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unitree_SDK/include/dds/ddsi/ddsi_rhc.h

@@ -0,0 +1,85 @@
+/*
+ * Copyright(c) 2006 to 2021 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_RHC_H
+#define DDSI_RHC_H
+
+#include <stddef.h>
+#include <stdint.h>
+#include <stdbool.h>
+
+#include "dds/export.h"
+#include "dds/features.h"
+
+/* DDS_EXPORT inline i.c.w. __attributes__((visibility...)) and some compilers: */
+#include "dds/ddsrt/attributes.h"
+#include "dds/ddsrt/time.h"
+#include "dds/ddsi/ddsi_guid.h"
+
+#if defined (__cplusplus)
+extern "C" {
+#endif
+
+struct dds_qos;
+struct ddsi_rhc;
+struct ddsi_tkmap_instance;
+struct ddsi_serdata;
+
+struct ddsi_writer_info
+{
+  ddsi_guid_t guid;
+  bool auto_dispose;
+  int32_t ownership_strength;
+  uint64_t iid;
+#ifdef DDS_HAS_LIFESPAN
+  ddsrt_mtime_t lifespan_exp;
+#endif
+};
+
+typedef void (*ddsi_rhc_free_t) (struct ddsi_rhc *rhc);
+typedef bool (*ddsi_rhc_store_t) (struct ddsi_rhc * __restrict rhc, const struct ddsi_writer_info * __restrict wrinfo, struct ddsi_serdata * __restrict sample, struct ddsi_tkmap_instance * __restrict tk);
+typedef void (*ddsi_rhc_unregister_wr_t) (struct ddsi_rhc * __restrict rhc, const struct ddsi_writer_info * __restrict wrinfo);
+typedef void (*ddsi_rhc_relinquish_ownership_t) (struct ddsi_rhc * __restrict rhc, const uint64_t wr_iid);
+typedef void (*ddsi_rhc_set_qos_t) (struct ddsi_rhc *rhc, const struct dds_qos *qos);
+
+struct ddsi_rhc_ops {
+  ddsi_rhc_store_t store;
+  ddsi_rhc_unregister_wr_t unregister_wr;
+  ddsi_rhc_relinquish_ownership_t relinquish_ownership;
+  ddsi_rhc_set_qos_t set_qos;
+  ddsi_rhc_free_t free;
+};
+
+struct ddsi_rhc {
+  const struct ddsi_rhc_ops *ops;
+};
+
+DDS_INLINE_EXPORT inline bool ddsi_rhc_store (struct ddsi_rhc * __restrict rhc, const struct ddsi_writer_info * __restrict wrinfo, struct ddsi_serdata * __restrict sample, struct ddsi_tkmap_instance * __restrict tk) {
+  return rhc->ops->store (rhc, wrinfo, sample, tk);
+}
+DDS_INLINE_EXPORT inline void ddsi_rhc_unregister_wr (struct ddsi_rhc * __restrict rhc, const struct ddsi_writer_info * __restrict wrinfo) {
+  rhc->ops->unregister_wr (rhc, wrinfo);
+}
+DDS_INLINE_EXPORT inline void ddsi_rhc_relinquish_ownership (struct ddsi_rhc * __restrict rhc, const uint64_t wr_iid) {
+  rhc->ops->relinquish_ownership (rhc, wr_iid);
+}
+DDS_INLINE_EXPORT inline void ddsi_rhc_set_qos (struct ddsi_rhc *rhc, const struct dds_qos *qos) {
+  rhc->ops->set_qos (rhc, qos);
+}
+DDS_INLINE_EXPORT inline void ddsi_rhc_free (struct ddsi_rhc *rhc) {
+  rhc->ops->free (rhc);
+}
+
+#if defined (__cplusplus)
+}
+#endif
+
+#endif /* DDSI_RHC_H */