CIface.h File Reference

#include "ignition/transport/Export.hh"

Go to the source code of this file.

Classes
struct	SubscribeOpts

Typedefs
typedef struct IgnTransportNode	IgnTransportNode
	A transport node. More...
typedef struct SubscribeOpts	SubscribeOpts

Functions
int IGNITION_TRANSPORT_VISIBLE	ignTransportAdvertise (IgnTransportNode *_node, const char *_topic, const char *_msgType)
	Advertise a topic. More...
IgnTransportNode IGNITION_TRANSPORT_VISIBLE *	ignTransportNodeCreate (const char *_partition)
	Create a transport node. More...
void IGNITION_TRANSPORT_VISIBLE	ignTransportNodeDestroy (IgnTransportNode **_node)
	Destroy a transport node. More...
int IGNITION_TRANSPORT_VISIBLE	ignTransportPublish (IgnTransportNode *_node, const char *_topic, const void *_data, const char *_msgType)
	Publishes a message on a topic. More...
int IGNITION_TRANSPORT_VISIBLE	ignTransportSubscribe (IgnTransportNode *_node, const char *_topic, void(*_callback)(const char *, size_t, const char *, void *), void *_userData)
	Subscribe to a topic, and register a callback. More...
int IGNITION_TRANSPORT_VISIBLE	ignTransportSubscribeNonConst (IgnTransportNode *_node, char *_topic, void(*_callback)(char *, size_t, char *, void *), void *_userData)
	Subscribe to a topic, and register a callback. More...
int IGNITION_TRANSPORT_VISIBLE	ignTransportSubscribeOptions (IgnTransportNode *_node, const char *_topic, SubscribeOpts _opts, void(*_callback)(const char *, size_t, const char *, void *), void *_userData)
	Subscribe to a topic, and register a callback. More...
int IGNITION_TRANSPORT_VISIBLE	ignTransportUnsubscribe (IgnTransportNode *_node, const char *_topic)
	Unsubscribe from a topic. More...
void IGNITION_TRANSPORT_VISIBLE	ignTransportWaitForShutdown ()
	Block the current thread until a SIGINT or SIGTERM is received. Note that this function registers a signal handler. Do not use this function if you want to manage yourself SIGINT/SIGTERM. More...

Typedef Documentation

IgnTransportNode

typedef struct IgnTransportNode IgnTransportNode

A transport node.

SubscribeOpts

typedef struct SubscribeOpts SubscribeOpts

Function Documentation

ignTransportAdvertise()

int IGNITION_TRANSPORT_VISIBLE ignTransportAdvertise	(	IgnTransportNode *	_node,
		const char *	_topic,
		const char *	_msgType
	)

Advertise a topic.

Parameters

[in]	_node	Pointer to a node.
[in]	_topic	Topic on which to publish the message.
[in]	_msgType	Name of the message type.

Returns

0 on success.

ignTransportNodeCreate()

IgnTransportNode IGNITION_TRANSPORT_VISIBLE* ignTransportNodeCreate

(

const char *

_partition

)

Create a transport node.

Parameters

[in]

_partition

Optional name of the partition to use. Use nullptr to use the default value, which is specified via the IGN_PARTITION environment variable.

Returns

A pointer to a new transport node. Do not manually delete this pointer, instead use ignTransportNodeDestroy.

ignTransportNodeDestroy()

void IGNITION_TRANSPORT_VISIBLE ignTransportNodeDestroy

(

IgnTransportNode **

_node

)

Destroy a transport node.

Parameters

[in,out]

_node

The transport node to destroy.

ignTransportPublish()

int IGNITION_TRANSPORT_VISIBLE ignTransportPublish	(	IgnTransportNode *	_node,
		const char *	_topic,
		const void *	_data,
		const char *	_msgType
	)

Publishes a message on a topic.

Parameters

[in]	_node	Pointer to a node.
[in]	_topic	Topic on which to publish the message.
[in]	_data	Byte array of serialized data to publish.
[in]	_msgType	Name of the message type.

Returns

0 on success.

ignTransportSubscribe()

int IGNITION_TRANSPORT_VISIBLE ignTransportSubscribe	(	IgnTransportNode *	_node,
		const char *	_topic,
		void(*)(const char *, size_t, const char *, void *)	_callback,
		void *	_userData
	)

Subscribe to a topic, and register a callback.

Parameters

[in]	_node	Pointer to a node.
[in]	_topic	Name of the topic.
[in]	_callback	The function to call when a message is received.
[in]	_userData	Arbitrary user data pointer.

Returns

0 on success.

ignTransportSubscribeNonConst()

int IGNITION_TRANSPORT_VISIBLE ignTransportSubscribeNonConst	(	IgnTransportNode *	_node,
		char *	_topic,
		void(*)(char *, size_t, char *, void *)	_callback,
		void *	_userData
	)

Subscribe to a topic, and register a callback.

Parameters

[in]	_node	Pointer to a node.
[in]	_topic	Name of the topic.
[in]	_callback	The function to call when a message is received.
[in]	_userData	Arbitrary user data pointer.

Returns

0 on success.

ignTransportSubscribeOptions()

int IGNITION_TRANSPORT_VISIBLE ignTransportSubscribeOptions	(	IgnTransportNode *	_node,
		const char *	_topic,
		SubscribeOpts	_opts,
		void(*)(const char *, size_t, const char *, void *)	_callback,
		void *	_userData
	)

Subscribe to a topic, and register a callback.

Parameters

[in]	_node	Pointer to a node.
[in]	_topic	Name of the topic.
[in]	_callback	The function to call when a message is received.
[in]	_userData	Arbitrary user data pointer.

Returns

0 on success.

ignTransportUnsubscribe()

int IGNITION_TRANSPORT_VISIBLE ignTransportUnsubscribe	(	IgnTransportNode *	_node,
		const char *	_topic
	)

Unsubscribe from a topic.

Parameters

[in]	_node	Pointer to a node.
[in]	_topic	Name of the topic.

Returns

0 on success.

ignTransportWaitForShutdown()

void IGNITION_TRANSPORT_VISIBLE ignTransportWaitForShutdown

(

)

Block the current thread until a SIGINT or SIGTERM is received. Note that this function registers a signal handler. Do not use this function if you want to manage yourself SIGINT/SIGTERM.