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unitree_SDK/include/dds/ddsi/ddsi_shm_transport.h

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+/*
+ * Copyright(c) 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 DDS_SHM__TRANSPORT_H
+#define DDS_SHM__TRANSPORT_H
+
+#include "dds/export.h"
+#include "dds/features.h"
+
+#include "dds/ddsi/ddsi_config.h"
+#include "dds/ddsi/ddsi_keyhash.h"
+#include "dds/ddsi/ddsi_tran.h"
+#include "dds/ddsi/q_protocol.h" /* for, e.g., SubmessageKind_t */
+#include "dds/ddsrt/sync.h"
+
+#include "iceoryx_binding_c/chunk.h"
+#include "iceoryx_binding_c/publisher.h"
+#include "iceoryx_binding_c/subscriber.h"
+#include "iceoryx_binding_c/config.h"
+
+#if defined(__cplusplus)
+extern "C" {
+#endif
+
+typedef enum {
+  IOX_CHUNK_UNINITIALIZED,
+  IOX_CHUNK_CONTAINS_RAW_DATA,
+  IOX_CHUNK_CONTAINS_SERIALIZED_DATA
+} iox_shm_data_state_t;
+
+struct iceoryx_header {
+  struct ddsi_guid guid;
+  dds_time_t tstamp;
+  uint32_t statusinfo;
+  uint32_t data_size;
+  unsigned char data_kind;
+  ddsi_keyhash_t keyhash;
+  iox_shm_data_state_t shm_data_state;
+};
+
+typedef struct iceoryx_header iceoryx_header_t;
+
+struct dds_reader;
+struct shm_monitor;
+
+typedef struct {  
+  ddsrt_mutex_t mutex;
+  struct shm_monitor *monitor;
+  struct dds_reader *parent_reader;
+} iox_sub_context_t;
+
+DDS_EXPORT iox_sub_context_t **iox_sub_context_ptr(iox_sub_t sub);
+
+DDS_EXPORT void iox_sub_context_init(iox_sub_context_t *context);
+
+DDS_EXPORT void
+iox_sub_context_fini(iox_sub_context_t *context);
+
+// lock and unlock for individual subscribers
+DDS_EXPORT void shm_lock_iox_sub(iox_sub_t sub);
+
+DDS_EXPORT void shm_unlock_iox_sub(iox_sub_t sub);
+
+DDS_EXPORT void free_iox_chunk(iox_sub_t *iox_sub, void **iox_chunk);
+
+DDS_EXPORT iceoryx_header_t *iceoryx_header_from_chunk(const void *iox_chunk);
+
+DDS_EXPORT void shm_set_loglevel(enum ddsi_shm_loglevel);
+
+DDS_EXPORT void *shm_create_chunk(iox_pub_t iox_pub, size_t size);
+
+DDS_EXPORT void shm_set_data_state(void *iox_chunk,
+                                   iox_shm_data_state_t data_state);
+
+DDS_EXPORT iox_shm_data_state_t shm_get_data_state(void *iox_chunk);
+
+#if defined(__cplusplus)
+}
+#endif
+
+#endif // DDS_SHM__TRANSPORT_H