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unitree_SDK/include/dds/ddsi/ddsi_serdata_pserop.h

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+/*
+ * 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_SERDATA_PSEROP_H
+#define DDSI_SERDATA_PSEROP_H
+
+#include "dds/ddsi/ddsi_serdata.h"
+#include "dds/ddsi/ddsi_sertype.h"
+#include "dds/ddsi/ddsi_plist_generic.h"
+
+#include "dds/dds.h"
+
+#if defined (__cplusplus)
+extern "C" {
+#endif
+
+/* There is an alignment requirement on the raw data (it must be at
+   offset mod 8 for the conversion to/from a dds_stream to work).
+   So we define two types: one without any additional padding, and
+   one where the appropriate amount of padding is inserted */
+#define DDSI_SERDATA_PSEROP_PREPAD    \
+  struct ddsi_serdata c;              \
+  void *sample;                       \
+  bool keyless; /*cached from topic*/ \
+  uint32_t pos;                       \
+  uint32_t size
+#define DDSI_SERDATA_PSEROP_POSTPAD   \
+  uint16_t identifier;                \
+  uint16_t options;                   \
+  char data[]
+
+struct ddsi_serdata_pserop_unpadded {
+  DDSI_SERDATA_PSEROP_PREPAD;
+  DDSI_SERDATA_PSEROP_POSTPAD;
+};
+
+#ifdef __GNUC__
+#define DDSI_SERDATA_PSEROP_PAD(n) ((n) % 8)
+#else
+#define DDSI_SERDATA_PSEROP_PAD(n) (n)
+#endif
+
+struct ddsi_serdata_pserop {
+  DDSI_SERDATA_PSEROP_PREPAD;
+  char pad[DDSI_SERDATA_PSEROP_PAD (8 - (offsetof (struct ddsi_serdata_pserop_unpadded, data) % 8))];
+  DDSI_SERDATA_PSEROP_POSTPAD;
+};
+
+#undef DDSI_SERDATA_PSEROP_PAD
+#undef DDSI_SERDATA_PSEROP_POSTPAD
+#undef DDSI_SERDATA_PSEROP_PREPAD
+
+struct ddsi_sertype_pserop {
+  struct ddsi_sertype c;
+  uint16_t encoding_format; /* CDR_ENC_FORMAT_(PLAIN|DELIMITED|PL) */
+  size_t memsize;
+  size_t nops;
+  const enum pserop *ops;
+  size_t nops_key;
+  const enum pserop *ops_key; /* NULL <=> no key; != NULL <=> 16-byte key at offset 0 */
+};
+
+extern DDS_EXPORT const struct ddsi_sertype_ops ddsi_sertype_ops_pserop;
+extern DDS_EXPORT const struct ddsi_serdata_ops ddsi_serdata_ops_pserop;
+
+#if defined (__cplusplus)
+}
+#endif
+
+#endif