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unitree_SDK/include/dds/ddsc/dds_internal_api.h

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+/*
+ * Copyright(c) 2006 to 2020 ZettaScale Technology and others
+ *
+ * This program and the accompanying materials are made available under the
+ * terms of the Eclipse Public License v. 2.0 which is available at
+ * http://www.eclipse.org/legal/epl-2.0, or the Eclipse Distribution License
+ * v. 1.0 which is available at
+ * http://www.eclipse.org/org/documents/edl-v10.php.
+ *
+ * SPDX-License-Identifier: EPL-2.0 OR BSD-3-Clause
+ */
+
+
+/*
+ * WARNING This file is only needed for the work around for https://github.com/eclipse-cyclonedds/cyclonedds/issues/74
+ * Do not include this file in an application! Once issue #74 is solved this header file should be removed.
+ */
+
+#ifndef DDS_INTERNAL_API_H
+#define DDS_INTERNAL_API_H
+
+#if defined (__cplusplus)
+extern "C" {
+#endif
+
+/**
+ * @anchor DDS_READ_WITHOUT_LOCK
+ * @ingroup internal
+ * @brief Constant to use with dds_read() or dds_take() when using dds_reader_lock_samples()
+ */
+#define DDS_READ_WITHOUT_LOCK (0xFFFFFFED)
+
+/**
+ * @ingroup internal
+ * @brief Returns number of samples in read cache and locks the reader cache,
+ * to make sure that the samples content doesn't change.
+ *
+ * Because the cache is locked, you should be able to read/take without having to
+ * lock first. This is done by passing the @ref DDS_READ_WITHOUT_LOCK value to the
+ * read/take call as maxs. Then the read/take will not lock but still unlock.
+ *
+ * CycloneDDS doesn't support a read/take that just returns all
+ * available samples issue #74. As a work around to support LENGTH_UNLIMITED in C++.
+ * dds_reader_lock_samples() and @ref DDS_READ_WITHOUT_LOCK are needed.
+ *
+ * @param[in]   reader  Reader to lock the cache of.
+ *
+ * @returns the number of samples in the reader cache.
+ */
+DDS_EXPORT uint32_t
+dds_reader_lock_samples (dds_entity_t reader);
+
+#if defined (__cplusplus)
+}
+#endif
+#endif