Package Summary

Tags No category tags.
Version 1.0.0
License Apache 2.0
Build type CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/eclipse-iceoryx/iceoryx.git
VCS Type git
VCS Version release_1.0
Last Updated 2021-04-15
Dev Status DEVELOPED
CI status No Continuous Integration
Released RELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

Eclipse iceoryx inter-process-communication (IPC) middleware C-Language Binding

Additional Links

Maintainers

  • Eclipse Foundation, Inc.

Authors

No additional authors.

Iceoryx C Language binding

If you are looking for an example take a look at the icedelivery on c example.

C API structure

The idea of the C API is to be as close to the C++ API as possible. The idea is that the C API looks and feels the same like the C++ API so that you do not have to learn Iceoryx from scratch if you would like to use the C API.

Therefore, we have the following coding conventions exclusively in the C API.

  • C functions are using an abbreviation of the class name. For instance Subscriber would use sub and the methods are named like iox_sub_method_name where the camelCase is converted into snake_case.
  • A typedef for the handle is created with the abbreviation as name, a iox prefix and a _t suffix, like iox_sub_t
  • If the constructor allocates an element it has the suffix _create and is called for instance iox_sub_create. Analog to the constructor the destructor has the suffix _destroy and is named like iox_sub_destroy.
  • If the constructor requires preallocated memory it has the suffix _init and is called for instance iox_sub_init. The corresponding destructor would then have the suffix _deinit and is named like iox_sub_deinit.
    • We provide structs to preallocate memory on the stack easily. They are having the suffix _storage_t and are named like iox_sub_storage_t. This allows you to use them like.
         iox_sub_storage_t subStorage;
         iox_sub_t = iox_sub_init(&subStorage);

  • The first parameter is always the handle to the corresponding object.
  • If possible, the arguments should stay the same in the C API.

  • Enum values are named like EnumName_EnumValue

  • Enum names follow the rule namespace_EnumName

Here is an example:

namespace iox {
enum class Color {
    RED,
    GREEN,
    BLUE
};

class Subscriber {
    public:
        Subscriber(const std::string &name);
        cxx::optional<void*> receive();
        bool send(void * data);
        void allHailHypnotoad();
};

class MyOtherClass {
    public:
        MyOtherClass(const int a);
        void youSpinMeRoundLikeARecord();
};
}

The corresponding C binding would then look like:

enum iox_Color {
    Color_RED,
    Color_GREEN,
    Color_BLUE,
};


typedef struct Subscriber * sub_t;

sub_t iox_sub_create(const char * name);
void iox_sub_destroy(sub_t const self);
bool iox_sub_receive(sub_t const self, void * const data);
bool iox_sub_send(sub_t const self, void * const data);
void iox_sub_all_hail_hypnotoad(sub_t const self);


struct iox_other_class_storage_t_ {
    uint64_t do_not_touch_me[8]; // lets assume 8 * 8 is the size of MyOtherClass
};
typedef iox_other_class_storage_t_ iox_other_class_storage_t;

typedef struct MyOtherClass * iox_other_class_t;
iox_other_class_t iox_other_class_init(iox_other_class_storage_t * self,const int a);
void iox_other_class_deinit(iox_other_class_t * self);
void iox_other_class_you_spin_me_round_like_a_record(iox_other_class_t * self);


CHANGELOG
No CHANGELOG found.

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged iceoryx_binding_c at answers.ros.org