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Quella
2025-09-24 10:53:28 +08:00
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unitree_SDK/include/dds/ddsi/ddsi_lifespan.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_LIFESPAN_H
#define DDSI_LIFESPAN_H
#include "dds/ddsrt/fibheap.h"
#include "dds/ddsrt/time.h"
#include "dds/ddsi/ddsi_domaingv.h"
#if defined (__cplusplus)
extern "C" {
#endif
typedef ddsrt_mtime_t (*sample_expired_cb_t)(void *hc, ddsrt_mtime_t tnow);
struct lifespan_adm {
ddsrt_fibheap_t ls_exp_heap; /* heap for sample expiration (lifespan) */
struct xevent *evt; /* xevent that triggers for sample with earliest expiration */
sample_expired_cb_t sample_expired_cb; /* callback for expired sample; this cb can use lifespan_next_expired_locked to get next expired sample */
size_t fh_offset; /* offset of lifespan_adm element in whc or rhc */
size_t fhn_offset; /* offset of lifespan_fhnode element in whc or rhc node (sample) */
};
struct lifespan_fhnode {
ddsrt_fibheap_node_t heapnode;
ddsrt_mtime_t t_expire;
};
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);
DDS_EXPORT void lifespan_fini (const struct lifespan_adm *lifespan_adm);
DDS_EXPORT ddsrt_mtime_t lifespan_next_expired_locked (const struct lifespan_adm *lifespan_adm, ddsrt_mtime_t tnow, void **sample);
DDS_EXPORT void lifespan_register_sample_real (struct lifespan_adm *lifespan_adm, struct lifespan_fhnode *node);
DDS_EXPORT void lifespan_unregister_sample_real (struct lifespan_adm *lifespan_adm, struct lifespan_fhnode *node);
DDS_INLINE_EXPORT inline void lifespan_register_sample_locked (struct lifespan_adm *lifespan_adm, struct lifespan_fhnode *node)
{
if (node->t_expire.v != DDS_NEVER)
lifespan_register_sample_real (lifespan_adm, node);
}
DDS_INLINE_EXPORT inline void lifespan_unregister_sample_locked (struct lifespan_adm *lifespan_adm, struct lifespan_fhnode *node)
{
if (node->t_expire.v != DDS_NEVER)
lifespan_unregister_sample_real (lifespan_adm, node);
}
#if defined (__cplusplus)
}
#endif
#endif /* DDSI_LIFESPAN_H */