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unitree_SDK/include/dds/ddsi/ddsi_pmd.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
+ */
+#ifndef DDSI_PMD_H
+#define DDSI_PMD_H
+
+#include <stdint.h>
+#include "dds/ddsrt/time.h"
+#include "dds/ddsi/ddsi_serdata.h"
+#include "dds/ddsi/ddsi_plist_generic.h"
+#include "dds/ddsi/ddsi_guid.h"
+#include "dds/ddsi/ddsi_xqos.h"
+
+#if defined (__cplusplus)
+extern "C" {
+#endif
+
+struct ddsi_domaingv;
+struct thread_state;
+struct ddsi_guid;
+struct nn_xpack;
+struct ddsi_participant;
+struct receiver_state;
+
+typedef struct ParticipantMessageData {
+  ddsi_guid_prefix_t participantGuidPrefix;
+  uint32_t kind; /* really 4 octets */
+  ddsi_octetseq_t value;
+} ParticipantMessageData_t;
+
+extern const enum pserop participant_message_data_ops[];
+extern size_t participant_message_data_nops;
+extern const enum pserop participant_message_data_ops_key[];
+extern size_t participant_message_data_nops_key;
+
+void write_pmd_message_guid (struct ddsi_domaingv * const gv, struct ddsi_guid *pp_guid, unsigned pmd_kind);
+void write_pmd_message (struct thread_state * const ts1, struct nn_xpack *xp, struct ddsi_participant *pp, unsigned pmd_kind);
+void handle_pmd_message (const struct receiver_state *rst, struct ddsi_serdata *sample_common);
+
+#if defined (__cplusplus)
+}
+#endif
+#endif /* DDSI_PMD_H */