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// Copyright 2018 Open Source Robotics Foundation, Inc.
//
// 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.
/// \file
#ifndef RCUTILS__TYPES__UINT8_ARRAY_H_
#define RCUTILS__TYPES__UINT8_ARRAY_H_
#if __cplusplus
extern "C"
{
#endif
#include <stdint.h>
#include "rcutils/allocator.h"
#include "rcutils/types/rcutils_ret.h"
#include "rcutils/visibility_control.h"
/// The structure holding the metadata for a uint8 array.
typedef struct RCUTILS_PUBLIC_TYPE rcutils_uint8_array_s
{
/// The allocated memory for the uint8 array.
uint8_t * buffer;
/// The number of valid elements in the uint8 array.
size_t buffer_length;
/// The maximum capacity of the uint8 array.
size_t buffer_capacity;
/// The allocator used to allocate and free memory for the uint8 array.
rcutils_allocator_t allocator;
} rcutils_uint8_array_t;
/// Return a zero initialized uint8 array struct.
/**
* \return rcutils_uint8_array_t a zero initialized uint8 array struct
*/
RCUTILS_PUBLIC
RCUTILS_WARN_UNUSED
rcutils_uint8_array_t
rcutils_get_zero_initialized_uint8_array(void);
/// Initialize a zero initialized uint8 array struct.
/**
* This function may leak if the uint8 array struct is already initialized.
* If the capacity is set to 0, no memory is allocated and the internal buffer
* is still NULL.
*
* \param[inout] uint8_array a pointer to the to be initialized uint8 array struct
* \param[in] buffer_capacity the size of the memory to allocate for the byte stream
* \param[in] allocator the allocator to use for the memory allocation
* \return #RCUTILS_RET_OK if successful, or
* \return #RCUTILS_RET_INVALID_ARGUMENT if any arguments are invalid, or
* \return 'RCUTILS_RET_BAD_ALLOC` if no memory could be allocated correctly
* \return #RCUTILS_RET_ERROR if an unexpected error occurs.
*/
RCUTILS_PUBLIC
RCUTILS_WARN_UNUSED
rcutils_ret_t
rcutils_uint8_array_init(
rcutils_uint8_array_t * uint8_array,
size_t buffer_capacity,
const rcutils_allocator_t * allocator);
/// Finalize a uint8 array struct.
/**
* Cleans up and deallocates any resources used in a rcutils_uint8_array_t.
* The array passed to this function needs to have been initialized by
* rcutils_uint8_array_init().
* Passing an uninitialized instance to this function leads to undefined
* behavior.
*
* \param[in] uint8_array pointer to the rcutils_uint8_array_t to be cleaned up
* \return #RCUTILS_RET_OK if successful, or
* \return #RCUTILS_RET_INVALID_ARGUMENT if the uint8_array argument is invalid
* \return #RCUTILS_RET_ERROR if an unexpected error occurs.
*/
RCUTILS_PUBLIC
RCUTILS_WARN_UNUSED
rcutils_ret_t
rcutils_uint8_array_fini(rcutils_uint8_array_t * uint8_array);
/// Resize the internal buffer of the uint8 array.
/**
* The internal buffer of the uint8 array can be resized dynamically if needed.
* If the new size is smaller than the current capacity, then the memory is
* truncated.
* Be aware, that this might deallocate the memory and therefore invalidates any
* pointers to this storage.
*
* \param[inout] uint8_array pointer to the instance of rcutils_uint8_array_t which is
* being resized
* \param[in] new_size the new size of the internal buffer
* \return #RCUTILS_RET_OK if successful, or
* \return #RCUTILS_RET_INVALID_ARGUMENT if new_size is set to zero
* \return #RCUTILS_RET_BAD_ALLOC if memory allocation failed, or
* \return #RCUTILS_RET_ERROR if an unexpected error occurs.
*/
RCUTILS_PUBLIC
RCUTILS_WARN_UNUSED
rcutils_ret_t
rcutils_uint8_array_resize(rcutils_uint8_array_t * uint8_array, size_t new_size);
#if __cplusplus
}
#endif
#endif // RCUTILS__TYPES__UINT8_ARRAY_H_
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