Core messaging, registry, socket, and context primitives. More...

Data Structures
struct	zcm_msg_value
	Decoded standardized scalar value extracted from a message. More...
struct	zcm_node_entry
	Node listing entry returned by zcm_node_list(). More...

Macros
#define	ZCM_OK 0
	Success return code.
#define	ZCM_ERR (-1)
	Generic failure return code.
#define	ZCM_NODE_REGISTER_EX_DUPLICATE (-2)
	zcm_node_register_ex() failure code when a name is already owned by another process.

Typedefs
typedef struct zcm_context	zcm_context_t
	Opaque process-wide context handle.
typedef struct zcm_broker	zcm_broker_t
	Opaque broker handle.
typedef struct zcm_msg	zcm_msg_t
	Opaque typed message container.
typedef struct zcm_msg_value	zcm_msg_value_t
	Decoded standardized scalar value extracted from a message.
typedef struct zcm_node	zcm_node_t
	Opaque broker-registry client handle.
typedef struct zcm_socket	zcm_socket_t
	Opaque transport socket wrapper.
typedef struct zcm_node_entry	zcm_node_entry_t
	Node listing entry returned by zcm_node_list().

Enumerations
enum	zcm_msg_item_type_t { ZCM_MSG_ITEM_CHAR = 1 , ZCM_MSG_ITEM_SHORT = 2 , ZCM_MSG_ITEM_INT = 3 , ZCM_MSG_ITEM_LONG = 4 , ZCM_MSG_ITEM_FLOAT = 5 , ZCM_MSG_ITEM_DOUBLE = 6 , ZCM_MSG_ITEM_ARRAY = 7 , ZCM_MSG_ITEM_TEXT = 8 , ZCM_MSG_ITEM_BYTES = 9 }
	Encoded item kind stored in a message payload. More...
enum	zcm_msg_array_type_t { ZCM_MSG_ARRAY_CHAR = 1 , ZCM_MSG_ARRAY_SHORT = 2 , ZCM_MSG_ARRAY_INT = 3 , ZCM_MSG_ARRAY_FLOAT = 4 , ZCM_MSG_ARRAY_DOUBLE = 5 }
	Element type for array payload items. More...
enum	zcm_msg_status_t { ZCM_MSG_OK = 0 , ZCM_MSG_ERR = -1 , ZCM_MSG_ERR_TYPE = -2 , ZCM_MSG_ERR_RANGE = -3 , ZCM_MSG_ERR_FORMAT = -4 }
	Status/error codes returned by zcm_msg APIs. More...
enum	zcm_msg_value_kind_t { ZCM_MSG_VALUE_TEXT = 1 , ZCM_MSG_VALUE_DOUBLE = 2 , ZCM_MSG_VALUE_FLOAT = 3 , ZCM_MSG_VALUE_INT = 4 }
	Canonical scalar kind used by the standardized value property. More...
enum	zcm_socket_type_t { ZCM_SOCK_REQ = 1 , ZCM_SOCK_REP = 2 , ZCM_SOCK_PUB = 3 , ZCM_SOCK_SUB = 4 , ZCM_SOCK_PAIR = 5 , ZCM_SOCK_PUSH = 6 , ZCM_SOCK_PULL = 7 }
	Socket type abstraction mapped to ZeroMQ socket kinds. More...

Functions
zcm_context_t *	zcm_context_new (void)
	Create a new zCm context.
void	zcm_context_free (zcm_context_t *ctx)
	Destroy a context created by zcm_context_new().
zcm_broker_t *	zcm_broker_start (zcm_context_t ctx, const char endpoint)
	Start a broker service bound to the provided endpoint.
void	zcm_broker_stop (zcm_broker_t *broker)
	Stop and free a broker created by zcm_broker_start().
int	zcm_broker_is_running (const zcm_broker_t *broker)
	Check whether a broker service loop is still running.
const char *	zcm_version_string (void)
	Return the library version string.
void *	zcm_context_zmq (zcm_context_t *ctx)
	Get the underlying ZeroMQ context pointer.
zcm_msg_t *	zcm_msg_new (void)
	Allocate a new empty message.
void	zcm_msg_free (zcm_msg_t *msg)
	Free a message allocated by zcm_msg_new().
void	zcm_msg_reset (zcm_msg_t *msg)
	Clear payload, type name, and read cursor of a message.
void	zcm_msg_rewind (zcm_msg_t *msg)
	Reset only the payload read cursor to the beginning.
int	zcm_msg_set_type (zcm_msg_t msg, const char type)
	Set application-level message type string.
const char *	zcm_msg_get_type (const zcm_msg_t *msg)
	Get the message type string.
int	zcm_msg_put_char (zcm_msg_t *msg, char value)
	Append a char item.
int	zcm_msg_put_short (zcm_msg_t *msg, int16_t value)
	Append a 16-bit signed integer item.
int	zcm_msg_put_int (zcm_msg_t *msg, int32_t value)
	Append a 32-bit signed integer item.
int	zcm_msg_put_long (zcm_msg_t *msg, int64_t value)
	Append a 64-bit signed integer item.
int	zcm_msg_put_float (zcm_msg_t *msg, float value)
	Append a float item.
int	zcm_msg_put_double (zcm_msg_t *msg, double value)
	Append a double item.
int	zcm_msg_put_text (zcm_msg_t msg, const char value)
	Append a UTF-8 or ASCII text item.
int	zcm_msg_put_bytes (zcm_msg_t msg, const void data, uint32_t len)
	Append an opaque byte buffer item.
int	zcm_msg_put_array (zcm_msg_t msg, zcm_msg_array_type_t type, uint32_t elements, const void data)
	Append an array item.
int	zcm_msg_put_value_text (zcm_msg_t msg, const char value)
	Append the standardized scalar value as text.
int	zcm_msg_put_value_double (zcm_msg_t *msg, double value)
	Append the standardized scalar value as double.
int	zcm_msg_put_value_float (zcm_msg_t *msg, float value)
	Append the standardized scalar value as float.
int	zcm_msg_put_value_int (zcm_msg_t *msg, int32_t value)
	Append the standardized scalar value as int.
int	zcm_msg_get_char (zcm_msg_t msg, char value)
	Read the next char item.
int	zcm_msg_get_short (zcm_msg_t msg, int16_t value)
	Read the next 16-bit signed integer item.
int	zcm_msg_get_int (zcm_msg_t msg, int32_t value)
	Read the next 32-bit signed integer item.
int	zcm_msg_get_long (zcm_msg_t msg, int64_t value)
	Read the next 64-bit signed integer item.
int	zcm_msg_get_float (zcm_msg_t msg, float value)
	Read the next float item.
int	zcm_msg_get_double (zcm_msg_t msg, double value)
	Read the next double item.
int	zcm_msg_get_text (zcm_msg_t msg, const char value, uint32_t len)
	Read the next text item.
int	zcm_msg_get_bytes (zcm_msg_t msg, const void data, uint32_t len)
	Read the next raw byte item.
int	zcm_msg_get_array (zcm_msg_t msg, zcm_msg_array_type_t type, uint32_t elements, const void *data)
	Read the next array item.
int	zcm_msg_get_value (zcm_msg_t msg, zcm_msg_value_t out)
	Decode the standardized scalar value from the current read offset.
const void *	zcm_msg_data (const zcm_msg_t msg, size_t len)
	Get raw payload bytes (without transport envelope).
size_t	zcm_msg_remaining (const zcm_msg_t *msg)
	Get unread payload bytes remaining from current read cursor.
int	zcm_msg_from_bytes (zcm_msg_t msg, const void data, size_t len)
	Load message state from serialized envelope bytes.
int	zcm_msg_validate (const zcm_msg_t *msg)
	Validate encoded payload structure.
const char *	zcm_msg_last_error (const zcm_msg_t *msg)
	Get the last decode/validation error text for a message.
zcm_node_t *	zcm_node_new (struct zcm_context ctx, const char broker_endpoint)
	Create a node helper bound to one broker endpoint.
void	zcm_node_free (zcm_node_t *node)
	Destroy a node created by zcm_node_new().
int	zcm_node_unregister (zcm_node_t node, const char name)
	Remove a previously registered name from the broker.
int	zcm_node_register_ex (zcm_node_t node, const char name, const char endpoint, const char ctrl_endpoint, const char host, int pid, const char role, int pub_port, int push_port)
	Register a process with extended metadata.
int	zcm_node_lookup (zcm_node_t node, const char name, char *out_endpoint, size_t out_size)
	Resolve a registered name to its endpoint.
int	zcm_node_info (zcm_node_t node, const char name, char out_endpoint, size_t out_ep_size, char out_ctrl_endpoint, size_t out_ctrl_size, char out_host, size_t out_host_size, int out_pid)
	Fetch extended metadata for a registered name.
int	zcm_node_list (zcm_node_t node, zcm_node_entry_t out_entries, size_t out_count)
	List currently registered node entries.
void	zcm_node_list_free (zcm_node_entry_t *entries, size_t count)
	Free list memory returned by zcm_node_list().
int	zcm_node_report_metrics (zcm_node_t node, const char name, const char *role, int pub_port, int push_port, int pub_bytes, int sub_bytes, int push_bytes, int pull_bytes)
	Report runtime role/metric values for a registered name to the broker.
int	zcm_node_handle_control_msg (zcm_msg_t req, zcm_msg_t reply, int *out_should_exit)
	Handle a standard ZCM_CMD management message.
zcm_socket_t *	zcm_socket_new (struct zcm_context *ctx, zcm_socket_type_t type)
	Create a transport socket wrapper.
void	zcm_socket_free (zcm_socket_t *sock)
	Destroy a socket created by zcm_socket_new().
int	zcm_socket_bind (zcm_socket_t sock, const char endpoint)
	Bind a socket to an endpoint.
int	zcm_socket_connect (zcm_socket_t sock, const char endpoint)
	Connect a socket to an endpoint.
int	zcm_socket_set_subscribe (zcm_socket_t sock, const char prefix, size_t len)
	Configure subscription prefix on a SUB socket.
int	zcm_socket_send_msg (zcm_socket_t sock, const zcm_msg_t msg)
	Serialize and send a typed message.
int	zcm_socket_recv_msg (zcm_socket_t sock, zcm_msg_t msg)
	Receive and decode a typed message.
int	zcm_socket_send_bytes (zcm_socket_t sock, const void data, size_t len)
	Send raw bytes.
int	zcm_socket_recv_bytes (zcm_socket_t sock, void buf, size_t buf_len, size_t *out_len)
	Receive raw bytes into a caller-provided buffer.
int	zcm_socket_set_timeouts (zcm_socket_t *sock, int ms)
	Configure receive/send socket timeouts.

Detailed Description

This module is intended for code that needs direct control over transport sockets, typed payload encoding, and broker/node interactions.

Macro Definition Documentation

◆ ZCM_ERR

#define ZCM_ERR (-1)

Definition at line 24 of file zcm.h.

◆ ZCM_NODE_REGISTER_EX_DUPLICATE

#define ZCM_NODE_REGISTER_EX_DUPLICATE (-2)

Definition at line 53 of file zcm_node.h.

◆ ZCM_OK

#define ZCM_OK 0

Definition at line 22 of file zcm.h.

Typedef Documentation

◆ zcm_broker_t

typedef struct zcm_broker zcm_broker_t

Definition at line 29 of file zcm.h.

◆ zcm_context_t

typedef struct zcm_context zcm_context_t

Definition at line 27 of file zcm.h.

◆ zcm_msg_t

typedef struct zcm_msg zcm_msg_t

Definition at line 21 of file zcm_msg.h.

◆ zcm_node_t

typedef struct zcm_node zcm_node_t

Definition at line 24 of file zcm_node.h.

◆ zcm_socket_t

typedef struct zcm_socket zcm_socket_t

Definition at line 40 of file zcm_node.h.

Enumeration Type Documentation

◆ zcm_msg_array_type_t

enum zcm_msg_array_type_t

Definition at line 41 of file zcm_msg.h.

◆ zcm_msg_item_type_t

enum zcm_msg_item_type_t

Definition at line 26 of file zcm_msg.h.

◆ zcm_msg_status_t

enum zcm_msg_status_t

Definition at line 52 of file zcm_msg.h.

◆ zcm_msg_value_kind_t

enum zcm_msg_value_kind_t

Definition at line 63 of file zcm_msg.h.

◆ zcm_socket_type_t

enum zcm_socket_type_t

Definition at line 29 of file zcm_node.h.

Function Documentation

◆ zcm_broker_is_running()

int zcm_broker_is_running ( const zcm_broker_t * broker )

Parameters

broker Broker handle.

Returns: 1 when running, 0 when stopped or when broker is NULL.

◆ zcm_broker_start()

zcm_broker_t * zcm_broker_start	(	zcm_context_t *	ctx,
		const char *	endpoint )

Parameters

ctx	Valid zCm context.
endpoint	Broker bind endpoint, for example tcp://0.0.0.0:5555.

Returns: Broker handle on success, or NULL on failure.

◆ zcm_broker_stop()

void zcm_broker_stop ( zcm_broker_t * broker )

Parameters

broker Broker handle to stop. NULL is allowed.

◆ zcm_context_free()

void zcm_context_free ( zcm_context_t * ctx )

Parameters

ctx	Context to free. NULL is allowed.

◆ zcm_context_new()

zcm_context_t * zcm_context_new ( void )

Returns: Newly allocated context on success, or NULL on allocation/backend failure.

◆ zcm_context_zmq()

void * zcm_context_zmq ( zcm_context_t * ctx )

This is intended for internal integrations.

Parameters

ctx	zCm context.

Returns: Native ZeroMQ context pointer, or NULL when ctx is NULL.

◆ zcm_msg_data()

const void * zcm_msg_data	(	const zcm_msg_t *	msg,
		size_t *	len )

Parameters

msg	Message to inspect.
len	Optional payload byte length output.

Returns: Pointer to internal payload buffer, or NULL when msg is NULL.

◆ zcm_msg_free()

void zcm_msg_free ( zcm_msg_t * msg )

Parameters

msg	Message to free. NULL is allowed.

◆ zcm_msg_from_bytes()

int zcm_msg_from_bytes	(	zcm_msg_t *	msg,
		const void *	data,
		size_t	len )

Parameters

msg	Destination message to populate.
data	Serialized input bytes.
len	Size of data in bytes.

Returns: ZCM_MSG_OK on success, otherwise an error code.

◆ zcm_msg_get_array()

int zcm_msg_get_array	(	zcm_msg_t *	msg,
		zcm_msg_array_type_t *	type,
		uint32_t *	elements,
		const void **	data )

Returned pointer references internal message storage.

Parameters

msg	Message to read from.
type	Output array element type.
elements	Output element count.
data	Output pointer to contiguous array bytes.

Returns: ZCM_MSG_OK on success, otherwise an error code.

◆ zcm_msg_get_bytes()

int zcm_msg_get_bytes	(	zcm_msg_t *	msg,
		const void **	data,
		uint32_t *	len )

Returned pointer references internal message storage.

Parameters

msg	Message to read from.
data	Output pointer to the byte span.
len	Optional output byte count.

Returns: ZCM_MSG_OK on success, otherwise an error code.

◆ zcm_msg_get_char()

int zcm_msg_get_char	(	zcm_msg_t *	msg,
		char *	value )

Parameters

msg	Message to read from.
value	Output storage for decoded value.

Returns: ZCM_MSG_OK on success, otherwise an error code.

◆ zcm_msg_get_double()

int zcm_msg_get_double	(	zcm_msg_t *	msg,
		double *	value )

Parameters

msg	Message to read from.
value	Output storage for decoded value.

Returns: ZCM_MSG_OK on success, otherwise an error code.

◆ zcm_msg_get_float()

int zcm_msg_get_float	(	zcm_msg_t *	msg,
		float *	value )

Parameters

msg	Message to read from.
value	Output storage for decoded value.

Returns: ZCM_MSG_OK on success, otherwise an error code.

◆ zcm_msg_get_int()

int zcm_msg_get_int	(	zcm_msg_t *	msg,
		int32_t *	value )

Parameters

msg	Message to read from.
value	Output storage for decoded value.

Returns: ZCM_MSG_OK on success, otherwise an error code.

◆ zcm_msg_get_long()

int zcm_msg_get_long	(	zcm_msg_t *	msg,
		int64_t *	value )

Parameters

msg	Message to read from.
value	Output storage for decoded value.

Returns: ZCM_MSG_OK on success, otherwise an error code.

◆ zcm_msg_get_short()

int zcm_msg_get_short	(	zcm_msg_t *	msg,
		int16_t *	value )

Parameters

msg	Message to read from.
value	Output storage for decoded value.

Returns: ZCM_MSG_OK on success, otherwise an error code.

◆ zcm_msg_get_text()

int zcm_msg_get_text	(	zcm_msg_t *	msg,
		const char **	value,
		uint32_t *	len )

Returned pointer references internal message storage.

Parameters

msg	Message to read from.
value	Output pointer to text bytes (not null-terminated by contract).
len	Optional output string length in bytes.

Returns: ZCM_MSG_OK on success, otherwise an error code.

◆ zcm_msg_get_type()

const char * zcm_msg_get_type ( const zcm_msg_t * msg )

Parameters

msg	Message to inspect.

Returns: Pointer to internal type string, or NULL if msg is NULL.

◆ zcm_msg_get_value()

int zcm_msg_get_value	(	zcm_msg_t *	msg,
		zcm_msg_value_t *	out )

The function consumes the marker/kind/value triplet from the message stream.

Parameters

msg	Message to read from.
out	Output decoded value.

Returns: ZCM_MSG_OK on success, otherwise an error code.

◆ zcm_msg_last_error()

const char * zcm_msg_last_error ( const zcm_msg_t * msg )

Parameters

msg	Message to inspect.

Returns: Internal error string, or NULL when msg is NULL.

◆ zcm_msg_new()

zcm_msg_t * zcm_msg_new ( void )

Returns: New message handle, or NULL on allocation failure.

◆ zcm_msg_put_array()

int zcm_msg_put_array	(	zcm_msg_t *	msg,
		zcm_msg_array_type_t	type,
		uint32_t	elements,
		const void *	data )

Parameters

msg	Message to append to.
type	Array element type.
elements	Element count.
data	Pointer to contiguous array memory. Must be non-NULL when elements > 0.

Returns: ZCM_MSG_OK on success, otherwise an error code.

◆ zcm_msg_put_bytes()

int zcm_msg_put_bytes	(	zcm_msg_t *	msg,
		const void *	data,
		uint32_t	len )

Parameters

msg	Message to append to.
data	Byte pointer to encode. Can be NULL when len == 0.
len	Number of bytes at data.

Returns: ZCM_MSG_OK on success, otherwise an error code.

◆ zcm_msg_put_char()

int zcm_msg_put_char	(	zcm_msg_t *	msg,
		char	value )

Parameters

msg	Message to append to.
value	Value to encode.

Returns: ZCM_MSG_OK on success, otherwise an error code.

◆ zcm_msg_put_double()

int zcm_msg_put_double	(	zcm_msg_t *	msg,
		double	value )

Parameters

msg	Message to append to.
value	Value to encode.

Returns: ZCM_MSG_OK on success, otherwise an error code.

◆ zcm_msg_put_float()

int zcm_msg_put_float	(	zcm_msg_t *	msg,
		float	value )

Parameters

msg	Message to append to.
value	Value to encode.

Returns: ZCM_MSG_OK on success, otherwise an error code.

◆ zcm_msg_put_int()

int zcm_msg_put_int	(	zcm_msg_t *	msg,
		int32_t	value )

Parameters

msg	Message to append to.
value	Value to encode.

Returns: ZCM_MSG_OK on success, otherwise an error code.

◆ zcm_msg_put_long()

int zcm_msg_put_long	(	zcm_msg_t *	msg,
		int64_t	value )

Parameters

msg	Message to append to.
value	Value to encode.

Returns: ZCM_MSG_OK on success, otherwise an error code.

◆ zcm_msg_put_short()

int zcm_msg_put_short	(	zcm_msg_t *	msg,
		int16_t	value )

Parameters

msg	Message to append to.
value	Value to encode.

Returns: ZCM_MSG_OK on success, otherwise an error code.

◆ zcm_msg_put_text()

int zcm_msg_put_text	(	zcm_msg_t *	msg,
		const char *	value )

Parameters

msg	Message to append to.
value	Null-terminated text pointer. NULL is treated as empty text.

Returns: ZCM_MSG_OK on success, otherwise an error code.

◆ zcm_msg_put_value_double()

int zcm_msg_put_value_double	(	zcm_msg_t *	msg,
		double	value )

Parameters

msg	Message to append to.
value	Double value.

Returns: ZCM_MSG_OK on success, otherwise an error code.

◆ zcm_msg_put_value_float()

int zcm_msg_put_value_float	(	zcm_msg_t *	msg,
		float	value )

Parameters

msg	Message to append to.
value	Float value.

Returns: ZCM_MSG_OK on success, otherwise an error code.

◆ zcm_msg_put_value_int()

int zcm_msg_put_value_int	(	zcm_msg_t *	msg,
		int32_t	value )

Parameters

msg	Message to append to.
value	Integer value.

Returns: ZCM_MSG_OK on success, otherwise an error code.

◆ zcm_msg_put_value_text()

int zcm_msg_put_value_text	(	zcm_msg_t *	msg,
		const char *	value )

Parameters

msg	Message to append to.
value	Text value.

Returns: ZCM_MSG_OK on success, otherwise an error code.

◆ zcm_msg_remaining()

size_t zcm_msg_remaining ( const zcm_msg_t * msg )

Parameters

msg	Message to inspect.

Returns: Remaining unread payload bytes.

◆ zcm_msg_reset()

void zcm_msg_reset ( zcm_msg_t * msg )

Parameters

msg	Message to reset. NULL is allowed.

◆ zcm_msg_rewind()

void zcm_msg_rewind ( zcm_msg_t * msg )

Parameters

msg	Message to rewind. NULL is allowed.

◆ zcm_msg_set_type()

int zcm_msg_set_type	(	zcm_msg_t *	msg,
		const char *	type )

Parameters

msg	Message to modify.
type	Null-terminated type name.

Returns: ZCM_MSG_OK on success, otherwise an error code.

◆ zcm_msg_validate()

int zcm_msg_validate ( const zcm_msg_t * msg )

Parameters

msg	Message to validate.

Returns: ZCM_MSG_OK if the payload is structurally valid, otherwise an error code.

◆ zcm_node_free()

void zcm_node_free ( zcm_node_t * node )

Parameters

node	Node handle to free. NULL is allowed.

◆ zcm_node_handle_control_msg()

int zcm_node_handle_control_msg	(	zcm_msg_t *	req,
		zcm_msg_t *	reply,
		int *	out_should_exit )

Supported commands:

PING -> reply REPLY(PONG,200)
DATA_METRICS -> reply REPLY(ROLE=NONE;PUB_PORT=-1;PUSH_PORT=-1;PUB_BYTES=-1;SUB_BYTES=-1;PUSH_BYTES=-1;PULL_BYTES=-1;SUB_TARGETS=-;SUB_TARGET_BYTES=-,200)
KILL -> reply REPLY(OK,200) and request process exit
SHUTDOWN -> reply REPLY(OK,200) and request process exit

For unsupported commands, the function writes ERROR(UNKNOWN_CMD,404).

Parameters

req	Incoming request message.
reply	Output reply message (reset by this function when handled).
out_should_exit	Set to 1 when caller should terminate after sending reply.

Returns: 1 when command was handled, 0 when request is not a ZCM_CMD control message, -1 on argument/internal errors.

◆ zcm_node_info()

int zcm_node_info	(	zcm_node_t *	node,
		const char *	name,
		char *	out_endpoint,
		size_t	out_ep_size,
		char *	out_ctrl_endpoint,
		size_t	out_ctrl_size,
		char *	out_host,
		size_t	out_host_size,
		int *	out_pid )

Any output pointer can be NULL to skip that field.

Parameters

node	Node helper.
name	Name to inspect.
out_endpoint	Output buffer for data endpoint.
out_ep_size	Size of out_endpoint.
out_ctrl_endpoint	Output buffer for control endpoint.
out_ctrl_size	Size of out_ctrl_endpoint.
out_host	Output buffer for host name/address.
out_host_size	Size of out_host.
out_pid	Optional process ID output.

Returns: 0 on success, -1 on failure.

◆ zcm_node_list()

int zcm_node_list	(	zcm_node_t *	node,
		zcm_node_entry_t **	out_entries,
		size_t *	out_count )

Parameters

node	Node helper.
out_entries	Output array allocated by the library.
out_count	Output number of entries in out_entries.

Returns: 0 on success, -1 on failure.

◆ zcm_node_list_free()

void zcm_node_list_free	(	zcm_node_entry_t *	entries,
		size_t	count )

Parameters

entries	Entry array pointer returned by zcm_node_list().
count	Number of entries in entries.

◆ zcm_node_lookup()

int zcm_node_lookup	(	zcm_node_t *	node,
		const char *	name,
		char *	out_endpoint,
		size_t	out_size )

Parameters

node	Node helper.
name	Name to resolve.
out_endpoint	Output buffer receiving endpoint string.
out_size	Size of out_endpoint in bytes.

Returns: 0 on success, -1 on failure.

◆ zcm_node_new()

zcm_node_t * zcm_node_new	(	struct zcm_context *	ctx,
		const char *	broker_endpoint )

Parameters

ctx	zCm context.
broker_endpoint	Broker endpoint string used for registry requests.

Returns: Node handle on success, or NULL on failure.

◆ zcm_node_register_ex()

int zcm_node_register_ex	(	zcm_node_t *	node,
		const char *	name,
		const char *	endpoint,
		const char *	ctrl_endpoint,
		const char *	host,
		int	pid,
		const char *	role,
		int	pub_port,
		int	push_port )

Parameters

node	Node helper.
name	Logical process/service name.
endpoint	Data endpoint.
ctrl_endpoint	Control endpoint used for management actions.
host	Hostname or IP advertised by the process.
pid	Process ID.
role	Node role (PUB, SUB, PUSH, PULL, NONE, UNKNOWN, or combos like PUB+SUB).
pub_port	Published PUB port or -1.
push_port	Published PUSH port or -1.

Returns: 0 on success, ZCM_NODE_REGISTER_EX_DUPLICATE on duplicate name, -1 on transport/internal failure.

◆ zcm_node_report_metrics()

int zcm_node_report_metrics	(	zcm_node_t *	node,
		const char *	name,
		const char *	role,
		int	pub_port,
		int	push_port,
		int	pub_bytes,
		int	sub_bytes,
		int	push_bytes,
		int	pull_bytes )

Any numeric value can be set to -1 when unknown/not applicable.

Parameters

node	Node helper.
name	Registered logical name.
role	Role string (for example PUB, SUB, PUB+SUB, EXTERNAL).
pub_port	Published PUB port or -1.
push_port	Published PUSH port or -1.
pub_bytes	Last PUB payload byte size or -1.
sub_bytes	Last SUB payload byte size or -1.
push_bytes	Last PUSH payload byte size or -1.
pull_bytes	Last PULL payload byte size or -1.

Returns: 0 on success, -1 on failure.

◆ zcm_node_unregister()

int zcm_node_unregister	(	zcm_node_t *	node,
		const char *	name )

Parameters

node	Node helper.
name	Name to remove.

Returns: 0 on success, -1 on failure.

◆ zcm_socket_bind()

int zcm_socket_bind	(	zcm_socket_t *	sock,
		const char *	endpoint )

Parameters

sock	Socket wrapper.
endpoint	Bind endpoint string.

Returns: 0 on success, -1 on failure.

◆ zcm_socket_connect()

int zcm_socket_connect	(	zcm_socket_t *	sock,
		const char *	endpoint )

Parameters

sock	Socket wrapper.
endpoint	Remote endpoint string.

Returns: 0 on success, -1 on failure.

◆ zcm_socket_free()

void zcm_socket_free ( zcm_socket_t * sock )

Parameters

sock	Socket wrapper to free. NULL is allowed.

◆ zcm_socket_new()

zcm_socket_t * zcm_socket_new	(	struct zcm_context *	ctx,
		zcm_socket_type_t	type )

Parameters

ctx	zCm context.
type	Desired socket type.

Returns: Socket wrapper on success, or NULL on failure.

◆ zcm_socket_recv_bytes()

int zcm_socket_recv_bytes	(	zcm_socket_t *	sock,
		void *	buf,
		size_t	buf_len,
		size_t *	out_len )

Parameters

sock	Socket wrapper.
buf	Destination buffer.
buf_len	Capacity of buf in bytes.
out_len	Optional output with received byte count.

Returns: 0 on success, -1 on failure.

◆ zcm_socket_recv_msg()

int zcm_socket_recv_msg	(	zcm_socket_t *	sock,
		zcm_msg_t *	msg )

Parameters

sock	Socket wrapper.
msg	Destination message object.

Returns: 0 on success, -1 on transport/decode error.

◆ zcm_socket_send_bytes()

int zcm_socket_send_bytes	(	zcm_socket_t *	sock,
		const void *	data,
		size_t	len )

Parameters

sock	Socket wrapper.
data	Byte buffer to send. Can be NULL when len == 0.
len	Number of bytes to send.

Returns: 0 on success, -1 on failure.

◆ zcm_socket_send_msg()

int zcm_socket_send_msg	(	zcm_socket_t *	sock,
		const zcm_msg_t *	msg )

Parameters

sock	Socket wrapper.
msg	Message to send.

Returns: 0 on success, -1 on failure.

◆ zcm_socket_set_subscribe()

int zcm_socket_set_subscribe	(	zcm_socket_t *	sock,
		const char *	prefix,
		size_t	len )

Parameters

sock	Socket wrapper.
prefix	Prefix bytes. Can be empty for all topics.
len	Prefix size in bytes.

Returns: 0 on success, -1 on failure.

◆ zcm_socket_set_timeouts()

int zcm_socket_set_timeouts	(	zcm_socket_t *	sock,
		int	ms )

Parameters

sock	Socket wrapper.
ms	Timeout in milliseconds.

Returns: 0 on success, -1 on failure.

◆ zcm_version_string()

const char * zcm_version_string ( void )

Returns: Null-terminated version string.

Data Structures

Macros

Typedefs

Enumerations

Functions

Detailed Description

Macro Definition Documentation

◆ ZCM_ERR

◆ ZCM_NODE_REGISTER_EX_DUPLICATE

◆ ZCM_OK

Typedef Documentation

◆ zcm_broker_t

◆ zcm_context_t

◆ zcm_msg_t

◆ zcm_node_t

◆ zcm_socket_t

Enumeration Type Documentation

◆ zcm_msg_array_type_t

◆ zcm_msg_item_type_t

◆ zcm_msg_status_t

◆ zcm_msg_value_kind_t

◆ zcm_socket_type_t

Function Documentation

◆ zcm_broker_is_running()

◆ zcm_broker_start()

◆ zcm_broker_stop()

◆ zcm_context_free()

◆ zcm_context_new()

◆ zcm_context_zmq()

◆ zcm_msg_data()

◆ zcm_msg_free()

◆ zcm_msg_from_bytes()

◆ zcm_msg_get_array()

◆ zcm_msg_get_bytes()

◆ zcm_msg_get_char()

◆ zcm_msg_get_double()

◆ zcm_msg_get_float()

◆ zcm_msg_get_int()

◆ zcm_msg_get_long()

◆ zcm_msg_get_short()

◆ zcm_msg_get_text()

◆ zcm_msg_get_type()

◆ zcm_msg_get_value()

◆ zcm_msg_last_error()

◆ zcm_msg_new()

◆ zcm_msg_put_array()

◆ zcm_msg_put_bytes()

◆ zcm_msg_put_char()

◆ zcm_msg_put_double()

◆ zcm_msg_put_float()

◆ zcm_msg_put_int()

◆ zcm_msg_put_long()

◆ zcm_msg_put_short()

◆ zcm_msg_put_text()

◆ zcm_msg_put_value_double()

◆ zcm_msg_put_value_float()

◆ zcm_msg_put_value_int()

◆ zcm_msg_put_value_text()

◆ zcm_msg_remaining()

◆ zcm_msg_reset()

◆ zcm_msg_rewind()

◆ zcm_msg_set_type()

◆ zcm_msg_validate()

◆ zcm_node_free()

◆ zcm_node_handle_control_msg()

◆ zcm_node_info()

◆ zcm_node_list()

◆ zcm_node_list_free()

◆ zcm_node_lookup()

◆ zcm_node_new()

◆ zcm_node_register_ex()

◆ zcm_node_report_metrics()

◆ zcm_node_unregister()

◆ zcm_socket_bind()

◆ zcm_socket_connect()

◆ zcm_socket_free()

◆ zcm_socket_new()

◆ zcm_socket_recv_bytes()

◆ zcm_socket_recv_msg()

◆ zcm_socket_send_bytes()