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unitree_SDK/include/dds/ddsi/q_gc.h

@@ -0,0 +1,61 @@
+/*
+ * 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 Q_GC_H
+#define Q_GC_H
+
+#include "dds/export.h"
+#include "dds/ddsi/q_thread.h"
+
+#if defined (__cplusplus)
+extern "C" {
+#endif
+
+struct gcreq;
+struct gcreq_queue;
+struct ddsi_domaingv;
+
+struct ddsi_writer;
+struct ddsi_reader;
+struct ddsi_proxy_writer;
+struct ddsi_proxy_reader;
+
+typedef void (*gcreq_cb_t) (struct gcreq *gcreq);
+
+struct idx_vtime {
+  struct thread_state *thrst;
+  vtime_t vtime;
+};
+
+struct gcreq {
+  struct gcreq *next;
+  struct gcreq_queue *queue;
+  gcreq_cb_t cb;
+  void *arg;
+  uint32_t nvtimes;
+  struct idx_vtime vtimes[];
+};
+
+DDS_EXPORT struct gcreq_queue *gcreq_queue_new (struct ddsi_domaingv *gv);
+DDS_EXPORT void gcreq_queue_drain (struct gcreq_queue *q);
+DDS_EXPORT void gcreq_queue_free (struct gcreq_queue *q);
+
+DDS_EXPORT struct gcreq *gcreq_new (struct gcreq_queue *gcreq_queue, gcreq_cb_t cb);
+DDS_EXPORT bool gcreq_queue_start (struct gcreq_queue *q);
+DDS_EXPORT void gcreq_free (struct gcreq *gcreq);
+DDS_EXPORT void gcreq_enqueue (struct gcreq *gcreq);
+DDS_EXPORT int gcreq_requeue (struct gcreq *gcreq, gcreq_cb_t cb);
+
+#if defined (__cplusplus)
+}
+#endif
+
+#endif /* Q_GC_H */