px4muorb_KraitRpcWrapper.hpp

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/****************************************************************************
 *
 * Copyright (c) 2016 Ramakrishna Kintada. All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions
 * are met:
 *
 * 1. Redistributions of source code must retain the above copyright
 *    notice, this list of conditions and the following disclaimer.
 * 2. Redistributions in binary form must reproduce the above copyright
 *    notice, this list of conditions and the following disclaimer in
 *    the documentation and/or other materials provided with the
 *    distribution.
 * 3. Neither the name PX4 nor the names of its contributors may be
 *    used to endorse or promote products derived from this software
 *    without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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#ifndef _px4muorb_KraitRpcWrapper_hpp_
#define _px4muorb_KraitRpcWrapper_hpp_
#include <stdint.h>

namespace px4muorb
{
class KraitRpcWrapper;
}

class px4muorb::KraitRpcWrapper
{
public:
    /**
     * Constructor
     */
    KraitRpcWrapper() = default;

    /**
     * destructor
     */
    ~KraitRpcWrapper() = default;

    /**
     * Initiatizes the rpc channel px4 muorb
     */
    bool Initialize();

    /**
     * Terminate to clean up the resources.  This should be called at program exit
     */
    bool Terminate();

    /**
     * Muorb related functions to pub/sub of orb topic from krait to adsp
     */
    int32_t TopicAdvertised(const char *topic);
    int32_t TopicUnadvertised(const char *topic);
    int32_t AddSubscriber(const char *topic);
    int32_t RemoveSubscriber(const char *topic);
    int32_t SendData(const char *topic, int32_t length_in_bytes, const uint8_t *data);
    int32_t ReceiveData(int32_t *msg_type, char **topic, int32_t *length_in_bytes, uint8_t **data);
    int32_t IsSubscriberPresent(const char *topic, int32_t *status);
    int32_t ReceiveBulkData(uint8_t **bulk_data, int32_t *length_in_bytes, int32_t *topic_count);
    int32_t UnblockReceiveData();
};
#endif // _px4muorb_KraitWrapper_hpp_