zcm_proc_runtime.h

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#ifndef ZCM_ZCM_PROC_RUNTIME_H
#define ZCM_ZCM_PROC_RUNTIME_H

 
#ifdef __cplusplus
extern "C" {
#endif
 
#include <stddef.h>
#include <stdint.h>
 
#include "zcm_proc.h"


#define ZCM_PROC_TYPE_HANDLER_MAX 32
#define ZCM_PROC_TYPE_HANDLER_ARG_MAX 32
#define ZCM_PROC_DATA_SOCKET_MAX 16
#define ZCM_PROC_SUB_TOPIC_MAX 16

typedef enum zcm_proc_data_socket_kind {
  ZCM_PROC_DATA_SOCKET_PUB = 1,
  ZCM_PROC_DATA_SOCKET_SUB = 2,
  ZCM_PROC_DATA_SOCKET_PUSH = 3,
  ZCM_PROC_DATA_SOCKET_PULL = 4
} zcm_proc_data_socket_kind_t;

typedef struct zcm_proc_data_socket_cfg {
  zcm_proc_data_socket_kind_t kind;
  int port;
  char target[128];
  char topics[ZCM_PROC_SUB_TOPIC_MAX][128];
  size_t topic_count;
  char payload[256];
  int interval_ms;
} zcm_proc_data_socket_cfg_t;

typedef enum zcm_proc_type_arg_kind {
  ZCM_PROC_TYPE_ARG_TEXT = 1,
  ZCM_PROC_TYPE_ARG_DOUBLE = 2,
  ZCM_PROC_TYPE_ARG_FLOAT = 3,
  ZCM_PROC_TYPE_ARG_INT = 4
} zcm_proc_type_arg_kind_t;

typedef struct zcm_proc_type_handler_cfg {
  char name[64];
  zcm_proc_type_arg_kind_t args[ZCM_PROC_TYPE_HANDLER_ARG_MAX];
  size_t arg_count;
  char format[256];
} zcm_proc_type_handler_cfg_t;

typedef struct zcm_proc_runtime_cfg {
  char name[128];
  zcm_proc_type_handler_cfg_t type_handlers[ZCM_PROC_TYPE_HANDLER_MAX];
  size_t type_handler_count;
  zcm_proc_data_socket_cfg_t data_sockets[ZCM_PROC_DATA_SOCKET_MAX];
  size_t data_socket_count;
} zcm_proc_runtime_cfg_t;

typedef void (*zcm_proc_runtime_sub_payload_cb_t)(
    const char *self_name,
    const char *source_name,
    const void *payload,
    size_t payload_len,
    void *user);

int zcm_proc_runtime_load_config(const char *cfg_path, zcm_proc_runtime_cfg_t *cfg);

int zcm_proc_runtime_bootstrap(const char *cfg_path,
                               zcm_proc_runtime_cfg_t *cfg,
                               zcm_proc_t **out_proc,
                               zcm_socket_t **out_rep);

const zcm_proc_type_handler_cfg_t *zcm_proc_runtime_find_type_handler(
    const zcm_proc_runtime_cfg_t *cfg,
    const char *type_name);

int zcm_proc_runtime_decode_type_payload(zcm_msg_t *msg,
                                         const zcm_proc_type_handler_cfg_t *handler,
                                         char *summary,
                                         size_t summary_size);

const char *zcm_proc_runtime_data_role(const zcm_proc_runtime_cfg_t *cfg);

const char *zcm_proc_runtime_builtin_ping_request(void);

const char *zcm_proc_runtime_builtin_ping_reply(void);

const char *zcm_proc_runtime_builtin_default_reply(void);

const char *zcm_proc_runtime_builtin_reply_for_command(const char *cmd, uint32_t cmd_len);

int zcm_proc_runtime_first_pub_port(const zcm_proc_runtime_cfg_t *cfg, int *out_port);

int zcm_proc_runtime_first_push_port(const zcm_proc_runtime_cfg_t *cfg, int *out_port);

int zcm_proc_runtime_payload_bytes(const zcm_proc_runtime_cfg_t *cfg,
                                   zcm_proc_data_socket_kind_t kind,
                                   int *out_bytes);

void zcm_proc_runtime_start_data_workers(zcm_proc_runtime_cfg_t *cfg,
                                         zcm_proc_t *proc,
                                         zcm_proc_runtime_sub_payload_cb_t on_sub_payload,
                                         void *user);

 
#ifdef __cplusplus
}
#endif
 
#endif /* ZCM_ZCM_PROC_RUNTIME_H */