experimental.h

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/* -*- mode: C; c-basic-offset: 4 -*- */
/* ex: set shiftwidth=4 tabstop=4 expandtab: */
/*
 * Copyright (c) 2014, Georgia Tech Research Corporation
 * Copyright (C) 2015, Rice University
 * All rights reserved.
 *
 * Author(s): Neil T. Dantam <ntd@rice.edu>
 * Georgia Tech Humanoid Robotics Lab
 * Under Direction of Prof. Mike Stilman <mstilman@cc.gatech.edu>
 *
 *
 * This file is provided under the following "BSD-style" License:
 *
 *
 *   Redistribution and use in source and binary forms, with or
 *   without modification, are permitted provided that the following
 *   conditions are met:
 *
 *   * Redistributions of source code must retain the above copyright
 *     notice, this list of conditions and the following disclaimer.
 *
 *   * Redistributions in binary form must reproduce the above
 *     copyright notice, this list of conditions and the following
 *     disclaimer in the documentation and/or other materials provided
 *     with the distribution.
 *
 *   * Neither the name of the copyright holder the names of its
 *     contributors may be used to endorse or promote products derived
 *     from this software without specific prior written permission.
 *
 *   THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND
 *   CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES,
 *   INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
 *   MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
 *   DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
 *   CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
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 *   LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF
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 *   AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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 *
 */

#ifndef ACH_EXPERIMENTAL_H
#define ACH_EXPERIMENTAL_H



#ifdef __cplusplus
extern "C" {
#endif

struct ach_evhandler {
    struct ach_channel *channel;

    void *context;

    enum ach_status (*handler)
    ( void *context, struct ach_channel *channel );
};

/* Options for event handler */

#define ACH_EV_O_PERIODIC_TIMEOUT 0x01

#define ACH_EV_O_PERIODIC_INPUT 0x02


enum ach_status ACH_WARN_UNUSED
ach_evhandle( struct ach_evhandler *handlers,
              size_t n,
              const struct timespec *period,
              enum ach_status (*periodic_handler)(void *context),
              void *periodic_context,
              int options );

#ifdef __cplusplus
}
#endif

#endif /* ACH_H */