init

unitree_SDK/include/dds/ddsrt/sockets/posix.h

@@ -0,0 +1,63 @@
+/*
+ * Copyright(c) 2006 to 2022 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_SOCKETS_POSIX_H
+#define DDSRT_SOCKETS_POSIX_H
+
+#if DDSRT_WITH_LWIP
+#include <lwip/sockets.h>
+#include <lwip/netdb.h>
+#else
+#include <sys/socket.h>
+#include <net/if.h>
+#include <netinet/in.h>
+#include <stddef.h>
+#include <sys/types.h>
+#include <sys/select.h>
+#endif
+
+#include "dds/ddsrt/iovec.h"
+
+#if defined(__cplusplus)
+extern "C" {
+#endif
+
+typedef int ddsrt_socket_t;
+#define DDSRT_INVALID_SOCKET (-1)
+#define PRIdSOCK "d"
+
+#if LWIP_SOCKET
+# define DDSRT_HAVE_SSM         0
+# define IFF_UP               0x1
+# define IFF_BROADCAST        0x2
+# define IFF_LOOPBACK         0x8
+# define IFF_POINTOPOINT     0x10
+# define IFF_MULTICAST     0x1000
+#elif __SunOS_5_6
+# define DDSRT_HAVE_SSM         0
+#else /* LWIP_SOCKET */
+# define DDSRT_HAVE_SSM         1
+#endif /* LWIP_SOCKET */
+
+typedef struct msghdr ddsrt_msghdr_t;
+
+#if (defined(__sun) && !defined(_XPG4_2)) || \
+    (defined(LWIP_SOCKET))
+# define DDSRT_MSGHDR_FLAGS 0
+#else
+# define DDSRT_MSGHDR_FLAGS 1
+#endif
+
+#if defined(__cplusplus)
+}
+#endif
+
+#endif /* DDSRT_SOCKETS_POSIX_H */

unitree_SDK/include/dds/ddsrt/sockets/windows.h

@@ -0,0 +1,51 @@
+#ifndef DDSRT_WINDOWS_SOCKET_H
+#define DDSRT_WINDOWS_SOCKET_H
+
+#include <winsock2.h>
+#include <mswsock.h> // Required for MSG_TRUNC when compiling with mingw-w64.
+#include <ws2tcpip.h>
+#include "dds/ddsrt/iovec.h"
+
+#if defined(__cplusplus)
+extern "C" {
+#endif
+
+typedef SOCKET ddsrt_socket_t;
+#define DDSRT_INVALID_SOCKET (INVALID_SOCKET)
+#define PRIdSOCK PRIuPTR
+
+#if defined(NTDDI_VERSION) && \
+    defined(_WIN32_WINNT_WS03) && \
+    (NTDDI_VERSION >= _WIN32_WINNT_WS03)
+#define DDSRT_HAVE_SSM 1
+#else
+#define DDSRT_HAVE_SSM 0
+#endif
+
+#define IFF_POINTOPOINT IFF_POINTTOPOINT
+
+// Required when compiling with mingw-w64.
+#ifndef MCAST_JOIN_SOURCE_GROUP
+#define MCAST_JOIN_SOURCE_GROUP 45
+#endif
+#ifndef MCAST_LEAVE_SOURCE_GROUP
+#define MCAST_LEAVE_SOURCE_GROUP 46
+#endif
+
+typedef struct ddsrt_msghdr {
+  void *msg_name;
+  socklen_t msg_namelen;
+  ddsrt_iovec_t *msg_iov;
+  ddsrt_msg_iovlen_t msg_iovlen;
+  void *msg_control;
+  size_t msg_controllen;
+  int msg_flags;
+} ddsrt_msghdr_t;
+
+#define DDSRT_MSGHDR_FLAGS 1
+
+#if defined(__cplusplus)
+}
+#endif
+
+#endif /* DDSRT_WINDOWS_SOCKET_H */