponsible for memory deallocation by passing the `network_flow_endpoint_array` | ||
| * argument to `rcl_network_flow_endpoint_array_fini` function. | ||
| * | ||
| * <hr> | ||
| * Attribute | Adherence | ||
| * ------------------ | ------------- | ||
| * Allocates Memory | Yes | ||
| * Thread-Safe | No | ||
| * Uses Atomics | No | ||
| * Lock-Free | Maybe [1] | ||
| * <i>[1] implementation may need to protect the data structure with a lock</i> | ||
| * | ||
| * \param[in] publisher the publisher instance to inspect | ||
| * \param[in] allocator allocator to be used when allocating space for network_flow_endpoint_array_t | ||
| * \param[out] network_flow_endpoint_array the network flow endpoints | ||
| * \return `RCL_RET_OK` if successful, or | ||
| * \return `RCL_RET_INVALID_ARGUMENT` if any argument is null, or | ||
| * \return `RCL_RET_BAD_ALLOC` if memory allocation fails, or | ||
| * \return `RCL_RET_UNSUPPORTED` if not supported, or | ||
| * \return `RCL_RET_ERROR` if an unexpected error occurs. | ||
| */ | ||
| RCL_PUBLIC | ||
| RCL_WARN_UNUSED | ||
| rcl_ret_t | ||
| rcl_publisher_get_network_flow_endpoints( | ||
| const rcl_publisher_t * publisher, | ||
| rcutils_allocator_t * allocator, | ||
| rcl_network_flow_endpoint_array_t * network_flow_endpoint_array); | ||
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| /// Get network flow endpoints of a subscription | ||
| /** | ||
| * Query the underlying middleware for a given subscription's network flow endpoints | ||
| * | ||
| * The `subscription` argument must point to a valid subscription. | ||
| * | ||
| * The `allocator` argument must be a valid allocator. | ||
| * | ||
| * The `network_flow_endpoint_array` argument must be allocated and zero-initialized. | ||
| * The function returns network flow endpoints in the `network_flow_endpoint_array` argument, | ||
| * using the allocator to allocate memory for the `network_flow_endpoint_array` | ||
| * argument's internal data structures whenever required. The caller is | ||
| * reponsible for memory deallocation by passing the `network_flow_endpoint_array` | ||
| * argument to `rcl_network_flow_endpoint_array_fini` function. | ||
| * | ||
| * <hr> | ||
| * Attribute | Adherence | ||
| * ------------------ | ------------- | ||
| * Allocates Memory | Yes | ||
| * Thread-Safe | No | ||
| * Uses Atomics | No | ||
| * Lock-Free | Maybe [1] | ||
| * <i>[1] implementation may need to protect the data structure with a lock</i> | ||
| * | ||
| * \param[in] subscription the subscription instance to inspect | ||
| * \param[in] allocator allocator to be used when allocating space for network_flow_endpoint_array_t | ||
| * \param[out] network_flow_endpoint_array the network flow endpoints | ||
| * \return `RCL_RET_OK` if successful, or | ||
| * \return `RCL_RET_INVALID_ARGUMENT` if any argument is null, or | ||
| * \return `RCL_RET_BAD_ALLOC` if memory allocation fails, or | ||
| * \return `RCL_RET_UNSUPPORTED` if not supported, or | ||
| * \return `RCL_RET_ERROR` if an unexpected error occurs. | ||
| */ | ||
| RCL_PUBLIC | ||
| RCL_WARN_UNUSED | ||
| rcl_ret_t | ||
| rcl_subscription_get_network_flow_endpoints( | ||
| const rcl_subscription_t * subscription, | ||
| rcutils_allocator_t * allocator, | ||
| rcl_network_flow_endpoint_array_t * network_flow_endpoint_array); | ||
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| #ifdef __cplusplus | ||
| } | ||
| #endif | ||
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| #endif // RCL__NETWORK_FLOW_ENDPOINTS_H_ |
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| Original file line number | Diff line number | Diff line change |
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| // Copyright 2020 Ericsson AB | ||
| // | ||
| // 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. | ||
|
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| #ifndef RMW__GET_NETWORK_FLOW_ENDPOINTS_H_ | ||
| #define RMW__GET_NETWORK_FLOW_ENDPOINTS_H_ | ||
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| #ifdef __cplusplus | ||
| extern "C" | ||
| { | ||
| #endif | ||
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| #include "rmw/network_flow_endpoint_array.h" | ||
| #include "rmw/types.h" | ||
| #include "rmw/visibility_control.h" | ||
|
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| /// Get network flow endpoints of a publisher | ||
| /** | ||
| * Query the underlying middleware for a given publisher's network flow endpoints | ||
| * | ||
| * \param[in] publisher the publisher instance to inspect | ||
| * \param[in] allocator allocator to be used when allocating space for network_flow_endpoint_array_t | ||
| * \param[out] network_flow_endpoint_array the network flow endpoints | ||
| * \return `RMW_RET_OK` if successful, or | ||
| * \return `RMW_RET_INVALID_ARGUMENT` if any argument is null, | ||
| * \return `RMW_RET_BAD_ALLOC` if memory allocation fails, or | ||
| * \return `RMW_RET_UNSUPPORTED` if not supported, or | ||
| * \return `RMW_RET_ERROR` if an unexpected error occurs. | ||
| */ | ||
| RMW_PUBLIC | ||
| RMW_WARN_UNUSED | ||
| rmw_ret_t | ||
| rmw_publisher_get_network_flow_endpoints( | ||
| const rmw_publisher_t * publisher, | ||
| rcutils_allocator_t * allocator, | ||
| rmw_network_flow_endpoint_array_t * network_flow_endpoint_array); | ||
|
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| /// Get network flow endpoints of a subscription | ||
| /** | ||
| * Query the underlying middleware for a given subscription's network flow endpoints | ||
| * | ||
| * \param[in] subscription the subscription instance to inspect | ||
| * \param[in] allocator allocator to be used when allocating space for network_flow_endpoint_array_t | ||
| * \param[out] network_flow_endpoint_array the network flow endpoints | ||
| * \return `RMW_RET_OK` if successful, or | ||
| * \return `RMW_RET_INVALID_ARGUMENT` if any argument is null, or | ||
| * \return `RMW_RET_BAD_ALLOC` if memory allocation fails, or | ||
| * \return `RMW_RET_UNSUPPORTED` if not supported, or | ||
| * \return `RMW_RET_ERROR` if an unexpected error occurs. | ||
| */ | ||
| RMW_PUBLIC | ||
| RMW_WARN_UNUSED | ||
| rmw_ret_t | ||
| rmw_subscription_get_network_flow_endpoints( | ||
| const rmw_subscription_t * subscription, | ||
| rcutils_allocator_t * allocator, | ||
| rmw_network_flow_endpoint_array_t * network_flow_endpoint_array); | ||
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| #ifdef __cplusplus | ||
| } | ||
| #endif | ||
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| #endif // RMW__GET_NETWORK_FLOW_ENDPOINTS_H_ |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,114 @@ | ||
| // Copyright 2020 Ericsson AB | ||
| // | ||
| // 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. | ||
|
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| #ifndef RMW__NETWORK_FLOW_ENDPOINT_H_ | ||
| #define RMW__NETWORK_FLOW_ENDPOINT_H_ | ||
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| #if __cplusplus | ||
| extern "C" | ||
| { | ||
| #endif | ||
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| #include "rmw/types.h" | ||
| #include "rmw/visibility_control.h" | ||
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| /// Transport protocol types | ||
| typedef enum rmw_transport_protocol_t | ||
| { | ||
| RMW_TRANSPORT_PROTOCOL_UNKNOWN = 0, | ||
| RMW_TRANSPORT_PROTOCOL_UDP, | ||
| RMW_TRANSPORT_PROTOCOL_TCP, | ||
| RMW_TRANSPORT_PROTOCOL_COUNT | ||
| } rmw_transport_protocol_t; | ||
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| /// Internet protocol types | ||
| typedef enum rmw_internet_protocol_t | ||
| { | ||
| RMW_INTERNET_PROTOCOL_UNKNOWN = 0, | ||
| RMW_INTERNET_PROTOCOL_IPV4, | ||
| RMW_INTERNET_PROTOCOL_IPV6, | ||
| RMW_INTERNET_PROTOCOL_COUNT | ||
| } rmw_internet_protocol_t; | ||
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| /// Maximum length of internet address string including terminating null | ||
| /// Inspired from linux/inet.h | ||
| #define RMW_INET_ADDRSTRLEN 48 | ||
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| /// Structure that describes network flow endpoint of a publisher or subscription | ||
| typedef struct RMW_PUBLIC_TYPE rmw_network_flow_endpoint_t | ||
| { | ||
| // Transport protocol | ||
| rmw_transport_protocol_t transport_protocol; | ||
| // Internet protocol | ||
| rmw_internet_protocol_t internet_protocol; | ||
| // Port | ||
| uint16_t transport_port; | ||
| // Flow label | ||
| // TODO(anamud): Consider specializing since flow_label is set only at publisher | ||
| // ... side. | ||
| uint32_t flow_label; | ||
| // DSCP (Diff. Services Code Point) | ||
| // TODO(anamud): Consider specializing since DSCP is set only at publisher | ||
| // ... side. | ||
| uint8_t dscp; | ||
| // Internet address | ||
| char internet_address[RMW_INET_ADDRSTRLEN]; | ||
| } rmw_network_flow_endpoint_t; | ||
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| /// Return a rmw_network_flow_endpoint_t struct with zero-initialized members | ||
| RMW_PUBLIC | ||
| rmw_network_flow_endpoint_t | ||
| rmw_get_zero_initialized_network_flow_endpoint(void); | ||
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| /// Convert to string variant of transport protocol | ||
| /** | ||
| * \param[in] transport_protocol transport_protocol_t to be converted | ||
| */ | ||
| RMW_PUBLIC | ||
| const char * | ||
| rmw_network_flow_endpoint_get_transport_protocol_string( | ||
| const rmw_transport_protocol_t transport_protocol); | ||
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| /// Convert to string variant of internet protocol | ||
| /** | ||
| * \param[in] internet_protocol internet_protocol_t to be converted | ||
| */ | ||
| RMW_PUBLIC | ||
| const char * | ||
| rmw_network_flow_endpoint_get_internet_protocol_string( | ||
| const rmw_internet_protocol_t internet_protocol); | ||
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| /// Set internet address in the rmw_network_flow_endpoint_t struct | ||
| /** | ||
| * \param[in] network_flow_endpoint network_flow_endpoint_t to be initialized | ||
| * \param[in] internet_address the internet address as C-style string | ||
| * \param[in] size size of internet_address excluding terminating null | ||
| * \returns `RMW_RET_OK` on successfull initilization, or | ||
| * \returns `RMW_RET_INVALID_ARGUMENT` if `network_flow_endpoint` is NULL, or | ||
| * \returns `RMW_RET_INVALID_ARGUMENT` if `internet_address` is NULL, or | ||
| * \returns `RMW_RET_INVALID_ARGUMENT` if `size` is not less than RMW_INET_ADDRSTRLEN, or | ||
| * \returns `RMW_RET_ERROR` when an unspecified error occurs. | ||
| */ | ||
| RMW_PUBLIC | ||
| rmw_ret_t | ||
| rmw_network_flow_endpoint_set_internet_address( | ||
| rmw_network_flow_endpoint_t * network_flow_endpoint, | ||
| const char * internet_address, | ||
| size_t size); | ||
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| #if __cplusplus | ||
| } | ||
| #endif | ||
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| #endif // RMW__NETWORK_FLOW_ENDPOINT_H_ |
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