From 89b2fa2ba070eda8ad73c797cc1a092af29d1d8f Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Beat=20K=C3=BCng?= Date: Wed, 14 Feb 2018 12:14:34 +0100 Subject: [PATCH] microRTPS_transport.h: add clarifying comment for Transport_node::write() --- msg/templates/urtps/microRTPS_transport.h | 16 +++++++++++++++- 1 file changed, 15 insertions(+), 1 deletion(-) diff --git a/msg/templates/urtps/microRTPS_transport.h b/msg/templates/urtps/microRTPS_transport.h index f48dbe5283..03d47670f9 100644 --- a/msg/templates/urtps/microRTPS_transport.h +++ b/msg/templates/urtps/microRTPS_transport.h @@ -45,8 +45,22 @@ public: virtual int init() {return 0;} virtual uint8_t close() {return 0;} ssize_t read(uint8_t *topic_ID, char out_buffer[], size_t buffer_len); + + /** + * write a buffer + * @param topic_ID + * @param buffer buffer to write: it must leave get_header_length() bytes free at the beginning. This will be + * filled with the header. length does not include get_header_length(). So buffer looks like this: + * ------------------------------------------------- + * | header (leave free) | payload data | + * | get_header_length() bytes | length bytes | + * ------------------------------------------------- + * @param length buffer length excluding header length + * @return length on success, <0 on error + */ ssize_t write(const uint8_t topic_ID, char buffer[], size_t length); - /* Get the Length of struct Header to make headroom for the size of struct Header alongwith payload*/ + + /** Get the Length of struct Header to make headroom for the size of struct Header along with payload */ ssize_t get_header_length(); protected: