init

unitree_SDK/include/dds/ddsi/q_bswap.h

@@ -0,0 +1,48 @@
+/*
+ * 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 NN_BSWAP_H
+#define NN_BSWAP_H
+
+#include <stdint.h>
+
+#include "dds/ddsrt/bswap.h"
+#include "dds/ddsrt/misc.h"
+#include "dds/ddsi/q_rtps.h" /* for nn_guid_t, nn_guid_prefix_t */
+#include "dds/ddsi/q_protocol.h" /* for nn_sequence_number_t */
+
+#if defined (__cplusplus)
+extern "C" {
+#endif
+
+inline void bswapSN (nn_sequence_number_t *sn)
+{
+  sn->high = ddsrt_bswap4 (sn->high);
+  sn->low = ddsrt_bswap4u (sn->low);
+}
+
+ddsi_guid_prefix_t nn_hton_guid_prefix (ddsi_guid_prefix_t p);
+ddsi_guid_prefix_t nn_ntoh_guid_prefix (ddsi_guid_prefix_t p);
+ddsi_entityid_t nn_hton_entityid (ddsi_entityid_t e);
+ddsi_entityid_t nn_ntoh_entityid (ddsi_entityid_t e);
+DDS_EXPORT ddsi_guid_t nn_hton_guid (ddsi_guid_t g);
+DDS_EXPORT ddsi_guid_t nn_ntoh_guid (ddsi_guid_t g);
+
+void bswap_sequence_number_set_hdr (nn_sequence_number_set_header_t *snset);
+void bswap_sequence_number_set_bitmap (nn_sequence_number_set_header_t *snset, uint32_t *bits);
+void bswap_fragment_number_set_hdr (nn_fragment_number_set_header_t *fnset);
+void bswap_fragment_number_set_bitmap (nn_fragment_number_set_header_t *fnset, uint32_t *bits);
+
+#if defined (__cplusplus)
+}
+#endif
+
+#endif /* NN_BSWAP_H */