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Quella
2025-09-24 10:53:28 +08:00
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unitree_SDK/include/dds/ddsi/ddsi_deadline.h Normal file
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/*
* 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 DDSI_DEADLINE_H
#define DDSI_DEADLINE_H
#include "dds/ddsrt/circlist.h"
#include "dds/ddsrt/time.h"
#include "dds/ddsi/ddsi_domaingv.h"
#include "dds/ddsi/q_xevent.h"
#if defined (__cplusplus)
extern "C" {
#endif
typedef ddsrt_mtime_t (*deadline_missed_cb_t)(void *hc, ddsrt_mtime_t tnow);
struct deadline_adm {
struct ddsrt_circlist list; /* linked list for deadline missed */
struct xevent *evt; /* xevent that triggers when deadline expires for an instance */
deadline_missed_cb_t deadline_missed_cb; /* callback for deadline missed; this cb can use deadline_next_missed_locked to get next instance that has a missed deadline */
size_t list_offset; /* offset of deadline_adm element in whc or rhc */
size_t elem_offset; /* offset of deadline_elem element in whc or rhc instance */
dds_duration_t dur; /* deadline duration */
};
struct deadline_elem {
struct ddsrt_circlist_elem e;
ddsrt_mtime_t t_deadline;
};
DDS_EXPORT void deadline_init (const struct ddsi_domaingv *gv, struct deadline_adm *deadline_adm, size_t list_offset, size_t elem_offset, deadline_missed_cb_t deadline_missed_cb);
DDS_EXPORT void deadline_stop (const struct deadline_adm *deadline_adm);
DDS_EXPORT void deadline_clear (struct deadline_adm *deadline_adm);
DDS_EXPORT void deadline_fini (const struct deadline_adm *deadline_adm);
DDS_EXPORT ddsrt_mtime_t deadline_next_missed_locked (struct deadline_adm *deadline_adm, ddsrt_mtime_t tnow, void **instance);
DDS_EXPORT void deadline_register_instance_real (struct deadline_adm *deadline_adm, struct deadline_elem *elem, ddsrt_mtime_t tprev, ddsrt_mtime_t tnow);
DDS_EXPORT void deadline_unregister_instance_real (struct deadline_adm *deadline_adm, struct deadline_elem *elem);
DDS_EXPORT void deadline_renew_instance_real (struct deadline_adm *deadline_adm, struct deadline_elem *elem);
DDS_INLINE_EXPORT inline void deadline_register_instance_locked (struct deadline_adm *deadline_adm, struct deadline_elem *elem, ddsrt_mtime_t tnow)
{
if (deadline_adm->dur != DDS_INFINITY)
deadline_register_instance_real (deadline_adm, elem, tnow, tnow);
}
DDS_INLINE_EXPORT inline void deadline_reregister_instance_locked (struct deadline_adm *deadline_adm, struct deadline_elem *elem, ddsrt_mtime_t tnow)
{
if (deadline_adm->dur != DDS_INFINITY)
deadline_register_instance_real (deadline_adm, elem, elem->t_deadline, tnow);
}
DDS_INLINE_EXPORT inline void deadline_unregister_instance_locked (struct deadline_adm *deadline_adm, struct deadline_elem *elem)
{
if (deadline_adm->dur != DDS_INFINITY)
{
assert (elem->t_deadline.v != DDS_NEVER);
deadline_unregister_instance_real (deadline_adm, elem);
}
}
DDS_INLINE_EXPORT inline void deadline_renew_instance_locked (struct deadline_adm *deadline_adm, struct deadline_elem *elem)
{
if (deadline_adm->dur != DDS_INFINITY)
{
assert (elem->t_deadline.v != DDS_NEVER);
deadline_renew_instance_real (deadline_adm, elem);
}
}
#if defined (__cplusplus)
}
#endif
#endif /* DDSI_DEADLINE_H */