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unitree_SDK/include/dds/ddsi/ddsi_tkmap.h

@@ -0,0 +1,45 @@
+/*
+ * 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 _DDS_TKMAP_H_
+#define _DDS_TKMAP_H_
+
+#include "dds/ddsrt/atomics.h"
+
+#if defined (__cplusplus)
+extern "C" {
+#endif
+
+struct ddsi_tkmap;
+struct ddsi_serdata;
+struct dds_topic;
+struct ddsi_domaingv;
+
+struct ddsi_tkmap_instance
+{
+  struct ddsi_serdata *m_sample;
+  uint64_t m_iid;
+  ddsrt_atomic_uint32_t m_refc;
+};
+
+DDS_EXPORT struct ddsi_tkmap *ddsi_tkmap_new (struct ddsi_domaingv *gv);
+DDS_EXPORT void ddsi_tkmap_free (struct ddsi_tkmap *tkmap);
+DDS_EXPORT void ddsi_tkmap_instance_ref (struct ddsi_tkmap_instance *tk);
+DDS_EXPORT uint64_t ddsi_tkmap_lookup (struct ddsi_tkmap *tkmap, const struct ddsi_serdata *serdata);
+DDS_EXPORT struct ddsi_tkmap_instance * ddsi_tkmap_find(struct ddsi_tkmap *map, struct ddsi_serdata *sd, const bool create);
+DDS_EXPORT struct ddsi_tkmap_instance * ddsi_tkmap_find_by_id (struct ddsi_tkmap *map, uint64_t iid);
+DDS_EXPORT struct ddsi_tkmap_instance * ddsi_tkmap_lookup_instance_ref (struct ddsi_tkmap *map, struct ddsi_serdata * sd);
+DDS_EXPORT void ddsi_tkmap_instance_unref (struct ddsi_tkmap *map, struct ddsi_tkmap_instance *tk);
+
+#if defined (__cplusplus)
+}
+#endif
+#endif