rmw_event.h

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#ifndef NROS_RMW_EVENT_H
#define NROS_RMW_EVENT_H
 
#include <stdint.h>
#include <stddef.h>
 
#include "nros/rmw_ret.h"
 
typedef enum nros_rmw_event_kind_t {
    NROS_RMW_EVENT_LIVELINESS_CHANGED         = 0,
    NROS_RMW_EVENT_REQUESTED_DEADLINE_MISSED  = 1,
    NROS_RMW_EVENT_MESSAGE_LOST               = 2,
    NROS_RMW_EVENT_LIVELINESS_LOST            = 3,
    NROS_RMW_EVENT_OFFERED_DEADLINE_MISSED    = 4,
} nros_rmw_event_kind_t;
 
typedef struct nros_rmw_liveliness_changed_status_t {
    uint16_t alive_count;
    uint16_t not_alive_count;
    int16_t  alive_count_change;
    int16_t  not_alive_count_change;
} nros_rmw_liveliness_changed_status_t;
 
typedef struct nros_rmw_count_status_t {
    uint32_t total_count;
    uint32_t total_count_change;
} nros_rmw_count_status_t;
 
typedef union nros_rmw_event_payload_t {
    nros_rmw_liveliness_changed_status_t liveliness_changed;
    nros_rmw_count_status_t              count;
} nros_rmw_event_payload_t;
 
typedef void (*nros_rmw_event_callback_t)(
    nros_rmw_event_kind_t            kind,
    const nros_rmw_event_payload_t  *payload,
    void                            *user_context);
 
#endif /* NROS_RMW_EVENT_H */