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unitree_SDK/include/dds/ddsi/q_lease.h

@@ -0,0 +1,54 @@
+/*
+ * Copyright(c) 2006 to 2022 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_LEASE_H
+#define Q_LEASE_H
+
+#include "dds/ddsrt/atomics.h"
+#include "dds/ddsrt/fibheap.h"
+#include "dds/ddsrt/time.h"
+
+#if defined (__cplusplus)
+extern "C" {
+#endif
+
+struct receiver_state;
+struct ddsi_participant;
+struct ddsi_entity_common;
+struct ddsi_domaingv; /* FIXME: make a special for the lease admin */
+
+struct lease {
+  ddsrt_fibheap_node_t heapnode;
+  ddsrt_fibheap_node_t pp_heapnode;
+  ddsrt_etime_t tsched;         /* access guarded by leaseheap_lock */
+  ddsrt_atomic_uint64_t tend;   /* really an ddsrt_etime_t */
+  dds_duration_t tdur;          /* constant (renew depends on it) */
+  struct ddsi_entity_common *entity; /* constant */
+};
+
+int compare_lease_tsched (const void *va, const void *vb);
+int compare_lease_tdur (const void *va, const void *vb);
+void lease_management_init (struct ddsi_domaingv *gv);
+void lease_management_term (struct ddsi_domaingv *gv);
+struct lease *lease_new (ddsrt_etime_t texpire, int64_t tdur, struct ddsi_entity_common *e);
+struct lease *lease_clone (const struct lease *l);
+void lease_register (struct lease *l);
+void lease_unregister (struct lease *l);
+void lease_free (struct lease *l);
+DDS_EXPORT void lease_renew (struct lease *l, ddsrt_etime_t tnow);
+void lease_set_expiry (struct lease *l, ddsrt_etime_t when);
+int64_t check_and_handle_lease_expiration (struct ddsi_domaingv *gv, ddsrt_etime_t tnow);
+
+#if defined (__cplusplus)
+}
+#endif
+
+#endif /* Q_LEASE_H */