Newer
Older
casic_unitree_dog / unitree_robotics / include / dds / ddsi / q_lease.h
/*
 * 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 */