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unitree_SDK/include/dds/ddsi/ddsi_portmapping.h

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+/*
+ * Copyright(c) 2019 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_PORTMAPPING_H
+#define DDSI_PORTMAPPING_H
+
+#include <stdint.h>
+#include <stddef.h>
+#include <stdbool.h>
+
+#if defined (__cplusplus)
+extern "C" {
+#endif
+
+enum ddsi_port {
+  DDSI_PORT_MULTI_DISC,
+  DDSI_PORT_MULTI_DATA,
+  DDSI_PORT_UNI_DISC,
+  DDSI_PORT_UNI_DATA
+};
+
+struct ddsi_portmapping {
+  uint32_t base;
+  uint32_t dg;
+  uint32_t pg;
+  uint32_t d0;
+  uint32_t d1;
+  uint32_t d2;
+  uint32_t d3;
+};
+
+struct ddsi_config;
+
+bool ddsi_valid_portmapping (const struct ddsi_config *config, int32_t participant_index, char *msg, size_t msgsize);
+uint32_t ddsi_get_port (const struct ddsi_config *config, enum ddsi_port which, int32_t participant_index);
+
+#if defined (__cplusplus)
+}
+#endif
+
+#endif /* DDSI_PORTMAPPING_H */