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casic_unitree_dog / thirdparty / include / dds / ddsi / ddsi_portmapping.h
/*
 * Copyright(c) 2019 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 DDSI_PORTMAPPING_H
#define DDSI_PORTMAPPING_H

#include <stdint.h>
#include <stddef.h>
#include <stdbool.h>

#if defined (__cplusplus)
extern "C" {
#endif

enum ddsi_port {
  DDSI_PORT_MULTI_DISC,
  DDSI_PORT_MULTI_DATA,
  DDSI_PORT_UNI_DISC,
  DDSI_PORT_UNI_DATA
};

struct ddsi_portmapping {
  uint32_t base;
  uint32_t dg;
  uint32_t pg;
  uint32_t d0;
  uint32_t d1;
  uint32_t d2;
  uint32_t d3;
};

struct ddsi_config;

bool ddsi_valid_portmapping (const struct ddsi_config *config, int32_t participant_index, char *msg, size_t msgsize);
uint32_t ddsi_get_port (const struct ddsi_config *config, enum ddsi_port which, int32_t participant_index);

#if defined (__cplusplus)
}
#endif

#endif /* DDSI_PORTMAPPING_H */