iceoryx_posh 2.0.3
untyped_publisher_impl.hpp
1// Copyright (c) 2020 by Robert Bosch GmbH. All rights reserved.
2// Copyright (c) 2020 - 2022 by Apex.AI Inc. All rights reserved.
3//
4// Licensed under the Apache License, Version 2.0 (the "License");
5// you may not use this file except in compliance with the License.
6// You may obtain a copy of the License at
7//
8// http://www.apache.org/licenses/LICENSE-2.0
9//
10// Unless required by applicable law or agreed to in writing, software
11// distributed under the License is distributed on an "AS IS" BASIS,
12// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
13// See the License for the specific language governing permissions and
14// limitations under the License.
15//
16// SPDX-License-Identifier: Apache-2.0
17
18#ifndef IOX_POSH_POPO_UNTYPED_PUBLISHER_IMPL_HPP
19#define IOX_POSH_POPO_UNTYPED_PUBLISHER_IMPL_HPP
20
21#include "iceoryx_posh/internal/popo/base_publisher.hpp"
22#include "iceoryx_posh/popo/sample.hpp"
23
24namespace iox
25{
26namespace popo
27{
30template <typename BasePublisherType = BasePublisher<>>
31class UntypedPublisherImpl : public BasePublisherType
32{
33 public:
34 explicit UntypedPublisherImpl(const capro::ServiceDescription& service,
35 const PublisherOptions& publisherOptions = PublisherOptions());
36 UntypedPublisherImpl(const UntypedPublisherImpl& other) = delete;
37 UntypedPublisherImpl& operator=(const UntypedPublisherImpl&) = delete;
39 UntypedPublisherImpl& operator=(UntypedPublisherImpl&& rhs) = delete;
40 virtual ~UntypedPublisherImpl() = default;
41
50 cxx::expected<void*, AllocationError>
51 loan(const uint32_t userPayloadSize,
52 const uint32_t userPayloadAlignment = iox::CHUNK_DEFAULT_USER_PAYLOAD_ALIGNMENT,
53 const uint32_t userHeaderSize = iox::CHUNK_NO_USER_HEADER_SIZE,
54 const uint32_t userHeaderAlignment = iox::CHUNK_NO_USER_HEADER_ALIGNMENT) noexcept;
55
61 void publish(void* const userPayload) noexcept;
62
70 void release(void* const userPayload) noexcept;
71
72 protected:
73 using BasePublisherType::port;
74};
75
76} // namespace popo
77} // namespace iox
78
79#include "iceoryx_posh/internal/popo/untyped_publisher_impl.inl"
80
81#endif // IOX_POSH_POPO_UNTYPED_PUBLISHER_IMPL_HPP
class for the identification of a communication event including information on the service,...
Definition: service_description.hpp:81
The UntypedPublisherImpl class implements the untyped publisher API.
Definition: untyped_publisher_impl.hpp:32
cxx::expected< void *, AllocationError > loan(const uint32_t userPayloadSize, const uint32_t userPayloadAlignment=iox::CHUNK_DEFAULT_USER_PAYLOAD_ALIGNMENT, const uint32_t userHeaderSize=iox::CHUNK_NO_USER_HEADER_SIZE, const uint32_t userHeaderAlignment=iox::CHUNK_NO_USER_HEADER_ALIGNMENT) noexcept
Get a chunk from loaned shared memory.
void release(void *const userPayload) noexcept
Releases the ownership of the chunk provided by the user-payload pointer.
void publish(void *const userPayload) noexcept
Publish the provided memory chunk.
This struct is used to configure the publisher.
Definition: publisher_options.hpp:33