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Quella
2025-09-24 10:53:28 +08:00
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unitree_SDK/include/dds/ddsi/ddsi_topic.h Normal file
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/*
* Copyright(c) 2006 to 2022 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_TOPIC_H
#define DDSI_TOPIC_H
#include "dds/export.h"
#include "dds/features.h"
#include "dds/ddsi/ddsi_domaingv.h"
#include "dds/ddsi/ddsi_entity.h"
#if defined (__cplusplus)
extern "C" {
#endif
DDS_EXPORT int ddsi_is_builtin_topic (ddsi_entityid_t id, nn_vendorid_t vendorid);
DDS_EXPORT int ddsi_is_topic_entityid (ddsi_entityid_t id);
#ifdef DDS_HAS_TOPIC_DISCOVERY
struct ddsi_type_pair;
struct dds_qos;
struct ddsi_topic_definition {
unsigned char key[16]; /* key for this topic definition (MD5 hash of the type_id and qos) */
struct ddsi_type_pair *type_pair; /* has a ddsi_type object for the minimal and complete type, which contains the XTypes type identifiers */
struct dds_qos *xqos; /* contains also the topic name and type name */
uint32_t refc;
struct ddsi_domaingv *gv;
};
struct ddsi_topic {
struct ddsi_entity_common e;
struct ddsi_topic_definition *definition; /* ref to (shared) topic definition, protected by e.qos_lock */
struct ddsi_participant *pp; /* backref to the participant */
};
struct ddsi_proxy_topic
{
ddsi_entityid_t entityid;
struct ddsi_topic_definition *definition; /* ref to (shared) topic definition */
ddsrt_wctime_t tupdate; /* timestamp of last update */
seqno_t seq; /* sequence number of most recent SEDP message */
ddsrt_avl_node_t avlnode; /* entry in proxypp->topics */
unsigned deleted: 1;
};
int ddsi_topic_definition_equal (const struct ddsi_topic_definition *tpd_a, const struct ddsi_topic_definition *tpd_b);
uint32_t ddsi_topic_definition_hash (const struct ddsi_topic_definition *tpd);
dds_return_t ddsi_new_proxy_topic (struct ddsi_proxy_participant *proxypp, seqno_t seq, const ddsi_guid_t *guid, const ddsi_typeid_t *type_id_minimal, const ddsi_typeid_t *type_id, struct dds_qos *qos, ddsrt_wctime_t timestamp);
struct ddsi_proxy_topic *ddsi_lookup_proxy_topic (struct ddsi_proxy_participant *proxypp, const ddsi_guid_t *guid);
void ddsi_update_proxy_topic (struct ddsi_proxy_participant *proxypp, struct ddsi_proxy_topic *proxytp, seqno_t seq, struct dds_qos *xqos, ddsrt_wctime_t timestamp);
int ddsi_delete_proxy_topic_locked (struct ddsi_proxy_participant *proxypp, struct ddsi_proxy_topic *proxytp, ddsrt_wctime_t timestamp);
DDS_EXPORT dds_return_t ddsi_new_topic (struct ddsi_topic **tp_out, struct ddsi_guid *tpguid, struct ddsi_participant *pp, const char *topic_name, const struct ddsi_sertype *type, const struct dds_qos *xqos, bool is_builtin, bool *new_topic_def);
DDS_EXPORT void ddsi_update_topic_qos (struct ddsi_topic *tp, const dds_qos_t *xqos);
DDS_EXPORT dds_return_t ddsi_delete_topic (struct ddsi_domaingv *gv, const struct ddsi_guid *guid);
DDS_EXPORT dds_return_t ddsi_lookup_topic_definition (struct ddsi_domaingv *gv, const char * topic_name, const ddsi_typeid_t *type_id, struct ddsi_topic_definition **tpd);
#endif /* DDS_HAS_TOPIC_DISCOVERY */
#if defined (__cplusplus)
}
#endif
#endif /* DDSI_TOPIC_H */