rmw_transport.h

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#ifndef NROS_RMW_TRANSPORT_H
#define NROS_RMW_TRANSPORT_H
 
#include <stddef.h>
#include <stdint.h>
 
#include "nros/rmw_ret.h"
 
#ifdef __cplusplus
extern "C" {
#endif
 
#define NROS_TRANSPORT_OPS_ABI_VERSION_V1 ((uint32_t)1)
 
typedef struct nros_transport_ops_s {
    uint32_t abi_version;
 
    uint32_t _reserved;
 
    void *user_data;
 
    int32_t (*open)(void *user_data, const void *params);
 
    void (*close)(void *user_data);
 
    int32_t (*write)(void *user_data, const uint8_t *buf, size_t len);
 
    int32_t (*read)(void *user_data, uint8_t *buf, size_t len,
                    uint32_t timeout_ms);
} nros_transport_ops_t;
 
rmw_ret_t nros_rmw_cffi_set_custom_transport(const nros_transport_ops_t *ops);
 
#ifdef __cplusplus
}  // extern "C"
#endif
 
#endif  // NROS_RMW_TRANSPORT_H