init

unitree_SDK/include/dds/ddsi/ddsi_udp.h

@@ -0,0 +1,33 @@
+/*
+ * Copyright(c) 2006 to 2020 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_UDP_H_
+#define _DDSI_UDP_H_
+
+#if defined (__cplusplus)
+extern "C" {
+#endif
+
+typedef struct nn_udpv4mcgen_address {
+  /* base IPv4 MC address is ipv4, host bits are bits base .. base+count-1, this machine is bit idx */
+  struct in_addr ipv4;
+  uint8_t base;
+  uint8_t count;
+  uint8_t idx; /* must be last: then sorting will put them consecutively */
+} nn_udpv4mcgen_address_t;
+
+DDS_EXPORT int ddsi_udp_init (struct ddsi_domaingv *gv);
+
+#if defined (__cplusplus)
+}
+#endif
+
+#endif