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unitree_SDK/include/dds/ddsi/q_qosmatch.h

@@ -0,0 +1,66 @@
+/*
+ * 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 Q_QOSMATCH_H
+#define Q_QOSMATCH_H
+
+#include "dds/features.h"
+#include "dds/ddsi/ddsi_typelib.h"
+#include "dds/ddsi/ddsi_entity.h"
+#if defined (__cplusplus)
+extern "C" {
+#endif
+
+struct dds_qos;
+
+/* perform reader/writer QoS (and topic name, type name, partition) matching;
+   mask can be used to exclude some of these (including topic name and type
+   name, so be careful!)
+
+   reason will be set to the policy id of one of the mismatching QoS, or to
+   DDS_INVALID_QOS_POLICY_ID if there is no mismatch or if the mismatch is
+   in topic or type name (those are not really QoS and don't have a policy id)
+
+   rd/wr_type_unknown is set to true in case the matching cannot be completed
+   because of missing type information. A type-lookup request is required to get the
+   details of the type to do the qos matching (e.g. check assignability) */
+bool qos_match_mask_p (
+    struct ddsi_domaingv *gv,
+    const dds_qos_t *rd_qos,
+    const dds_qos_t *wr_qos,
+    uint64_t mask,
+    dds_qos_policy_id_t *reason
+#ifdef DDS_HAS_TYPE_DISCOVERY
+    , const struct ddsi_type_pair *rd_type_pair
+    , const struct ddsi_type_pair *wr_type_pair
+    , bool *rd_typeid_req_lookup
+    , bool *wr_typeid_req_lookup
+#endif
+);
+
+bool qos_match_p (
+    struct ddsi_domaingv *gv,
+    const dds_qos_t *rd_qos,
+    const dds_qos_t *wr_qos,
+    dds_qos_policy_id_t *reason
+#ifdef DDS_HAS_TYPE_DISCOVERY
+    , const struct ddsi_type_pair *rd_type_pair
+    , const struct ddsi_type_pair *wr_type_pair
+    , bool *rd_typeid_req_lookup
+    , bool *wr_typeid_req_lookup
+#endif
+);
+
+#if defined (__cplusplus)
+}
+#endif
+
+#endif /* Q_QOSMATCH_H */