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Added basic c wrapper for publisher
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@hannemn
hannemn committed Feb 17, 2025
1 parent db3f4f1 commit c2a9bfb
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230 changes: 111 additions & 119 deletions lang/c/core/include/ecal_c/pubsub/publisher.h
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Expand Up @@ -34,125 +34,117 @@
extern "C"
{
#endif /*__cplusplus*/
/**
* @brief Instance a publisher.
*
* @return Handle to new publisher or NULL if failed.
**/
ECALC_API ECAL_HANDLE eCAL_Pub_New();

/**
* @brief Create a publisher.
*
* @param handle_ Publisher handle.
* @param topic_name_ Unique topic name.
* @param topic_type_name_ Topic type name (like 'string', 'person').
* @param topic_type_encoding_ Topic type encoding (like 'base', 'proto').
* @param topic_desc_ Topic type description.
* @param topic_desc_len_ Topic type description length.
*
* @return None zero if succeeded.
**/
ECALC_API int eCAL_Pub_Create(ECAL_HANDLE handle_, const char* topic_name_, const char* topic_type_name_, const char* topic_type_encoding_, const char* topic_desc_, int topic_desc_len_);

/**
* @brief Destroy a publisher.
*
* @param handle_ Publisher handle.
*
* @return None zero if succeeded.
**/
ECALC_API int eCAL_Pub_Destroy(ECAL_HANDLE handle_);

/**
* @brief Sets publisher attribute.
*
* @param handle_ Publisher handle.
* @param attr_name_ Attribute name.
* @param attr_name_len_ Attribute name length.
* @param attr_value_ Attribute value.
* @param attr_value_len_ Attribute value length.
*
* @return None zero if succeeded.
**/
ECALC_API int eCAL_Pub_SetAttribute(ECAL_HANDLE handle_, const char* attr_name_, int attr_name_len_, const char* attr_value_, int attr_value_len_);

/**
* @brief Removes publisher attribute.
*
* @param handle_ Publisher handle.
* @param attr_name_ Attribute name.
* @param attr_name_len_ Attribute name length.
*
* @return None zero if succeeded.
* @experimental
**/
ECALC_API int eCAL_Pub_ClearAttribute(ECAL_HANDLE handle_, const char* attr_name_, int attr_name_len_);

/**
* @brief Set the specific topic id.
*
* @param handle_ Publisher handle.
* @param id_ The topic id for subscriber side filtering (0 == no id).
*
* @return True if it succeeds, false if it fails.
**/
ECALC_API int eCAL_Pub_SetID(ECAL_HANDLE handle_, long long id_);

/**
* @brief Query if the publisher is subscribed.
*
* @param handle_ Publisher handle.
*
* @return None zero if subscribed.
**/
ECALC_API int eCAL_Pub_IsSubscribed(ECAL_HANDLE handle_);

/**
* @brief Send a message to all subscribers.
*
* @param handle_ Publisher handle.
* @param buf_ Buffer that contains content to send.
* @param buf_len_ Send buffer length.
* @param time_ Send time (-1 = use eCAL system time in us, default = -1).
*
* @return Number of bytes sent.
**/
ECALC_API int eCAL_Pub_Send(ECAL_HANDLE handle_, const void* const buf_, int buf_len_, long long time_);

/**
* @brief Add callback function for publisher events.
*
* @param handle_ Publisher handle.
* @param type_ The event type to react on.
* @param callback_ The callback function to add.
* @param par_ User defined context that will be forwarded to the callback function.
*
* @return None zero if succeeded.
**/
ECALC_API int eCAL_Pub_AddEventCallback(ECAL_HANDLE handle_, enum eCAL_Publisher_Event type_, PubEventCallbackCT callback_, void* par_);

/**
* @brief Remove callback function for publisher events.
*
* @param handle_ Publisher handle.
* @param type_ The event type to remove.
*
* @return None zero if succeeded.
**/
ECALC_API int eCAL_Pub_RemEventCallback(ECAL_HANDLE handle_, enum eCAL_Publisher_Event type_);

/**
* @brief Dump the whole class state into a string buffer.
*
* @param handle_ Publisher handle.
* @param [out] buf_ Pointer to store the monitoring information.
* @param buf_len_ Length of allocated buffer or ECAL_ALLOCATE_4ME if
* eCAL should allocate the buffer for you (see eCAL_FreeMem).
*
* @return Dump buffer length or zero if failed.
**/
ECALC_API int eCAL_Pub_Dump(ECAL_HANDLE handle_, void* buf_, int buf_len_);
typedef struct eCAL_Publisher eCAL_Publisher;
typedef struct eCAL_PayloadWriter eCAL_PayloadWriter;

struct eCAL_SDataTypeInformation
{
const char* name;
const char* encoding;
const char* descriptor;
size_t descriptor_len;
};

enum eCAL_TransportLayer_eType
{
eCAL_TransportLayer_eType_none,
eCAL_TransportLayer_eType_udp_mc,
eCAL_TransportLayer_eType_shm,
eCAL_TransportLayer_eType_tcp,
};

struct eCAL_Publisher_Layer_SHM_Configuration
{
int enable;
int zero_copy_mode;
unsigned int acknowledge_timeout_ms;
unsigned int memfile_buffer_count;
unsigned int memfile_min_size_bytes;
unsigned int memfile_reserve_percent;
};

struct eCAL_Publisher_Layer_UDP_Configuration
{
int enable;
};

struct eCAL_Publisher_Layer_TCP_Configuration
{
int enable;
};

struct eCAL_Publisher_Layer_Configuration
{
eCAL_Publisher_Layer_SHM_Configuration shm;
eCAL_Publisher_Layer_UDP_Configuration udp;
eCAL_Publisher_Layer_TCP_Configuration tcp;
};

struct eCAL_Publisher_Configuration
{
eCAL_Publisher_Layer_Configuration layer;

eCAL_TransportLayer_eType* layer_priority_local;
size_t layer_priority_local_length;
eCAL_TransportLayer_eType* layer_priority_remote;
size_t layer_priority_remote_length;
};


typedef uint64_t eCAL_EntityIdT;

struct eCAL_SEntityId
{
eCAL_EntityIdT entity_id;
int32_t process_id;
const char* host_name;
};

struct eCAL_STopicId
{
struct eCAL_SEntityId topic_id;
const char* topic_name;
};

struct eCAL_SPubEventCallbackData
{
int __placeholder;
};

typedef void (*eCAL_PubEventCallbackT)(const struct eCAL_STopicId*, const struct eCAL_SPubEventCallbackData*);


struct eCAL_PayloadWriter
{
int (*WriteFull)(void*, size_t);
int (*WriteModified)(void*, size_t);
size_t (*GetSize)();
};


ECALC_API eCAL_Publisher* eCAL_Publisher_New(const char* topic_name_, const struct eCAL_SDataTypeInformation* data_type_information_, const struct eCAL_Publisher_Configuration* publisher_configuration_);
ECALC_API eCAL_Publisher* eCAL_Publisher_New2(const char* topic_name_, const struct eCAL_SDataTypeInformation* data_type_information_, const eCAL_PubEventCallbackT pub_event_callback, const struct eCAL_Publisher_Configuration* publisher_configuration_);

ECALC_API void eCAL_Publisher_Delete(eCAL_Publisher* publisher_);

ECALC_API int eCAL_Publisher_Send(eCAL_Publisher* publisher_, const void* buffer_, size_t buffer_len_, long long timestamp_);
ECALC_API int eCAL_Publisher_Send2(eCAL_Publisher* publisher_, struct eCAL_PayloadWriter* payload_writer_, long long timestamp_);

ECALC_API size_t eCAL_Publisher_GetSubscriberCount(eCAL_Publisher* publisher_);

ECALC_API char* eCAL_Publisher_GetTopicName(eCAL_Publisher* publisher_);

ECALC_API struct eCAL_STopicId* eCAL_Publisher_GetTopicId(eCAL_Publisher* publisher_);

ECALC_API struct eCAL_SDataTypeInformation* eCAL_Publisher_GetDataTypeInformation(eCAL_Publisher* publisher_);


ECALC_API void eCAL_STopicId_Free(struct eCAL_STopicId* topic_id_);
ECALC_API void eCAL_SDataTypeInformation_Free(struct eCAL_SDataTypeInformation* data_type_information_);

ECALC_API struct eCAL_Publisher_Configuration eCAL_GetPublisherConfiguration();
ECALC_API void eCAL_Publisher_Configuration_Free(eCAL_Publisher_Configuration* publisher_configuration_);

#ifdef __cplusplus
}
#endif /*__cplusplus*/
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2 changes: 2 additions & 0 deletions lang/c/core/include/ecal_c/types.h
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Expand Up @@ -25,6 +25,8 @@
#ifndef ecal_c_types_h_included
#define ecal_c_types_h_included

#include <stdint.h>

/**
* @brief Flag to indicate eCAL to allocate/deallocate memory.
**/
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