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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 */