iceoryx(冰羚)-进程间消息同步

最新推荐文章于 2024-09-14 10:48:52 发布

liu-yonggang

最新推荐文章于 2024-09-14 10:48:52 发布

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分类专栏：冰羚文章标签： c++ 中间件 ros2

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iceoryx进程间消息同步

在这里插入图片描述
iceoryx进程间消息同步，是用socket或管道实现的,定义在iceoryx\iceoryx_posh\include\iceoryx_posh\internal\runtime\ipc_interface_base.hpp

namespace platform
{
#if defined(_WIN32)
using IoxIpcChannelType = iox::posix::NamedPipe;
#elif defined(__FREERTOS__)
using IoxIpcChannelType = iox::posix::NamedPipe;
#else
using IoxIpcChannelType = iox::posix::UnixDomainSocket;
#endif
} // namespace platform

消息类型定义

enum class IpcMessageType : int32_t
{
    BEGIN = -1,
    NOTYPE = 0,
    REG, // register app
    REG_ACK,
    CREATE_PUBLISHER,
    CREATE_PUBLISHER_ACK,
    CREATE_SUBSCRIBER,
    CREATE_SUBSCRIBER_ACK,
    CREATE_CLIENT,
    CREATE_CLIENT_ACK,
    CREATE_SERVER,
    CREATE_SERVER_ACK,
    CREATE_INTERFACE,
    CREATE_INTERFACE_ACK,
    CREATE_CONDITION_VARIABLE,
    CREATE_CONDITION_VARIABLE_ACK,
    CREATE_NODE,
    CREATE_NODE_ACK,
    KEEPALIVE,
    TERMINATION,
    TERMINATION_ACK,
    PREPARE_APP_TERMINATION,
    PREPARE_APP_TERMINATION_ACK,
    ERROR,
    APP_WAIT,
    WAKEUP_TRIGGER,
    REPLAY,
    MESSAGE_NOT_SUPPORTED,
    // etc..
    END,
};