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unitree_SDK/include/dds/ddsi/q_whc.h

@@ -0,0 +1,141 @@
+/*
+ * 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_WHC_H
+#define Q_WHC_H
+
+#include <stddef.h>
+#include "dds/ddsrt/time.h"
+
+#if defined (__cplusplus)
+extern "C" {
+#endif
+
+struct ddsi_serdata;
+struct ddsi_plist;
+struct ddsi_tkmap_instance;
+struct whc_node; /* opaque, but currently used for deferred free lists */
+struct whc;
+
+struct whc_borrowed_sample {
+  seqno_t seq;
+  struct ddsi_serdata *serdata;
+  struct ddsi_plist *plist;
+  bool unacked;
+  ddsrt_mtime_t last_rexmit_ts;
+  unsigned rexmit_count;
+};
+
+struct whc_state {
+  seqno_t min_seq; /* 0 if WHC empty, else > 0 */
+  seqno_t max_seq; /* 0 if WHC empty, else >= min_seq */
+  size_t unacked_bytes;
+};
+#define WHCST_ISEMPTY(whcst) ((whcst)->max_seq == 0)
+
+/* Adjust SIZE and alignment stuff as needed: they are here simply so we can allocate
+   an iter on the stack without specifying an implementation. If future changes or
+   implementations require more, these can be adjusted.  An implementation should check
+   things fit at compile time. */
+#define WHC_SAMPLE_ITER_SIZE (8 * sizeof(void *))
+struct whc_sample_iter_base {
+  struct whc *whc;
+};
+struct whc_sample_iter {
+  struct whc_sample_iter_base c;
+  union {
+    char opaque[WHC_SAMPLE_ITER_SIZE];
+    /* cover alignment requirements: */
+    uint64_t x;
+    double y;
+    void *p;
+  } opaque;
+};
+
+typedef seqno_t (*whc_next_seq_t)(const struct whc *whc, seqno_t seq);
+typedef void (*whc_get_state_t)(const struct whc *whc, struct whc_state *st);
+typedef bool (*whc_borrow_sample_t)(const struct whc *whc, seqno_t seq, struct whc_borrowed_sample *sample);
+typedef bool (*whc_borrow_sample_key_t)(const struct whc *whc, const struct ddsi_serdata *serdata_key, struct whc_borrowed_sample *sample);
+typedef void (*whc_return_sample_t)(struct whc *whc, struct whc_borrowed_sample *sample, bool update_retransmit_info);
+typedef void (*whc_sample_iter_init_t)(const struct whc *whc, struct whc_sample_iter *it);
+typedef bool (*whc_sample_iter_borrow_next_t)(struct whc_sample_iter *it, struct whc_borrowed_sample *sample);
+typedef void (*whc_free_t)(struct whc *whc);
+
+/* min_seq is lowest sequence number that must be retained because of
+   reliable readers that have not acknowledged all data */
+/* max_drop_seq must go soon, it's way too ugly. */
+/* plist may be NULL or ddsrt_malloc'd, WHC takes ownership of plist */
+typedef int (*whc_insert_t)(struct whc *whc, seqno_t max_drop_seq, seqno_t seq, ddsrt_mtime_t exp, struct ddsi_plist *plist, struct ddsi_serdata *serdata, struct ddsi_tkmap_instance *tk);
+typedef uint32_t (*whc_downgrade_to_volatile_t)(struct whc *whc, struct whc_state *st);
+typedef uint32_t (*whc_remove_acked_messages_t)(struct whc *whc, seqno_t max_drop_seq, struct whc_state *whcst, struct whc_node **deferred_free_list);
+typedef void (*whc_free_deferred_free_list_t)(struct whc *whc, struct whc_node *deferred_free_list);
+
+struct whc_ops {
+  whc_insert_t insert;
+  whc_remove_acked_messages_t remove_acked_messages;
+  whc_free_deferred_free_list_t free_deferred_free_list;
+  whc_get_state_t get_state;
+  whc_next_seq_t next_seq;
+  whc_borrow_sample_t borrow_sample;
+  whc_borrow_sample_key_t borrow_sample_key;
+  whc_return_sample_t return_sample;
+  whc_sample_iter_init_t sample_iter_init;
+  whc_sample_iter_borrow_next_t sample_iter_borrow_next;
+  whc_downgrade_to_volatile_t downgrade_to_volatile;
+  whc_free_t free;
+};
+
+struct whc {
+  const struct whc_ops *ops;
+};
+
+DDS_INLINE_EXPORT inline seqno_t whc_next_seq (const struct whc *whc, seqno_t seq) {
+  return whc->ops->next_seq (whc, seq);
+}
+DDS_INLINE_EXPORT inline void whc_get_state (const struct whc *whc, struct whc_state *st) {
+  whc->ops->get_state (whc, st);
+}
+DDS_INLINE_EXPORT inline bool whc_borrow_sample (const struct whc *whc, seqno_t seq, struct whc_borrowed_sample *sample) {
+  return whc->ops->borrow_sample (whc, seq, sample);
+}
+DDS_INLINE_EXPORT inline bool whc_borrow_sample_key (const struct whc *whc, const struct ddsi_serdata *serdata_key, struct whc_borrowed_sample *sample) {
+  return whc->ops->borrow_sample_key (whc, serdata_key, sample);
+}
+DDS_INLINE_EXPORT inline void whc_return_sample (struct whc *whc, struct whc_borrowed_sample *sample, bool update_retransmit_info) {
+  whc->ops->return_sample (whc, sample, update_retransmit_info);
+}
+DDS_INLINE_EXPORT inline void whc_sample_iter_init (const struct whc *whc, struct whc_sample_iter *it) {
+  whc->ops->sample_iter_init (whc, it);
+}
+DDS_INLINE_EXPORT inline bool whc_sample_iter_borrow_next (struct whc_sample_iter *it, struct whc_borrowed_sample *sample) {
+  return it->c.whc->ops->sample_iter_borrow_next (it, sample);
+}
+DDS_INLINE_EXPORT inline void whc_free (struct whc *whc) {
+  whc->ops->free (whc);
+}
+DDS_INLINE_EXPORT inline int whc_insert (struct whc *whc, seqno_t max_drop_seq, seqno_t seq, ddsrt_mtime_t exp, struct ddsi_plist *plist, struct ddsi_serdata *serdata, struct ddsi_tkmap_instance *tk) {
+  return whc->ops->insert (whc, max_drop_seq, seq, exp, plist, serdata, tk);
+}
+DDS_INLINE_EXPORT inline unsigned whc_downgrade_to_volatile (struct whc *whc, struct whc_state *st) {
+  return whc->ops->downgrade_to_volatile (whc, st);
+}
+DDS_INLINE_EXPORT inline unsigned whc_remove_acked_messages (struct whc *whc, seqno_t max_drop_seq, struct whc_state *whcst, struct whc_node **deferred_free_list) {
+  return whc->ops->remove_acked_messages (whc, max_drop_seq, whcst, deferred_free_list);
+}
+DDS_INLINE_EXPORT inline void whc_free_deferred_free_list (struct whc *whc, struct whc_node *deferred_free_list) {
+  whc->ops->free_deferred_free_list (whc, deferred_free_list);
+}
+
+#if defined (__cplusplus)
+}
+#endif
+
+#endif /* Q_WHC_H */