px4muorb_KraitRpcWrapper.hpp
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/****************************************************************************
*
* Copyright (c) 2016 Ramakrishna Kintada. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
#ifndef _px4muorb_KraitRpcWrapper_hpp_
#define _px4muorb_KraitRpcWrapper_hpp_
#include <stdint.h>
namespace px4muorb
{
class KraitRpcWrapper;
}
class px4muorb::KraitRpcWrapper
{
public:
/**
* Constructor
*/
KraitRpcWrapper() = default;
/**
* destructor
*/
~KraitRpcWrapper() = default;
/**
* Initiatizes the rpc channel px4 muorb
*/
bool Initialize();
/**
* Terminate to clean up the resources. This should be called at program exit
*/
bool Terminate();
/**
* Muorb related functions to pub/sub of orb topic from krait to adsp
*/
int32_t TopicAdvertised(const char *topic);
int32_t TopicUnadvertised(const char *topic);
int32_t AddSubscriber(const char *topic);
int32_t RemoveSubscriber(const char *topic);
int32_t SendData(const char *topic, int32_t length_in_bytes, const uint8_t *data);
int32_t ReceiveData(int32_t *msg_type, char **topic, int32_t *length_in_bytes, uint8_t **data);
int32_t IsSubscriberPresent(const char *topic, int32_t *status);
int32_t ReceiveBulkData(uint8_t **bulk_data, int32_t *length_in_bytes, int32_t *topic_count);
int32_t UnblockReceiveData();
};
#endif // _px4muorb_KraitWrapper_hpp_