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unitree_SDK/include/dds/ddsc/dds_public_qosdefs.h
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184
unitree_SDK/include/dds/ddsc/dds_public_qosdefs.h
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/*
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* Copyright(c) 2006 to 2022 ZettaScale Technology and others
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*
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* This program and the accompanying materials are made available under the
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* terms of the Eclipse Public License v. 2.0 which is available at
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* http://www.eclipse.org/legal/epl-2.0, or the Eclipse Distribution License
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* v. 1.0 which is available at
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* http://www.eclipse.org/org/documents/edl-v10.php.
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*
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* SPDX-License-Identifier: EPL-2.0 OR BSD-3-Clause
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*/
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#ifndef DDS_QOSDEFS_H
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#define DDS_QOSDEFS_H
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#include <stdint.h>
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#if defined (__cplusplus)
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extern "C" {
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#endif
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/**
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* @anchor DDS_LENGTH_UNLIMITED
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* @ingroup qos
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* @brief Used for indicating unlimited length in dds_qset_resource_limits()
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*/
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#define DDS_LENGTH_UNLIMITED -1
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/**
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* @brief Qos Policy IDs
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* @ingroup internal
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* Used internally to mark the QoS policy type
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*/
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typedef enum dds_qos_policy_id {
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DDS_INVALID_QOS_POLICY_ID, /**< Invalid Policy */
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DDS_USERDATA_QOS_POLICY_ID, /**< Userdata policy dds_qset_userdata() */
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DDS_DURABILITY_QOS_POLICY_ID, /**< Durability policy dds_qset_durability() */
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DDS_PRESENTATION_QOS_POLICY_ID, /**< Presentation policy dds_qset_presentation() */
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DDS_DEADLINE_QOS_POLICY_ID, /**< Deadline policy dds_qset_deadline() */
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DDS_LATENCYBUDGET_QOS_POLICY_ID, /**< LatencyBudget policy dds_qset_latency_budget() */
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DDS_OWNERSHIP_QOS_POLICY_ID, /**< Ownership policy dds_qset_ownership() */
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DDS_OWNERSHIPSTRENGTH_QOS_POLICY_ID, /**< OwnershipStrength policy dds_qset_ownership_strength() */
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DDS_LIVELINESS_QOS_POLICY_ID, /**< Liveliness policy dds_qset_liveliness() */
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DDS_TIMEBASEDFILTER_QOS_POLICY_ID, /**< TimeBasedFilter policy dds_qset_time_based_filter() */
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DDS_PARTITION_QOS_POLICY_ID, /**< Partition policy dds_qset_partition() */
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DDS_RELIABILITY_QOS_POLICY_ID, /**< Reliability policy dds_qset_reliability() */
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DDS_DESTINATIONORDER_QOS_POLICY_ID, /**< DestinationOrder policy dds_qset_destination_order() */
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DDS_HISTORY_QOS_POLICY_ID, /**< History policy dds_qset_history() */
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DDS_RESOURCELIMITS_QOS_POLICY_ID, /**< ResourceLimits policy dds_qset_resource_limits() */
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DDS_ENTITYFACTORY_QOS_POLICY_ID, /**< EntityFactory policy */
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DDS_WRITERDATALIFECYCLE_QOS_POLICY_ID, /**< WriterDataLifecycle policy dds_qset_writer_data_lifecycle() */
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DDS_READERDATALIFECYCLE_QOS_POLICY_ID, /**< ReaderDataLifecycle policy dds_qset_reader_data_lifecycle() */
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DDS_TOPICDATA_QOS_POLICY_ID, /**< Topicdata policy dds_qset_topicdata() */
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DDS_GROUPDATA_QOS_POLICY_ID, /**< Groupdata policy dds_qset_groupdata() */
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DDS_TRANSPORTPRIORITY_QOS_POLICY_ID, /**< TransportPriority policy dds_qset_transport_priority() */
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DDS_LIFESPAN_QOS_POLICY_ID, /**< Livespan policy dds_qset_lifespan() */
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DDS_DURABILITYSERVICE_QOS_POLICY_ID, /**< DurabilityService policy dds_qset_durability_service() */
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DDS_PROPERTY_QOS_POLICY_ID, /**< Property policy dds_qset_property() */
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DDS_TYPE_CONSISTENCY_ENFORCEMENT_QOS_POLICY_ID, /**< TypeConsistencyEnforcement policy dds_qset_type_consistency_enforcements() */
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DDS_DATA_REPRESENTATION_QOS_POLICY_ID /**< DataRepresentation policy dds_qset_data_representation() */
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} dds_qos_policy_id_t;
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/**
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* @brief QoS datatype
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* @ingroup qos
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* QoS structure is opaque
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*/
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typedef struct dds_qos dds_qos_t;
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/**
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* @brief Durability QoS: Applies to Topic, DataReader, DataWriter
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* @ingroup qos
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*/
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typedef enum dds_durability_kind
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{
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DDS_DURABILITY_VOLATILE, /**< Volatile durability */
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DDS_DURABILITY_TRANSIENT_LOCAL, /**< Transient Local durability */
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DDS_DURABILITY_TRANSIENT, /**< Transient durability */
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DDS_DURABILITY_PERSISTENT /**< Persistent durability */
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}
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dds_durability_kind_t;
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/**
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* @brief History QoS: Applies to Topic, DataReader, DataWriter
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* @ingroup qos
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*/
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typedef enum dds_history_kind
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{
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DDS_HISTORY_KEEP_LAST, /**< Keep Last history */
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DDS_HISTORY_KEEP_ALL /**< Keep All history */
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}
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dds_history_kind_t;
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/**
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* @brief Ownership QoS: Applies to Topic, DataReader, DataWriter
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* @ingroup qos
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*/
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typedef enum dds_ownership_kind
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{
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DDS_OWNERSHIP_SHARED, /**< Shared Ownership */
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DDS_OWNERSHIP_EXCLUSIVE /**< Exclusive Ownership */
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}
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dds_ownership_kind_t;
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/**
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* @brief Liveliness QoS: Applies to Topic, DataReader, DataWriter
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* @ingroup qos
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*/
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typedef enum dds_liveliness_kind
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{
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DDS_LIVELINESS_AUTOMATIC, /**< Automatic liveliness */
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DDS_LIVELINESS_MANUAL_BY_PARTICIPANT, /**< Manual by Participant liveliness */
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DDS_LIVELINESS_MANUAL_BY_TOPIC /**< Manual by Topic liveliness */
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}
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dds_liveliness_kind_t;
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/**
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* @brief Reliability QoS: Applies to Topic, DataReader, DataWriter
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* @ingroup qos
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*/
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typedef enum dds_reliability_kind
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{
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DDS_RELIABILITY_BEST_EFFORT, /**< Best Effort reliability */
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DDS_RELIABILITY_RELIABLE /**< Reliable reliability */
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}
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dds_reliability_kind_t;
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/**
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* @brief DestinationOrder QoS: Applies to Topic, DataReader, DataWriter
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* @ingroup qos
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*/
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typedef enum dds_destination_order_kind
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{
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DDS_DESTINATIONORDER_BY_RECEPTION_TIMESTAMP, /**< order by reception timestamp */
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DDS_DESTINATIONORDER_BY_SOURCE_TIMESTAMP /**< order by source timestamp */
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}
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dds_destination_order_kind_t;
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/**
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* @brief Presentation QoS: Applies to Publisher, Subscriber
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* @ingroup qos
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*/
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typedef enum dds_presentation_access_scope_kind
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{
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DDS_PRESENTATION_INSTANCE, /**< presentation scope per instance */
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DDS_PRESENTATION_TOPIC, /**< presentation scope per topic */
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DDS_PRESENTATION_GROUP /**< presentation scope per group */
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}
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dds_presentation_access_scope_kind_t;
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/**
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* @brief Ignore-local QoS: Applies to DataReader, DataWriter
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* @ingroup qos
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*/
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typedef enum dds_ignorelocal_kind
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{
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DDS_IGNORELOCAL_NONE, /**< Don't ignore local data */
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DDS_IGNORELOCAL_PARTICIPANT, /**< Ignore local data from same participant */
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DDS_IGNORELOCAL_PROCESS /**< Ignore local data from same process */
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}
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dds_ignorelocal_kind_t;
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/**
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* @brief Type-consistency QoS: Applies to DataReader, DataWriter
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* @ingroup qos
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*/
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typedef enum dds_type_consistency_kind
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{
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DDS_TYPE_CONSISTENCY_DISALLOW_TYPE_COERCION, /**< Do not allow type coercion */
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DDS_TYPE_CONSISTENCY_ALLOW_TYPE_COERCION /**< Allow type coercion */
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}
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dds_type_consistency_kind_t;
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/**
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* @brief Data Representation QoS: Applies to Topic, DataReader, DataWriter
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* @ingroup qos
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*/
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typedef int16_t dds_data_representation_id_t;
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#if defined (__cplusplus)
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}
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#endif
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#endif
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