add resend feature for reliable stream

CMakeLists.txt

@@ -57,6 +57,7 @@ set(UCLIENT_MAX_INPUT_RELIABLE_STREAMS 1 CACHE STRING "Set the maximum number of
 set(UCLIENT_MAX_SESSION_CONNECTION_ATTEMPTS 10 CACHE STRING "Set the number of connection attemps.")
 set(UCLIENT_MIN_SESSION_CONNECTION_INTERVAL 1000 CACHE STRING "Set the connection interval in milliseconds.")
 set(UCLIENT_MIN_HEARTBEAT_TIME_INTERVAL 100 CACHE STRING "Set the time interval between heartbeats in milliseconds.")
+set(UCLIENT_RELIABLE_RESENT_TIME 100 CACHE STRING "Set the time for reliable stream resend in milliseconds.")
 set(UCLIENT_UDP_TRANSPORT_MTU 512 CACHE STRING "Set the UDP transport MTU.")
 set(UCLIENT_TCP_TRANSPORT_MTU 512 CACHE STRING "Set the TCP transport MTU.")
 set(UCLIENT_SERIAL_TRANSPORT_MTU 512 CACHE STRING "Set the Serial transport MTU.")

include/uxr/client/config.h.in

@@ -46,6 +46,7 @@
 #define UXR_CONFIG_MAX_SESSION_CONNECTION_ATTEMPTS    @UCLIENT_MAX_SESSION_CONNECTION_ATTEMPTS@
 #define UXR_CONFIG_MIN_SESSION_CONNECTION_INTERVAL    @UCLIENT_MIN_SESSION_CONNECTION_INTERVAL@
 #define UXR_CONFIG_MIN_HEARTBEAT_TIME_INTERVAL        @UCLIENT_MIN_HEARTBEAT_TIME_INTERVAL@
+#define UXR_CONFIG_RELIABLE_RESENT_TIME               @UCLIENT_RELIABLE_RESENT_TIME@
 
 #ifdef UCLIENT_PROFILE_UDP
 #define UXR_CONFIG_UDP_TRANSPORT_MTU                  @UCLIENT_UDP_TRANSPORT_MTU@

src/c/core/session/stream/output_reliable_stream.c

@@ -9,6 +9,7 @@
 #include "./common_reliable_stream_internal.h"
 #include "../submessage_internal.h"
 #include <uxr/client/profile/multithread/multithread.h>
+#include <uxr/client/util/time.h>
 
 #define MIN_HEARTBEAT_TIME_INTERVAL ((int64_t) UXR_CONFIG_MIN_HEARTBEAT_TIME_INTERVAL) // ms
 
@@ -64,6 +65,7 @@ bool uxr_prepare_reliable_buffer_to_write(
 
     uint16_t available_block_size = (uint16_t)(buffer_capacity - (uint16_t)(stream->offset + SUBHEADER_SIZE));
     size_t remaining_blocks = get_available_free_slots(stream);
+    static int64_t reliable_ackend_ts = 0x0;
 
     // Aligment required for inserting an XRCE subheader
     buffer_size += ucdr_alignment(buffer_size, 4);
@@ -164,6 +166,17 @@ bool uxr_prepare_reliable_buffer_to_write(
         }
     }
 
+    if (available_to_write == false) {
+        if (reliable_ackend_ts == 0x0) {
+            reliable_ackend_ts = uxr_millis() + UXR_CONFIG_RELIABLE_RESENT_TIME;
+        } else if (reliable_ackend_ts <= uxr_millis()) {
+            stream->last_sent = uxr_seq_num_sub(stream->last_sent, 1);
+            reliable_ackend_ts = uxr_millis() + UXR_CONFIG_RELIABLE_RESENT_TIME;
+        }
+    } else {
+        reliable_ackend_ts = 0x0;
+    }
+
     return available_to_write;
 }
 

test/shared_memory/SharedMemory.cpp

@@ -1,3 +1,8 @@
+extern "C"
+{
+#include <c/util/time.c>
+}
+
 #include <gtest/gtest.h>
 #include <uxr/client/client.h>
 

test/unitary/session/streams/OutputReliableStream.cpp

@@ -8,6 +8,7 @@ extern "C"
 #include <c/core/serialization/xrce_subheader.c>
 #include <c/core/session/submessage.c>
 #include <c/core/serialization/xrce_header.c>
+#include <c/util/time.c>
 }
 
 #define BUFFER_SIZE           size_t(128)