init

unitree_SDK/include/dds/ddsi/ddsi_vendor.h

@@ -0,0 +1,106 @@
+/*
+ * Copyright(c) 2019 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_VENDOR_H
+#define DDSI_VENDOR_H
+
+#include <stdint.h>
+#include <stdbool.h>
+
+#include "dds/export.h"
+
+typedef struct {
+  uint8_t id[2];
+} nn_vendorid_t;
+
+
+/* All existing vendor codes have the major part equal to 1 (and this will probably be true for a long, long time) */
+#define NN_VENDORID_MINOR_RTI                0x01
+#define NN_VENDORID_MINOR_ADLINK_OSPL        0x02
+#define NN_VENDORID_MINOR_OCI                0x03
+#define NN_VENDORID_MINOR_MILSOFT            0x04
+#define NN_VENDORID_MINOR_KONGSBERG          0x05
+#define NN_VENDORID_MINOR_TWINOAKS           0x06
+#define NN_VENDORID_MINOR_LAKOTA             0x07
+#define NN_VENDORID_MINOR_ICOUP              0x08
+#define NN_VENDORID_MINOR_ETRI               0x09
+#define NN_VENDORID_MINOR_RTI_MICRO          0x0a
+#define NN_VENDORID_MINOR_ADLINK_JAVA        0x0b
+#define NN_VENDORID_MINOR_ADLINK_GATEWAY     0x0c
+#define NN_VENDORID_MINOR_ADLINK_LITE        0x0d
+#define NN_VENDORID_MINOR_TECHNICOLOR        0x0e
+#define NN_VENDORID_MINOR_EPROSIMA           0x0f
+#define NN_VENDORID_MINOR_ECLIPSE            0x10
+#define NN_VENDORID_MINOR_ADLINK_CLOUD       0x20
+
+#define NN_VENDORID_INIT(vendor) {{ 0x01, NN_VENDORID_MINOR_##vendor }}
+#define NN_VENDORID_INIT_UNKNOWN {{ 0x00, 0x00 }}
+
+#define NN_VENDORID(vendor) ((nn_vendorid_t) NN_VENDORID_INIT(vendor))
+#define NN_VENDORID_UNKNOWN ((nn_vendorid_t) NN_VENDORID_INIT_UNKNOWN)
+
+#define NN_VENDORID_ECLIPSE NN_VENDORID(ECLIPSE)
+
+#if defined (__cplusplus)
+extern "C" {
+#endif
+
+DDS_INLINE_EXPORT inline bool vendor_equals (nn_vendorid_t a, nn_vendorid_t b) {
+  return ((a.id[0] << 8) | a.id[1]) == ((b.id[0] << 8) | b.id[1]);
+}
+DDS_INLINE_EXPORT inline bool vendor_is_eclipse (nn_vendorid_t vendor) {
+  const nn_vendorid_t x = NN_VENDORID_INIT (ECLIPSE);
+  return vendor_equals (vendor, x);
+}
+DDS_INLINE_EXPORT inline bool vendor_is_rti (nn_vendorid_t vendor) {
+  const nn_vendorid_t x = NN_VENDORID_INIT (RTI);
+  return vendor_equals (vendor, x);
+}
+DDS_INLINE_EXPORT inline bool vendor_is_opensplice (nn_vendorid_t vendor) {
+  const nn_vendorid_t x = NN_VENDORID_INIT (ADLINK_OSPL);
+  return vendor_equals (vendor, x);
+}
+DDS_INLINE_EXPORT inline bool vendor_is_twinoaks (nn_vendorid_t vendor) {
+  const nn_vendorid_t x = NN_VENDORID_INIT (TWINOAKS);
+  return vendor_equals (vendor, x);
+}
+DDS_INLINE_EXPORT inline bool vendor_is_eprosima (nn_vendorid_t vendor) {
+  const nn_vendorid_t x = NN_VENDORID_INIT (EPROSIMA);
+  return vendor_equals (vendor, x);
+}
+DDS_INLINE_EXPORT inline bool vendor_is_cloud (nn_vendorid_t vendor) {
+  const nn_vendorid_t x = NN_VENDORID_INIT (ADLINK_CLOUD);
+  return vendor_equals (vendor, x);
+}
+DDS_INLINE_EXPORT inline bool vendor_is_eclipse_or_opensplice (nn_vendorid_t vendor) {
+  return vendor_is_eclipse (vendor) || vendor_is_opensplice (vendor);
+}
+DDS_INLINE_EXPORT inline bool vendor_is_adlink (nn_vendorid_t vendor) {
+  const nn_vendorid_t a = NN_VENDORID_INIT (ADLINK_OSPL);
+  const nn_vendorid_t b = NN_VENDORID_INIT (ADLINK_LITE);
+  const nn_vendorid_t c = NN_VENDORID_INIT (ADLINK_GATEWAY);
+  const nn_vendorid_t d = NN_VENDORID_INIT (ADLINK_JAVA);
+  const nn_vendorid_t e = NN_VENDORID_INIT (ADLINK_CLOUD);
+  return (vendor_equals (vendor, a) ||
+          vendor_equals (vendor, b) ||
+          vendor_equals (vendor, c) ||
+          vendor_equals (vendor, d) ||
+          vendor_equals (vendor, e));
+}
+DDS_INLINE_EXPORT inline bool vendor_is_eclipse_or_adlink (nn_vendorid_t vendor) {
+  return vendor_is_eclipse (vendor) || vendor_is_adlink (vendor);
+}
+
+#if defined (__cplusplus)
+}
+#endif
+
+#endif /* DDSI_VENDOR_H */