nros C API
Lightweight ROS 2 client for embedded real-time systems
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cdr.h
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1
14#ifndef NROS_CDR_H
15#define NROS_CDR_H
16
17#include "nros/types.h"
18
19#ifdef __cplusplus
20extern "C" {
21#endif
22
23/* ===================================================================
24 * Write Functions
25 * =================================================================== */
26
36NROS_PUBLIC
37int32_t nros_cdr_write_bool(uint8_t** ptr, const uint8_t* end, const uint8_t* origin, bool value);
38
48NROS_PUBLIC
49int32_t nros_cdr_write_u8(uint8_t** ptr, const uint8_t* end, const uint8_t* origin, uint8_t value);
50
60NROS_PUBLIC
61int32_t nros_cdr_write_i8(uint8_t** ptr, const uint8_t* end, const uint8_t* origin, int8_t value);
62
72NROS_PUBLIC
73int32_t nros_cdr_write_u16(uint8_t** ptr, const uint8_t* end, const uint8_t* origin,
74 uint16_t value);
75
85NROS_PUBLIC
86int32_t nros_cdr_write_i16(uint8_t** ptr, const uint8_t* end, const uint8_t* origin, int16_t value);
87
97NROS_PUBLIC
98int32_t nros_cdr_write_u32(uint8_t** ptr, const uint8_t* end, const uint8_t* origin,
99 uint32_t value);
100
110NROS_PUBLIC
111int32_t nros_cdr_write_i32(uint8_t** ptr, const uint8_t* end, const uint8_t* origin, int32_t value);
112
122NROS_PUBLIC
123int32_t nros_cdr_write_u64(uint8_t** ptr, const uint8_t* end, const uint8_t* origin,
124 uint64_t value);
125
135NROS_PUBLIC
136int32_t nros_cdr_write_i64(uint8_t** ptr, const uint8_t* end, const uint8_t* origin, int64_t value);
137
147NROS_PUBLIC
148int32_t nros_cdr_write_f32(uint8_t** ptr, const uint8_t* end, const uint8_t* origin, float value);
149
159NROS_PUBLIC
160int32_t nros_cdr_write_f64(uint8_t** ptr, const uint8_t* end, const uint8_t* origin, double value);
161
174NROS_PUBLIC
175int32_t nros_cdr_write_string(uint8_t** ptr, const uint8_t* end, const uint8_t* origin,
176 const char* value);
177
193NROS_PUBLIC
194int32_t nros_cdr_write_string_n(uint8_t** ptr, const uint8_t* end, const uint8_t* origin,
195 const char* data, size_t len);
196
197/* ===================================================================
198 * Read Functions
199 * =================================================================== */
200
210NROS_PUBLIC
211int32_t nros_cdr_read_bool(const uint8_t** ptr, const uint8_t* end, const uint8_t* origin,
212 bool* value);
213
223NROS_PUBLIC
224int32_t nros_cdr_read_u8(const uint8_t** ptr, const uint8_t* end, const uint8_t* origin,
225 uint8_t* value);
226
236NROS_PUBLIC
237int32_t nros_cdr_read_i8(const uint8_t** ptr, const uint8_t* end, const uint8_t* origin,
238 int8_t* value);
239
249NROS_PUBLIC
250int32_t nros_cdr_read_u16(const uint8_t** ptr, const uint8_t* end, const uint8_t* origin,
251 uint16_t* value);
252
262NROS_PUBLIC
263int32_t nros_cdr_read_i16(const uint8_t** ptr, const uint8_t* end, const uint8_t* origin,
264 int16_t* value);
265
275NROS_PUBLIC
276int32_t nros_cdr_read_u32(const uint8_t** ptr, const uint8_t* end, const uint8_t* origin,
277 uint32_t* value);
278
288NROS_PUBLIC
289int32_t nros_cdr_read_i32(const uint8_t** ptr, const uint8_t* end, const uint8_t* origin,
290 int32_t* value);
291
301NROS_PUBLIC
302int32_t nros_cdr_read_u64(const uint8_t** ptr, const uint8_t* end, const uint8_t* origin,
303 uint64_t* value);
304
314NROS_PUBLIC
315int32_t nros_cdr_read_i64(const uint8_t** ptr, const uint8_t* end, const uint8_t* origin,
316 int64_t* value);
317
327NROS_PUBLIC
328int32_t nros_cdr_read_f32(const uint8_t** ptr, const uint8_t* end, const uint8_t* origin,
329 float* value);
330
340NROS_PUBLIC
341int32_t nros_cdr_read_f64(const uint8_t** ptr, const uint8_t* end, const uint8_t* origin,
342 double* value);
343
357NROS_PUBLIC
358int32_t nros_cdr_read_string(const uint8_t** ptr, const uint8_t* end, const uint8_t* origin,
359 char* value, size_t max_len);
360
361#ifdef __cplusplus
362}
363#endif
364
365#endif /* NROS_CDR_H */
nros_cdr_write_u32
int32_t nros_cdr_write_u32(uint8_t **ptr, const uint8_t *end, const uint8_t *origin, uint32_t value)
Write a u32 value to the buffer (with alignment).
nros_cdr_write_u64
int32_t nros_cdr_write_u64(uint8_t **ptr, const uint8_t *end, const uint8_t *origin, uint64_t value)
Write a u64 value to the buffer (with alignment).
nros_cdr_write_string_n
int32_t nros_cdr_write_string_n(uint8_t **ptr, const uint8_t *end, const uint8_t *origin, const char *data, size_t len)
Write a string from a pointer+length pair (not null-terminated).
nros_cdr_read_f64
int32_t nros_cdr_read_f64(const uint8_t **ptr, const uint8_t *end, const uint8_t *origin, double *value)
Read a f64 value from the buffer.
nros_cdr_read_string
int32_t nros_cdr_read_string(const uint8_t **ptr, const uint8_t *end, const uint8_t *origin, char *value, size_t max_len)
Read a string from the buffer into a fixed-size buffer.
nros_cdr_read_u16
int32_t nros_cdr_read_u16(const uint8_t **ptr, const uint8_t *end, const uint8_t *origin, uint16_t *value)
Read a u16 value from the buffer (with alignment).
nros_cdr_read_i16
int32_t nros_cdr_read_i16(const uint8_t **ptr, const uint8_t *end, const uint8_t *origin, int16_t *value)
Read an i16 value from the buffer.
nros_cdr_write_bool
int32_t nros_cdr_write_bool(uint8_t **ptr, const uint8_t *end, const uint8_t *origin, bool value)
Write a boolean value to the buffer.
nros_cdr_read_i8
int32_t nros_cdr_read_i8(const uint8_t **ptr, const uint8_t *end, const uint8_t *origin, int8_t *value)
Read an i8 value from the buffer.
nros_cdr_read_i64
int32_t nros_cdr_read_i64(const uint8_t **ptr, const uint8_t *end, const uint8_t *origin, int64_t *value)
Read an i64 value from the buffer.
nros_cdr_read_i32
int32_t nros_cdr_read_i32(const uint8_t **ptr, const uint8_t *end, const uint8_t *origin, int32_t *value)
Read an i32 value from the buffer.
nros_cdr_write_f32
int32_t nros_cdr_write_f32(uint8_t **ptr, const uint8_t *end, const uint8_t *origin, float value)
Write a f32 value to the buffer (with alignment).
nros_cdr_read_f32
int32_t nros_cdr_read_f32(const uint8_t **ptr, const uint8_t *end, const uint8_t *origin, float *value)
Read a f32 value from the buffer.
nros_cdr_write_u8
int32_t nros_cdr_write_u8(uint8_t **ptr, const uint8_t *end, const uint8_t *origin, uint8_t value)
Write a u8 value to the buffer.
nros_cdr_write_i64
int32_t nros_cdr_write_i64(uint8_t **ptr, const uint8_t *end, const uint8_t *origin, int64_t value)
Write an i64 value to the buffer.
nros_cdr_read_u8
int32_t nros_cdr_read_u8(const uint8_t **ptr, const uint8_t *end, const uint8_t *origin, uint8_t *value)
Read a u8 value from the buffer.
nros_cdr_write_string
int32_t nros_cdr_write_string(uint8_t **ptr, const uint8_t *end, const uint8_t *origin, const char *value)
Write a string to the buffer (length-prefixed).
nros_cdr_read_u64
int32_t nros_cdr_read_u64(const uint8_t **ptr, const uint8_t *end, const uint8_t *origin, uint64_t *value)
Read a u64 value from the buffer (with alignment).
nros_cdr_write_i32
int32_t nros_cdr_write_i32(uint8_t **ptr, const uint8_t *end, const uint8_t *origin, int32_t value)
Write an i32 value to the buffer.
nros_cdr_write_i16
int32_t nros_cdr_write_i16(uint8_t **ptr, const uint8_t *end, const uint8_t *origin, int16_t value)
Write an i16 value to the buffer.
nros_cdr_write_i8
int32_t nros_cdr_write_i8(uint8_t **ptr, const uint8_t *end, const uint8_t *origin, int8_t value)
Write an i8 value to the buffer.
nros_cdr_read_bool
int32_t nros_cdr_read_bool(const uint8_t **ptr, const uint8_t *end, const uint8_t *origin, bool *value)
Read a boolean value from the buffer.
nros_cdr_read_u32
int32_t nros_cdr_read_u32(const uint8_t **ptr, const uint8_t *end, const uint8_t *origin, uint32_t *value)
Read a u32 value from the buffer (with alignment).
nros_cdr_write_u16
int32_t nros_cdr_write_u16(uint8_t **ptr, const uint8_t *end, const uint8_t *origin, uint16_t value)
Write a u16 value to the buffer (with alignment).
nros_cdr_write_f64
int32_t nros_cdr_write_f64(uint8_t **ptr, const uint8_t *end, const uint8_t *origin, double value)
Write a f64 value to the buffer (with alignment).
types.h
Shared types and constants for the nros C API.
NROS_PUBLIC
#define NROS_PUBLIC
Definition visibility.h:33
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