init

unitree_SDK/include/dds/ddsi/q_ddsi_discovery.h

@@ -0,0 +1,52 @@
+/*
+ * 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 NN_DDSI_DISCOVERY_H
+#define NN_DDSI_DISCOVERY_H
+
+#include "dds/ddsi/q_unused.h"
+#include "dds/ddsi/ddsi_domaingv.h" // FIXME: MAX_XMIT_CONNS
+
+#if defined (__cplusplus)
+extern "C" {
+#endif
+
+struct ddsi_participant;
+struct ddsi_topic;
+struct ddsi_writer;
+struct ddsi_reader;
+struct nn_rsample_info;
+struct nn_rdata;
+struct ddsi_plist;
+
+struct participant_builtin_topic_data_locators {
+  struct nn_locators_one def_uni[MAX_XMIT_CONNS], meta_uni[MAX_XMIT_CONNS];
+  struct nn_locators_one def_multi, meta_multi;
+};
+
+void get_participant_builtin_topic_data (const struct ddsi_participant *pp, ddsi_plist_t *dst, struct participant_builtin_topic_data_locators *locs);
+
+int spdp_write (struct ddsi_participant *pp);
+int spdp_dispose_unregister (struct ddsi_participant *pp);
+
+int sedp_write_topic (struct ddsi_topic *tp, bool alive);
+int sedp_write_writer (struct ddsi_writer *wr);
+int sedp_write_reader (struct ddsi_reader *rd);
+int sedp_dispose_unregister_writer (struct ddsi_writer *wr);
+int sedp_dispose_unregister_reader (struct ddsi_reader *rd);
+
+int builtins_dqueue_handler (const struct nn_rsample_info *sampleinfo, const struct nn_rdata *fragchain, const ddsi_guid_t *rdguid, void *qarg);
+
+#if defined (__cplusplus)
+}
+#endif
+
+#endif /* NN_DDSI_DISCOVERY_H */