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unitree_SDK/include/dds/ddsi/ddsi_deliver_locally.h

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+/*
+ * Copyright(c) 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
+ */
+#ifndef DDSI_DELIVER_LOCALLY_H
+#define DDSI_DELIVER_LOCALLY_H
+
+#include <stdint.h>
+#include <stdbool.h>
+
+#include "dds/export.h"
+#include "dds/ddsrt/retcode.h"
+#include "dds/ddsrt/avl.h"
+#include "dds/ddsi/ddsi_guid.h"
+
+#if defined (__cplusplus)
+extern "C" {
+#endif
+
+struct ddsi_domaingv;
+struct ddsi_tkmap_instance;
+struct ddsi_sertype;
+struct ddsi_serdata;
+struct entity_index;
+struct ddsi_reader;
+struct ddsi_entity_common;
+struct ddsi_writer_info;
+struct ddsi_local_reader_ary;
+
+typedef struct ddsi_serdata * (*deliver_locally_makesample_t) (struct ddsi_tkmap_instance **tk, struct ddsi_domaingv *gv, struct ddsi_sertype const * const type, void *vsourceinfo);
+typedef struct ddsi_reader * (*deliver_locally_first_reader_t) (struct entity_index *entity_index, struct ddsi_entity_common *source_entity, ddsrt_avl_iter_t *it);
+typedef struct ddsi_reader * (*deliver_locally_next_reader_t) (struct entity_index *entity_index, ddsrt_avl_iter_t *it);
+
+/** return:
+    - DDS_RETCODE_OK to try again immediately
+    - DDS_RETCODE_TRY_AGAIN to complete restart the operation later
+    - anything else: error to be returned from deliver_locally_xxx */
+typedef dds_return_t (*deliver_locally_on_failure_fastpath_t) (struct ddsi_entity_common *source_entity, bool source_entity_locked, struct ddsi_local_reader_ary *fastpath_rdary, void *vsourceinfo);
+
+struct deliver_locally_ops {
+  deliver_locally_makesample_t makesample;
+  deliver_locally_first_reader_t first_reader;
+  deliver_locally_next_reader_t next_reader;
+  deliver_locally_on_failure_fastpath_t on_failure_fastpath;
+};
+
+dds_return_t deliver_locally_one (struct ddsi_domaingv *gv, struct ddsi_entity_common *source_entity, bool source_entity_locked, const ddsi_guid_t *rdguid, const struct ddsi_writer_info *wrinfo, const struct deliver_locally_ops * __restrict ops, void *vsourceinfo);
+
+dds_return_t deliver_locally_allinsync (struct ddsi_domaingv *gv, struct ddsi_entity_common *source_entity, bool source_entity_locked, struct ddsi_local_reader_ary *fastpath_rdary, const struct ddsi_writer_info *wrinfo, const struct deliver_locally_ops * __restrict ops, void *vsourceinfo);
+
+#if defined (__cplusplus)
+}
+#endif
+
+#endif /* DDSI_DELIVER_LOCALLY_H */