init

unitree_SDK/include/dds/ddsrt/threads/freertos.h

@@ -0,0 +1,37 @@
+/*
+ * Copyright(c) 2006 to 2019 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_THREADS_FREERTOS_H
+#define DDSRT_THREADS_FREERTOS_H
+
+#include <FreeRTOS.h>
+#include <task.h>
+
+#define DDSRT_HAVE_THREAD_SETNAME (0)
+#define DDSRT_HAVE_THREAD_LIST (0)
+
+#if defined(__cplusplus)
+extern "C" {
+#endif
+
+typedef struct {
+  TaskHandle_t task;
+} ddsrt_thread_t;
+
+typedef UBaseType_t ddsrt_tid_t;
+typedef TaskHandle_t ddsrt_thread_list_id_t;
+#define PRIdTID "lu"
+
+#if defined(__cplusplus)
+}
+#endif
+
+#endif /* DDSRT_THREADS_FREERTOS_H */

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

@@ -0,0 +1,73 @@
+/*
+ * 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 DDSRT_POSIX_THREAD_H
+#define DDSRT_POSIX_THREAD_H
+
+#include <pthread.h>
+
+#if defined(__VXWORKS__)
+#define DDSRT_HAVE_THREAD_SETNAME (0)
+#else
+#define DDSRT_HAVE_THREAD_SETNAME (1)
+#endif
+#if defined (__linux) || defined (__APPLE__)
+#define DDSRT_HAVE_THREAD_LIST (1)
+#else
+#define DDSRT_HAVE_THREAD_LIST (0)
+#endif
+
+#if defined (__cplusplus)
+extern "C" {
+#endif
+
+#if defined(__linux)
+typedef long int ddsrt_tid_t;
+#define PRIdTID "ld"
+typedef long int ddsrt_thread_list_id_t;
+/* __linux */
+#elif defined(__FreeBSD__) && (__FreeBSD__ >= 9)
+/* FreeBSD >= 9.0 */
+typedef int ddsrt_tid_t;
+#define PRIdTID "d"
+/* __FreeBSD__ */
+#elif defined(__APPLE__) && !(defined(__MAC_OS_X_VERSION_MIN_REQUIRED) && \
+                                      __MAC_OS_X_VERSION_MIN_REQUIRED < 1060)
+/* macOS X >= 10.6 */
+typedef uint64_t ddsrt_tid_t;
+#define PRIdTID PRIu64
+/* ddsrt_thread_list_id_t is actually a mach_port_t */
+typedef uint32_t ddsrt_thread_list_id_t;
+/* __APPLE__ */
+#elif defined(__VXWORKS__)
+/* TODO: Verify taskIdSelf is the right function to use on VxWorks */
+typedef TASK_ID ddsrt_tid_t;
+# if defined(_WRS_CONFIG_LP64)
+#   define PRIdPID PRIuPTR /* typedef struct windTcb *TASK_ID */
+# else
+#   define PRIdPID "d" /* typedef int TASK_ID */
+# endif
+/* __VXWORKS__ */
+#else
+typedef uintptr_t ddsrt_tid_t;
+#define PRIdTID PRIuPTR
+#endif
+
+/* Wrapped in a struct to force conformation to abstraction. */
+typedef struct {
+    pthread_t v;
+} ddsrt_thread_t;
+
+#if defined (__cplusplus)
+}
+#endif
+
+#endif /* DDSRT_POSIX_THREAD_H */

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

@@ -0,0 +1,38 @@
+/*
+ * 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_WINDOWS_THREADS_H
+#define DDSRT_WINDOWS_THREADS_H
+
+#include "dds/ddsrt/types.h"
+
+#define DDSRT_HAVE_THREAD_SETNAME (1)
+#define DDSRT_HAVE_THREAD_LIST (1)
+
+#if defined (__cplusplus)
+extern "C" {
+#endif
+
+typedef struct {
+  DWORD tid;
+  HANDLE handle;
+} ddsrt_thread_t;
+
+typedef uint32_t ddsrt_tid_t;
+#define PRIdTID PRIu32
+
+typedef HANDLE ddsrt_thread_list_id_t;
+
+#if defined (__cplusplus)
+}
+#endif
+
+#endif /* DDSRT_WINDOWS_THREADS_H */