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/usr/include/net-snmp/library/snmpUDPDomain.h is in libsnmp-dev 5.7.3+dfsg-1.8ubuntu3.

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#ifndef _SNMPUDPDOMAIN_H
#define _SNMPUDPDOMAIN_H

#ifdef __cplusplus
extern          "C" {
#endif

#include <net-snmp/library/snmp_transport.h>
#include <net-snmp/library/asn1.h>

#if HAVE_SYS_SOCKET_H
#include <sys/socket.h>
#endif
#if HAVE_NETINET_IN_H
#include <netinet/in.h>
#endif

config_require(UDPIPv4Base)
#include <net-snmp/library/snmpUDPIPv4BaseDomain.h>

netsnmp_transport *netsnmp_udp_transport(struct sockaddr_in *addr, int local);


/*
 * Register any configuration tokens specific to the agent.  
 */

NETSNMP_IMPORT
void            netsnmp_udp_agent_config_tokens_register(void);

NETSNMP_IMPORT
void            netsnmp_udp_parse_security(const char *token, char *param);

NETSNMP_IMPORT
int             netsnmp_udp_getSecName(void *opaque, int olength,
                                       const char *community,
                                       size_t community_len,
                                       const char **secname,
                                       const char **contextName);

/*
 * "Constructor" for transport domain object.  
 */

void            netsnmp_udp_ctor(void);

/*
 * protected-ish functions used by other core-code
 */
char *netsnmp_udp_fmtaddr(netsnmp_transport *t, void *data, int len);
#if defined(HAVE_IP_PKTINFO) || defined(HAVE_IP_RECVDSTADDR)
int netsnmp_udp_recvfrom(int s, void *buf, int len, struct sockaddr *from,
                         socklen_t *fromlen, struct sockaddr *dstip,
                         socklen_t *dstlen, int *if_index);
int netsnmp_udp_sendto(int fd, struct in_addr *srcip, int if_index,
					   struct sockaddr *remote, void *data, int len);
#endif

#ifdef __cplusplus
}
#endif
#endif/*_SNMPUDPDOMAIN_H*/