Program Listing for File dds_api.hpp

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// Copyright 2020 Real-Time Innovations, Inc. (RTI)
//
// 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.

#ifndef RMW_CONNEXTDDS__DDS_API_HPP_
#define RMW_CONNEXTDDS__DDS_API_HPP_

#include "rmw_connextdds/static_config.hpp"
#include "rmw_connextdds/visibility_control.h"

#if RMW_CONNEXT_DDS_API == RMW_CONNEXT_DDS_API_MICRO
#include "rmw_connextdds/dds_api_rtime.hpp"
#elif RMW_CONNEXT_DDS_API == RMW_CONNEXT_DDS_API_PRO
#include "rmw_connextdds/dds_api_ndds.hpp"
#else
#error "invalid DDS API selected"
#endif /* RMW_CONNEXT_DDS_API */

#ifndef UNUSED_ARG
#define UNUSED_ARG(arg_)        (void)(arg_)
#endif /* UNUSED_ARG */

#include "rmw/rmw.h"
#include "rosidl_typesupport_cpp/message_type_support.hpp"

class RMW_Connext_MessageTypeSupport;
class RMW_Connext_Publisher;
class RMW_Connext_Subscriber;
class RMW_Connext_SubscriberStatusCondition;
struct RMW_Connext_Message;

enum RMW_Connext_MessageType
{
  RMW_CONNEXT_MESSAGE_USERDATA,
  RMW_CONNEXT_MESSAGE_REQUEST,
  RMW_CONNEXT_MESSAGE_REPLY
};

RMW_CONNEXTDDS_PUBLIC extern const char * const RMW_CONNEXTDDS_ID;
extern const char * const RMW_CONNEXTDDS_SERIALIZATION_FORMAT;

rmw_ret_t
rmw_connextdds_set_log_verbosity(rmw_log_severity_t severity);

rmw_ret_t
rmw_connextdds_initialize_participant_factory_context(
  rmw_context_impl_t * const ctx);

rmw_ret_t
rmw_connextdds_finalize_participant_factory_context(
  rmw_context_impl_t * const ctx);

rmw_ret_t
rmw_connextdds_initialize_participant_qos_impl(
  rmw_context_impl_t * const ctx,
  DDS_DomainParticipantQos * const dp_qos);

rmw_ret_t
rmw_connextdds_configure_participant(
  rmw_context_impl_t * const ctx,
  DDS_DomainParticipant * const participant);

rmw_ret_t
rmw_connextdds_create_contentfilteredtopic(
  rmw_context_impl_t * const ctx,
  DDS_DomainParticipant * const dp,
  DDS_Topic * const base_topic,
  const char * const cft_name,
  const char * const cft_filter,
  const rcutils_string_array_t * const cft_expression_parameters,
  DDS_TopicDescription ** const cft_out);

rmw_ret_t
rmw_connextdds_delete_contentfilteredtopic(
  rmw_context_impl_t * const ctx,
  DDS_DomainParticipant * const dp,
  DDS_TopicDescription * const cft_topic);

rmw_ret_t
rmw_connextdds_get_datawriter_qos(
  rmw_context_impl_t * const ctx,
  RMW_Connext_MessageTypeSupport * const type_support,
  DDS_Topic * const topic,
  DDS_DataWriterQos * const qos,
  const rmw_qos_profile_t * const qos_policies,
  const rmw_publisher_options_t * const pub_options);

rmw_ret_t
rmw_connextdds_get_datareader_qos(
  rmw_context_impl_t * const ctx,
  RMW_Connext_MessageTypeSupport * const type_support,
  DDS_TopicDescription * const topic_desc,
  DDS_DataReaderQos * const qos,
  const rmw_qos_profile_t * const qos_policies,
  const rmw_subscription_options_t * const sub_options);

DDS_DataWriter *
rmw_connextdds_create_datawriter(
  rmw_context_impl_t * const ctx,
  DDS_DomainParticipant * const participant,
  DDS_Publisher * const pub,
  const rmw_qos_profile_t * const qos_policies,
  const rmw_publisher_options_t * const publisher_options,
  const bool internal,
  RMW_Connext_MessageTypeSupport * const type_support,
  DDS_Topic * const topic,
  DDS_DataWriterQos * const dw_qos);

DDS_DataReader *
rmw_connextdds_create_datareader(
  rmw_context_impl_t * const ctx,
  DDS_DomainParticipant * const participant,
  DDS_Subscriber * const sub,
  const rmw_qos_profile_t * const qos_policies,
  const rmw_subscription_options_t * const subscriber_options,
  const bool internal,
  RMW_Connext_MessageTypeSupport * const type_support,
  DDS_TopicDescription * const topic_desc,
  DDS_DataReaderQos * const dr_qos);

rmw_ret_t
rmw_connextdds_write_message(
  RMW_Connext_Publisher * const pub,
  RMW_Connext_Message * const message,
  int64_t * const sn_out);

rmw_ret_t
rmw_connextdds_take_samples(
  RMW_Connext_Subscriber * const sub);

rmw_ret_t
rmw_connextdds_return_samples(
  RMW_Connext_Subscriber * const sub);

rmw_ret_t
rmw_connextdds_filter_sample(
  RMW_Connext_Subscriber * const sub,
  const void * const sample,
  const DDS_SampleInfo * const info,
  const DDS_InstanceHandle_t * const request_writer_handle,
  bool * const accepted);

rmw_ret_t
rmw_connextdds_register_type_support(
  rmw_context_impl_t * const ctx,
  const rosidl_message_type_support_t * const type_supports,
  DDS_DomainParticipant * const participant,
  const RMW_Connext_MessageType message_type,
  const void * const intro_members,
  const bool intro_members_cpp,
  const char * const type_name);

rmw_ret_t
rmw_connextdds_unregister_type_support(
  rmw_context_impl_t * const ctx,
  DDS_DomainParticipant * const participant,
  const char * const type_name);

rmw_ret_t
rmw_connextdds_dcps_participant_get_reader(
  rmw_context_impl_t * const ctx,
  DDS_DataReader ** const reader_out);

rmw_ret_t
rmw_connextdds_dcps_publication_get_reader(
  rmw_context_impl_t * const ctx,
  DDS_DataReader ** const reader_out);

rmw_ret_t
rmw_connextdds_dcps_subscription_get_reader(
  rmw_context_impl_t * const ctx,
  DDS_DataReader ** const reader_out);

rmw_ret_t
rmw_connextdds_enable_builtin_readers(rmw_context_impl_t * const ctx);

rmw_ret_t
rmw_connextdds_dcps_participant_on_data(rmw_context_impl_t * const ctx);

rmw_ret_t
rmw_connextdds_dcps_publication_on_data(rmw_context_impl_t * const ctx);

rmw_ret_t
rmw_connextdds_dcps_subscription_on_data(rmw_context_impl_t * const ctx);

void
rmw_connextdds_ih_to_gid(
  const DDS_InstanceHandle_t & ih, rmw_gid_t & gid);

void
rmw_connextdds_configure_subscriber_condition_listener(
  RMW_Connext_SubscriberStatusCondition * cond,
  DDS_DataReaderListener * const listener,
  DDS_StatusMask * const listener_mask);

void
rmw_connextdds_builtinkey_to_guid(
  const DDS_BuiltinTopicKey_t * const self,
  DDS_GUID_t * const dst);

rmw_ret_t
rmw_connextdds_enable_security(
  rmw_context_impl_t * const ctx,
  DDS_DomainParticipantQos * const qos);

// Define some macro aliases for security-related properties
#ifndef DDS_SECURITY_PROPERTY_PREFIX
#define DDS_SECURITY_PROPERTY_PREFIX \
  "com.rti.serv.secure"
#endif /* DDS_SECURITY_PROPERTY_PREFIX */

#ifndef DDS_SECURITY_IDENTITY_CA_PROPERTY
#define DDS_SECURITY_IDENTITY_CA_PROPERTY \
  DDS_SECURITY_PROPERTY_PREFIX ".authentication.ca_file"
#endif /* DDS_SECURITY_IDENTITY_CA_PROPERTY */

#ifndef DDS_SECURITY_PERMISSIONS_CA_PROPERTY
#define DDS_SECURITY_PERMISSIONS_CA_PROPERTY \
  DDS_SECURITY_PROPERTY_PREFIX ".access_control.permissions_authority_file"
#endif /* DDS_SECURITY_PERMISSIONS_CA_PROPERTY */

#ifndef DDS_SECURITY_PRIVATE_KEY_PROPERTY
#define DDS_SECURITY_PRIVATE_KEY_PROPERTY \
  DDS_SECURITY_PROPERTY_PREFIX ".authentication.private_key_file"
#endif /* DDS_SECURITY_PRIVATE_KEY_PROPERTY */

#ifndef DDS_SECURITY_IDENTITY_CERTIFICATE_PROPERTY
#define DDS_SECURITY_IDENTITY_CERTIFICATE_PROPERTY \
  DDS_SECURITY_PROPERTY_PREFIX ".authentication.certificate_file"
#endif /* DDS_SECURITY_IDENTITY_CERTIFICATE_PROPERTY */

#ifndef DDS_SECURITY_GOVERNANCE_PROPERTY
#define DDS_SECURITY_GOVERNANCE_PROPERTY \
  DDS_SECURITY_PROPERTY_PREFIX ".access_control.governance_file"
#endif /* DDS_SECURITY_GOVERNANCE_PROPERTY */

#ifndef DDS_SECURITY_PERMISSIONS_PROPERTY
#define DDS_SECURITY_PERMISSIONS_PROPERTY \
  DDS_SECURITY_PROPERTY_PREFIX ".access_control.permissions_file"
#endif /* DDS_SECURITY_PERMISSIONS_PROPERTY */

#ifndef DDS_SECURITY_LOGGING_FILE_PROPERTY
#define DDS_SECURITY_LOGGING_FILE_PROPERTY \
  DDS_SECURITY_PROPERTY_PREFIX ".logging.log_file"
#endif /* DDS_SECURITY_LOGGING_FILE_PROPERTY */

#ifndef DDS_SECURITY_LOGGING_DISTRIBUTE_PROPERTY
#define DDS_SECURITY_LOGGING_DISTRIBUTE_PROPERTY \
  DDS_SECURITY_PROPERTY_PREFIX ".logging.distribute.enable"
#endif /* DDS_SECURITY_LOGGING_DISTRIBUTE_PROPERTY */

#ifndef DDS_SECURITY_LOGGING_LEVEL_PROPERTY
#define DDS_SECURITY_LOGGING_LEVEL_PROPERTY \
  DDS_SECURITY_PROPERTY_PREFIX ".logging.log_level"
#endif /* DDS_SECURITY_LOGGING_LEVEL_PROPERTY */

rmw_ret_t
rmw_connextdds_set_cft_filter_expression(
  DDS_TopicDescription * const topic_desc,
  const char * const cft_expression,
  const rcutils_string_array_t * const cft_expression_parameters);

rmw_ret_t
rmw_connextdds_get_cft_filter_expression(
  DDS_TopicDescription * const topic_desc,
  rcutils_allocator_t * const allocator,
  rmw_subscription_content_filter_options_t * const options);

#endif  // RMW_CONNEXTDDS__DDS_API_HPP_