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