init
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61
unitree_SDK/include/dds/ddsi/ddsi_lifespan.h
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61
unitree_SDK/include/dds/ddsi/ddsi_lifespan.h
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/*
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* Copyright(c) 2006 to 2021 ZettaScale Technology and others
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*
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* This program and the accompanying materials are made available under the
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* terms of the Eclipse Public License v. 2.0 which is available at
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* http://www.eclipse.org/legal/epl-2.0, or the Eclipse Distribution License
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* v. 1.0 which is available at
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* http://www.eclipse.org/org/documents/edl-v10.php.
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*
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* SPDX-License-Identifier: EPL-2.0 OR BSD-3-Clause
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*/
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#ifndef DDSI_LIFESPAN_H
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#define DDSI_LIFESPAN_H
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#include "dds/ddsrt/fibheap.h"
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#include "dds/ddsrt/time.h"
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#include "dds/ddsi/ddsi_domaingv.h"
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#if defined (__cplusplus)
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extern "C" {
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#endif
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typedef ddsrt_mtime_t (*sample_expired_cb_t)(void *hc, ddsrt_mtime_t tnow);
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struct lifespan_adm {
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ddsrt_fibheap_t ls_exp_heap; /* heap for sample expiration (lifespan) */
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struct xevent *evt; /* xevent that triggers for sample with earliest expiration */
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sample_expired_cb_t sample_expired_cb; /* callback for expired sample; this cb can use lifespan_next_expired_locked to get next expired sample */
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size_t fh_offset; /* offset of lifespan_adm element in whc or rhc */
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size_t fhn_offset; /* offset of lifespan_fhnode element in whc or rhc node (sample) */
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};
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struct lifespan_fhnode {
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ddsrt_fibheap_node_t heapnode;
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ddsrt_mtime_t t_expire;
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};
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DDS_EXPORT void lifespan_init (const struct ddsi_domaingv *gv, struct lifespan_adm *lifespan_adm, size_t fh_offset, size_t fh_node_offset, sample_expired_cb_t sample_expired_cb);
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DDS_EXPORT void lifespan_fini (const struct lifespan_adm *lifespan_adm);
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DDS_EXPORT ddsrt_mtime_t lifespan_next_expired_locked (const struct lifespan_adm *lifespan_adm, ddsrt_mtime_t tnow, void **sample);
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DDS_EXPORT void lifespan_register_sample_real (struct lifespan_adm *lifespan_adm, struct lifespan_fhnode *node);
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DDS_EXPORT void lifespan_unregister_sample_real (struct lifespan_adm *lifespan_adm, struct lifespan_fhnode *node);
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DDS_INLINE_EXPORT inline void lifespan_register_sample_locked (struct lifespan_adm *lifespan_adm, struct lifespan_fhnode *node)
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{
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if (node->t_expire.v != DDS_NEVER)
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lifespan_register_sample_real (lifespan_adm, node);
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}
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DDS_INLINE_EXPORT inline void lifespan_unregister_sample_locked (struct lifespan_adm *lifespan_adm, struct lifespan_fhnode *node)
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{
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if (node->t_expire.v != DDS_NEVER)
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lifespan_unregister_sample_real (lifespan_adm, node);
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}
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#if defined (__cplusplus)
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}
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#endif
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#endif /* DDSI_LIFESPAN_H */
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