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unitree_SDK/include/dds/ddsrt/process.h

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+/*
+ * 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 DDSRT_PROCESS_H
+#define DDSRT_PROCESS_H
+
+#include "dds/export.h"
+#include "dds/ddsrt/time.h"
+#include "dds/ddsrt/types.h"
+#include "dds/ddsrt/retcode.h"
+
+#if DDSRT_WITH_FREERTOS
+#include <FreeRTOS.h>
+#include <task.h>
+typedef TaskHandle_t ddsrt_pid_t; /* typedef void *TaskHandle_t */
+#define PRIdPID "p"
+#define DDSRT_HAVE_MULTI_PROCESS 0
+/* DDSRT_WITH_FREERTOS */
+#elif defined(_WIN32)
+typedef uint32_t ddsrt_pid_t;
+#define PRIdPID PRIu32
+#define DDSRT_HAVE_MULTI_PROCESS 1
+/* _WIN32 */
+#else
+#include <unistd.h>
+#if defined(_WRS_KERNEL)
+typedef RTP_ID ddsrt_pid_t; /* typedef struct wind_rtp *RTP_ID */
+#define PRIdPID PRIuPTR
+#define DDSRT_HAVE_MULTI_PROCESS 0
+#else
+typedef pid_t ddsrt_pid_t;
+#define PRIdPID "d"
+#define DDSRT_HAVE_MULTI_PROCESS 1
+#endif
+#endif
+
+
+#if defined (__cplusplus)
+extern "C" {
+#endif
+
+/**
+ * @brief Return process ID (PID) of the calling process.
+ *
+ * @returns The process ID of the calling process.
+ */
+DDS_EXPORT ddsrt_pid_t
+ddsrt_getpid(void);
+
+/**
+ * @brief Return process name of the calling process.
+ *
+ * On linux maps to /proc/self/cmdline's first entry (argv[0]),
+ * on mac/windows maps to relevant API calls. Falls back to process-{pid}
+ * on failure.
+ *
+ * @returns The process name of the calling process.
+ */
+DDS_EXPORT char *
+ddsrt_getprocessname(void);
+
+#if defined (__cplusplus)
+}
+#endif
+
+#endif /* DDSRT_PROCESS_H */