text: // Copyright (c) 2020 by Robert Bosch GmbH. All rights reserved.
  // Copyright (c) 2021 - 2022 by Apex.AI Inc. All rights reserved.
  //
  // Licensed under the Apache License, Version 2.0 (the "License");
  // you may not use this file except in compliance with the License.
  // You may obtain a copy of the License at
  //
  //     http://www.apache.org/licenses/LICENSE-2.0
  //
  // Unless required by applicable law or agreed to in writing, software
  // distributed under the License is distributed on an "AS IS" BASIS,
  // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
  // See the License for the specific language governing permissions and
  // limitations under the License.
  //
  // SPDX-License-Identifier: Apache-2.0
  #ifndef IOX_POSH_POPO_PORTS_PUBLISHER_PORT_ROUDI_HPP
  #define IOX_POSH_POPO_PORTS_PUBLISHER_PORT_ROUDI_HPP
  
  #include "iceoryx_hoofs/cxx/optional.hpp"
  #include "iceoryx_posh/internal/capro/capro_message.hpp"
  #include "iceoryx_posh/internal/popo/building_blocks/chunk_distributor.hpp"
  #include "iceoryx_posh/internal/popo/building_blocks/chunk_sender.hpp"
  #include "iceoryx_posh/internal/popo/ports/base_port.hpp"
  #include "iceoryx_posh/internal/popo/ports/publisher_port_data.hpp"
  
  namespace iox
  {
  namespace popo
  {
  /// @brief The PublisherPortRouDi provides the API for accessing a publisher port from the RouDi middleware daemon side.
  /// The publisher port is divided in the three parts PublisherPortData, PublisherPortRouDi and PublisherPortUser.
  /// The PublisherPortRouDi provides service discovery functionality that is based on CaPro messages. With this API the
  /// dynamic connections between publisher and subscriber ports can be established
  class PublisherPortRouDi : public BasePort
  {
    public:
      using MemberType_t = PublisherPortData;
  
      explicit PublisherPortRouDi(cxx::not_null<MemberType_t* const> publisherPortDataPtr) noexcept;
  
      PublisherPortRouDi(const PublisherPortRouDi& other) = delete;
      PublisherPortRouDi& operator=(const PublisherPortRouDi&) = delete;
      PublisherPortRouDi(PublisherPortRouDi&& rhs) noexcept = default;
      PublisherPortRouDi& operator=(PublisherPortRouDi&& rhs) noexcept = default;
      ~PublisherPortRouDi() = default;
  
      /// @brief Returns publisher options
      /// @return publisher options
      const PublisherOptions& getOptions() const noexcept;
  
      /// @brief get an optional CaPro message that changes the offer state of the publisher
      /// @return CaPro message with the new offer state, empty optional if no state change
      cxx::optional<capro::CaproMessage> tryGetCaProMessage() noexcept;
  
      /// @brief dispatch a CaPro message to the publisher for processing
      /// @param[in] caProMessage to process
      /// @return CaPro message with an immediate response the provided CaPro message, empty optional if no response
      cxx::optional<capro::CaproMessage>
      dispatchCaProMessageAndGetPossibleResponse(const capro::CaproMessage& caProMessage) noexcept;
  
      /// @brief cleanup the publisher and release all the chunks it currently holds
      /// Caution: Contract is that user process is no more running when cleanup is called
      void releaseAllChunks() noexcept;
  
    private:
      const MemberType_t* getMembers() const noexcept;
      MemberType_t* getMembers() noexcept;
  
      ChunkSender<PublisherPortData::ChunkSenderData_t> m_chunkSender;
  };
  
  } // namespace popo
  } // namespace iox
  
  #endif // IOX_POSH_POPO_PORTS_PUBLISHER_PORT_ROUDI_HPP
  