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// Copyright (c) 2020 by Robert Bosch GmbH. All rights reserved.
// Copyright (c) 2020 - 2022 by Apex.AI Inc. All rights reserved.
//
// 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.
//
// SPDX-License-Identifier: Apache-2.0
#include "iceoryx_binding_c/internal/c2cpp_enum_translation.hpp"
#include "iceoryx_binding_c/internal/cpp2c_enum_translation.hpp"
#include "iceoryx_binding_c/internal/cpp2c_publisher.hpp"
#include "iceoryx_binding_c/internal/cpp2c_service_description_translation.hpp"
#include "iceoryx_posh/internal/popo/ports/publisher_port_user.hpp"
#include "iceoryx_posh/runtime/posh_runtime.hpp"
using namespace iox;
using namespace iox::cxx;
using namespace iox::popo;
using namespace iox::capro;
using namespace iox::mepoo;
using namespace iox::runtime;
extern "C" {
#include "iceoryx_binding_c/publisher.h"
}
constexpr uint64_t PUBLISHER_OPTIONS_INIT_CHECK_CONSTANT = 123454321;
void iox_pub_options_init(iox_pub_options_t* options)
{
if (options == nullptr)
{
LogWarn() << "publisher options initialization skipped - null pointer provided";
return;
}
PublisherOptions publisherOptions;
options->historyCapacity = publisherOptions.historyCapacity;
options->nodeName = nullptr;
options->offerOnCreate = publisherOptions.offerOnCreate;
options->subscriberTooSlowPolicy = cpp2c::consumerTooSlowPolicy(publisherOptions.subscriberTooSlowPolicy);
options->initCheck = PUBLISHER_OPTIONS_INIT_CHECK_CONSTANT;
}
bool iox_pub_options_is_initialized(const iox_pub_options_t* const options)
{
return options && options->initCheck == PUBLISHER_OPTIONS_INIT_CHECK_CONSTANT;
}
iox_pub_t iox_pub_init(iox_pub_storage_t* self,
const char* const service,
const char* const instance,
const char* const event,
const iox_pub_options_t* const options)
{
if (self == nullptr)
{
LogWarn() << "publisher initialization skipped - null pointer provided for iox_pub_storage_t";
return nullptr;
}
PublisherOptions publisherOptions;
// use default options otherwise
if (options != nullptr)
{
if (!iox_pub_options_is_initialized(options))
{
// note that they may have been initialized but the initCheck
// pattern overwritten afterwards, we cannot be sure but it is a misuse
LogFatal() << "publisher options may not have been initialized with iox_pub_options_init";
errorHandler(Error::kBINDING_C__PUBLISHER_OPTIONS_NOT_INITIALIZED);
}
publisherOptions.historyCapacity = options->historyCapacity;
if (options->nodeName != nullptr)
{
publisherOptions.nodeName = NodeName_t(TruncateToCapacity, options->nodeName);
}
publisherOptions.offerOnCreate = options->offerOnCreate;
publisherOptions.subscriberTooSlowPolicy = c2cpp::consumerTooSlowPolicy(options->subscriberTooSlowPolicy);
}
auto* me = new cpp2c_Publisher();
self->do_not_touch_me[0] = reinterpret_cast<uint64_t>(me);
me->m_portData = PoshRuntime::getInstance().getMiddlewarePublisher(
ServiceDescription{
IdString_t(TruncateToCapacity, service),
IdString_t(TruncateToCapacity, instance),
IdString_t(TruncateToCapacity, event),
},
publisherOptions);
return me;
}
void iox_pub_deinit(iox_pub_t const self)
{
iox::cxx::Expects(self != nullptr);
self->m_portData->m_toBeDestroyed.store(true, std::memory_order_relaxed);
delete self;
}
iox_AllocationResult iox_pub_loan_chunk(iox_pub_t const self, void** const userPayload, const uint32_t userPayloadSize)
{
return iox_pub_loan_aligned_chunk_with_user_header(self,
userPayload,
userPayloadSize,
IOX_C_CHUNK_DEFAULT_USER_PAYLOAD_ALIGNMENT,
IOX_C_CHUNK_NO_USER_HEADER_SIZE,
IOX_C_CHUNK_NO_USER_HEADER_ALIGNMENT);
}
iox_AllocationResult iox_pub_loan_aligned_chunk(iox_pub_t const self,
void** const userPayload,
const uint32_t userPayloadSize,
const uint32_t userPayloadAlignment)
{
return iox_pub_loan_aligned_chunk_with_user_header(self,
userPayload,
userPayloadSize,
userPayloadAlignment,
IOX_C_CHUNK_NO_USER_HEADER_SIZE,
IOX_C_CHUNK_NO_USER_HEADER_ALIGNMENT);
}
iox_AllocationResult iox_pub_loan_aligned_chunk_with_user_header(iox_pub_t const self,
void** const userPayload,
const uint32_t userPayloadSize,
const uint32_t userPayloadAlignment,
const uint32_t userHeaderSize,
const uint32_t userHeaderAlignment)
{
auto result = PublisherPortUser(self->m_portData)
.tryAllocateChunk(userPayloadSize, userPayloadAlignment, userHeaderSize, userHeaderAlignment)
.and_then([&userPayload](ChunkHeader* h) { *userPayload = h->userPayload(); });
if (result.has_error())
{
return cpp2c::allocationResult(result.get_error());
}
return AllocationResult_SUCCESS;
}
void iox_pub_release_chunk(iox_pub_t const self, void* const userPayload)
{
PublisherPortUser(self->m_portData).releaseChunk(ChunkHeader::fromUserPayload(userPayload));
}
void iox_pub_publish_chunk(iox_pub_t const self, void* const userPayload)
{
PublisherPortUser(self->m_portData).sendChunk(ChunkHeader::fromUserPayload(userPayload));
}
void iox_pub_offer(iox_pub_t const self)
{
PublisherPortUser(self->m_portData).offer();
}
void iox_pub_stop_offer(iox_pub_t const self)
{
PublisherPortUser(self->m_portData).stopOffer();
}
bool iox_pub_is_offered(iox_pub_t const self)
{
return PublisherPortUser(self->m_portData).isOffered();
}
bool iox_pub_has_subscribers(iox_pub_t const self)
{
return PublisherPortUser(self->m_portData).hasSubscribers();
}
iox_service_description_t iox_pub_get_service_description(iox_pub_t const self)
{
return TranslateServiceDescription(PublisherPortUser(self->m_portData).getCaProServiceDescription());
}
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