.. _program_listing_file_api_include_pntos_plugins_common.h:

Program Listing for File common.h
=================================

|exhale_lsh| :ref:`Return to documentation for file <file_api_include_pntos_plugins_common.h>` (``api/include/pntos/plugins/common.h``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   #pragma once
   
   #include <pntos/annotations.h>
   #include <pntos/memory.h>
   #include <pntos/stdbool.h>
   
   #include <pntos/stdint.h>
   #include <stddef.h>
   
   #include <pntos/aspn.h>
   #include <pntos/type_enum.h>
   
   #ifdef __cplusplus
   extern "C" {
   #endif
   
   PNTOS_ASSUME_NONNULL_BEGIN
   
   #define PNTOS_PLUGIN_API_VERSION 2
   
   typedef struct PntosMessage {
       PntosManagedMemory* memory;
       AspnBase* wrapped_message;
       char* source_identifier;
   } PntosMessage;
   
   typedef struct PntosMessageArray {
   
       PntosManagedMemory* memory;
   
       PntosMessage* PNTOS_NULLABLE* data;
   
       size_t num_messages;
   
   } PntosMessageArray;
   
   typedef struct PntosString {
       PntosManagedMemory* memory;
       char* data;
   } PntosString;
   
   typedef struct PntosByteArray {
       PntosManagedMemory* memory;
       unsigned char* data;
   
       size_t num_bytes;
   } PntosByteArray;
   
   typedef struct PntosStringArray {
       PntosManagedMemory* memory;
       char** data;
   
       size_t num_strings;
   } PntosStringArray;
   typedef struct PntosIntArray {
       PntosManagedMemory* memory;
       int64_t* data;
       size_t num_ints;
   
   } PntosIntArray;
   typedef struct PntosDoubleArray {
       PntosManagedMemory* memory;
       double* data;
       size_t num_doubles;
   
   } PntosDoubleArray;
   
   typedef struct PntosMatrix {
       PntosManagedMemory* memory;
       size_t rows;
       size_t cols;
       double* data;
   } PntosMatrix;
   
   typedef enum PntosEstimateWithCovarianceType {
   
       PNTOS_EWC_GENERIC,
       PNTOS_EWC_ATTITUDE_QUAT
   } PntosEstimateWithCovarianceType;
   
   typedef struct PntosEstimateWithCovariance {
       PntosManagedMemory* memory;
   
       PntosEstimateWithCovarianceType type;
   
       size_t length;
   
       double* estimate;
   
       double* covariance;
   } PntosEstimateWithCovariance;
   
   typedef struct PntosMessageTypeArray {
       PntosManagedMemory* memory;
       PntosMessageType* data;
       size_t num_types;
   } PntosMessageTypeArray;
   
   typedef enum PntosPluginTypes {
       PNTOS_UNDEFINED_PLUGIN,
       PNTOS_CONTROLLER_PLUGIN,
       PNTOS_FUSION_PLUGIN,
       PNTOS_FUSION_STRATEGY_PLUGIN,
       PNTOS_PLATFORM_INTEGRATION_PLUGIN,
       PNTOS_INITIALIZATION_PLUGIN,
       PNTOS_DATABASE_PLUGIN,
       PNTOS_TRANSPORT_PLUGIN,
       PNTOS_UI_PLUGIN,
       PNTOS_ORCHESTRATION_PLUGIN,
       PNTOS_ORCHESTRATION_STRATEGY_PLUGIN,
       PNTOS_REGISTRY_PLUGIN,
       PNTOS_INERTIAL_PLUGIN,
       PNTOS_STATE_MODELING_PLUGIN,
       PNTOS_LOGGING_PLUGIN,
       PNTOS_UTILITY_PLUGIN,
       PNTOS_PREPROCESSOR_PLUGIN,
       PNTOS_NUM_PLUGIN_TYPES
   } PntosPluginTypes;
   
   typedef enum PntosFusionType {
       PNTOS_FUSION_STANDARD_MODEL,
       PNTOS_FUSION_SAMPLED_MODEL,
       PNTOS_FUSION_TIME_DELAYED_MODEL,
       PNTOS_FUSION_STANDARD_COMPILED_MODEL
   } PntosFusionType;
   
   typedef enum PntosLoggingLevel {
       PNTOS_LOG_LEVEL_ERROR,
       PNTOS_LOG_LEVEL_WARN,
       PNTOS_LOG_LEVEL_INFO,
       PNTOS_LOG_LEVEL_DEBUG
   } PntosLoggingLevel;
   
   typedef enum PntosKeyValueStoreDataFormat {
       PNTOS_KV_STORE_INI,
       PNTOS_KV_STORE_UNSPECIFIED
   } PntosKeyValueStoreDataFormat;
   
   typedef enum PntosKeyValueStoreType {
       /*
        * Indicates a string in the PntosKeyValueStore.
        * Maps to C type: PntosString
        */
       PNTOS_KV_STORE_TYPE_STR,
       /*
        * Indicates an array of strings in the PntosKeyValueStore.
        * Maps to C type: PntosStringArray
        */
       PNTOS_KV_STORE_TYPE_STR_ARRAY,
       /*
        * Indicates an integer in the PntosKeyValueStore.
        * Maps to C type: int64_t
        */
       PNTOS_KV_STORE_TYPE_INT,
       /*
        * Indicates a boolean in the PntosKeyValueStore.
        * Maps to C type: bool
        */
       PNTOS_KV_STORE_TYPE_BOOL,
       /*
        * Indicates a double in the PntosKeyValueStore.
        * Maps to C type: double
        */
       PNTOS_KV_STORE_TYPE_DOUBLE,
       /*
        * Indicates an array of doubles in the PntosKeyValueStore.
        * Maps to C type: PntosDoubleArray
        */
       PNTOS_KV_STORE_TYPE_DOUBLE_ARRAY,
       /*
        * Indicates a message in the PntosKeyValueStore.
        * Maps to C type: PntosMessage
        */
       PNTOS_KV_STORE_TYPE_MESSAGE,
       /*
        * Indicates a raw value in the PntosKeyValueStore.
        * Maps to C type: PntosByteArray
        */
       PNTOS_KV_STORE_TYPE_RAW,
       /*
        * Indicates that the requested key does not exist, and therefore has no
        * type associated with it.
        */
       PNTOS_KV_STORE_KEY_DNE
   } PntosKeyValueStoreType;
   
   /* TODO: Note error conditions and what happens with type mismatches between set/get. */
   typedef struct PntosKeyValueStore {
       PntosManagedMemory* memory;
   
       PntosStringArray* PNTOS_NULLABLE (*get_key_array)(struct PntosKeyValueStore* self);
       bool (*has_key)(struct PntosKeyValueStore* self, char* key);
       PntosKeyValueStoreType (*PNTOS_NULLABLE get_type)(struct PntosKeyValueStore* self, char* key);
       PntosString* PNTOS_NULLABLE (*get_str)(struct PntosKeyValueStore* self, char* key);
       PntosStringArray* PNTOS_NULLABLE (*get_str_array)(struct PntosKeyValueStore* self, char* key);
       int64_t (*get_int)(struct PntosKeyValueStore* self, char* key);
       bool (*get_bool)(struct PntosKeyValueStore* self, char* key);
       double (*get_double)(struct PntosKeyValueStore* self, char* key);
       PntosDoubleArray* PNTOS_NULLABLE (*get_double_array)(struct PntosKeyValueStore* self,
                                                            char* key);
       PntosMessage* PNTOS_NULLABLE (*get_message)(struct PntosKeyValueStore* self, char* key);
       void (*set_str)(struct PntosKeyValueStore* self, char* key, char* value);
       void (*set_str_array)(struct PntosKeyValueStore* self,
                             char* key,
                             char** values,
                             size_t num_values);
       void (*set_int)(struct PntosKeyValueStore* self, char* key, int64_t value);
       void (*set_bool)(struct PntosKeyValueStore* self, char* key, bool value);
       void (*set_double)(struct PntosKeyValueStore* self, char* key, double value);
       void (*set_double_array)(struct PntosKeyValueStore* self,
                                char* key,
                                double* values,
                                size_t num_values);
       void (*set_message)(struct PntosKeyValueStore* self,
                           char* key,
                           PntosMessage* PNTOS_NULLABLE message);
       bool (*remove_key)(struct PntosKeyValueStore* self, char* key);
   
       PntosKeyValueStoreDataFormat data_format;
       void (*set_raw)(struct PntosKeyValueStore* self,
                       char* PNTOS_NULLABLE key,
                       unsigned char* bytes,
                       size_t num_bytes);
       PntosByteArray* PNTOS_NULLABLE (*get_raw)(struct PntosKeyValueStore* self,
                                                 char* PNTOS_NULLABLE key);
       void (*batch_end)(struct PntosKeyValueStore* self);
       void (*batch_restart)(struct PntosKeyValueStore* self);
       bool (*request_notify)(struct PntosKeyValueStore* self,
                              char* PNTOS_NULLABLE key,
                              void* PNTOS_NULLABLE receiver,
                              void (*callback)(void* PNTOS_NULLABLE receiver,
                                               char* modified_group,
                                               char** modified_keys,
                                               size_t num_modified_keys,
                                               struct PntosKeyValueStore* modified_values));
   
       bool (*remove_notify)(struct PntosKeyValueStore* self,
                             char* PNTOS_NULLABLE key,
                             void* PNTOS_NULLABLE receiver,
                             void (*callback)(void* PNTOS_NULLABLE receiver,
                                              char* modified_group,
                                              char** modified_keys,
                                              size_t num_modified_keys,
                                              struct PntosKeyValueStore* modified_values));
   
       bool (*set_permanent)(struct PntosKeyValueStore* self, bool permanent);
   
   } PntosKeyValueStore;
   
   typedef struct PntosRegistry {
       PntosManagedMemory* memory;
   
       PntosKeyValueStore* (*batch_start)(struct PntosRegistry* self, char* group);
       PntosStringArray* PNTOS_NULLABLE (*get_group_array)(struct PntosRegistry* self);
   
       bool (*has_group)(struct PntosRegistry* self, char* group);
   
       bool (*request_notify_new_group)(struct PntosRegistry* self,
                                        void* receiver,
                                        void (*callback)(void* receiver, char* new_group));
   
   } PntosRegistry;
   
   typedef struct PntosMediator {
       PntosManagedMemory* memory;
   
       PntosStringArray* (*get_filter_description_list)(struct PntosMediator* self);
   
       PntosMessageArray* PNTOS_NULLABLE (*request_solutions)(struct PntosMediator* self,
                                                              AspnTypeTimestamp* solution_times,
                                                              size_t num_solution_times,
                                                              char* PNTOS_NULLABLE filter_description);
   
       void (*process_pntos_message)(struct PntosMediator* self, PntosMessage* message);
       void (*broadcast_aspn_message)(struct PntosMediator* self,
                                      PntosMessage* message,
                                      char* PNTOS_NULLABLE transport,
                                      char* PNTOS_NULLABLE destination_identifier);
       void (*log_message)(struct PntosMediator* self, PntosLoggingLevel level, char* message);
   
       void (*log_message_fmt)(struct PntosMediator* self, PntosLoggingLevel level, char* fmt, ...);
   
       PntosRegistry* registry;
   } PntosMediator;
   
   typedef struct PntosCommonPlugin {
       PntosManagedMemory* memory;
       void (*init_plugin)(struct PntosCommonPlugin* self,
                           char* PNTOS_NULLABLE plugin_resources_location,
                           PntosMediator* PNTOS_NULLABLE mediator);
   
       void (*shutdown_plugin)(struct PntosCommonPlugin* self);
   
       PntosPluginTypes plugin_type;
       char* identifier;
   } PntosCommonPlugin;
   
   typedef struct PntosPluginArray {
       PntosManagedMemory* memory;
       PntosCommonPlugin** plugins;
       size_t num_plugins;
   
   } PntosPluginArray;
   
   
   PNTOS_ASSUME_NONNULL_END
   
   #ifdef __cplusplus
   }
   #endif