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unitree_SDK/include/dds/ddsi/ddsi_acknack.h

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+/*
+ * Copyright(c) 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_ACKNACK_H
+#define DDSI_ACKNACK_H
+
+#include <stddef.h>
+#include <stdbool.h>
+
+#include "dds/ddsrt/time.h"
+#include "dds/ddsi/q_xevent.h"
+#include "dds/ddsi/ddsi_entity.h"
+#include "dds/ddsi/q_protocol.h"
+
+#if defined (__cplusplus)
+extern "C" {
+#endif
+
+enum add_AckNack_result {
+  AANR_SUPPRESSED_ACK,  //!< sending nothing: too short a time since the last ACK
+  AANR_ACK,             //!< sending an ACK and there's nothing to NACK
+  AANR_SUPPRESSED_NACK, //!< sending an ACK even though there are things to NACK
+  AANR_NACK,            //!< sending a NACK, possibly also a NACKFRAG
+  AANR_NACKFRAG_ONLY    //!< sending only a NACKFRAG
+};
+
+void sched_acknack_if_needed (struct xevent *ev, struct ddsi_proxy_writer *pwr, struct ddsi_pwr_rd_match *rwn, ddsrt_mtime_t tnow, bool avoid_suppressed_nack);
+
+struct nn_xmsg *make_and_resched_acknack (struct xevent *ev, struct ddsi_proxy_writer *pwr, struct ddsi_pwr_rd_match *rwn, ddsrt_mtime_t tnow, bool avoid_suppressed_nack);
+
+#if defined (__cplusplus)
+}
+#endif
+
+#endif /* DDSI_ACKNACK_H */