static inline int _wait(kn_msgque_reader_t reader,int ms){
kn_msgque* msgque = reader->msgque;
if(ms > 0){
uint32_t timeout = kn_systemms() + (uint32_t)ms;
kn_dlist_push(&msgque->waits,(kn_dlist_node*)reader);
while(kn_list_size(&msgque->shareque) == 0 && !msgque->closing){
uint32_t now = kn_systemms();
uint32_t sleepms = timeout > now ? timeout - now : 0;
if(!sleepms)
break;
if(0 != kn_condition_timedwait(reader->cond,msgque->mtx,(int32_t)sleepms)){
break;
}
}
kn_dlist_remove((kn_dlist_node*)reader);
}else if(ms < 0){
//无限等待
kn_dlist_push(&msgque->waits,(kn_dlist_node*)reader);
while(kn_list_size(&msgque->shareque) == 0 && !msgque->closing){
if(0 != kn_condition_wait(reader->cond,msgque->mtx))
break;
}
kn_dlist_remove((kn_dlist_node*)reader);
kn_list_swap(&reader->readbuff,&msgque->shareque);
}else{
//不等待
kn_list_swap(&reader->readbuff,&msgque->shareque);
}
return kn_list_size(&reader->readbuff);
}
void kn_curl_easy_cleanup(kn_CURL_t curl){
//printf("kn_curl_easy_cleanup\n");
kn_dlist_remove((kn_dlist_node*)curl);
curl_multi_remove_handle(kn_CURLM_get(curl->c_handle), curl->curl);
curl_easy_cleanup(curl->curl);
free(curl);
}
int find_path(AStar_t astar,int x,int y,int x1,int y1,kn_dlist *path){
AStarNode *from = get_node(astar,x,y);
AStarNode *to = get_node(astar,x1,y1);
if(!from || !to || from == to || to->block)
return 0;
minheap_insert(astar->open_list,&from->heap);
AStarNode *current_node = NULL;
while(1){
struct heapele *e = minheap_popmin(astar->open_list);
if(!e){
reset(astar);
return 0;
}
current_node = (AStarNode*)((int8_t*)e-sizeof(kn_dlist_node));
if(current_node == to){
while(current_node)
{
kn_dlist_remove((kn_dlist_node*)current_node);//可能在close_list中，需要删除
if(current_node != from)//当前点无需加入到路径点中
kn_dlist_push_front(path,(kn_dlist_node*)current_node);
AStarNode *t = current_node;
current_node = current_node->parent;
t->parent = NULL;
t->F = t->G = t->H = 0;
t->heap.index = 0;
}
reset(astar);
return 1;
}
//current插入到close表
kn_dlist_push(&astar->close_list,(kn_dlist_node*)current_node);
//获取current的相邻节点
kn_dlist *neighbors = get_neighbors(astar,current_node);
if(neighbors)
{
AStarNode *n;
while((n = (AStarNode*)kn_dlist_pop(neighbors))){
if(n->heap.index)//在openlist中
{
float new_G = current_node->G + cost_2_neighbor(current_node,n);
if(new_G < n->G)
{
//经过当前neighbor路径更佳,更新路径
n->G = new_G;
n->F = n->G + n->H;
n->parent = current_node;
minheap_change(astar->open_list,&n->heap);
}
continue;
}
n->parent = current_node;
n->G = current_node->G + cost_2_neighbor(current_node,n);
n->H = cost_2_goal(n,to);
n->F = n->G + n->H;
minheap_insert(astar->open_list,&n->heap);
}
neighbors = NULL;
}
}
}
int32_t kn_epoll_unregister(kn_proactor_t p ,kn_fd_t s){
kn_epoll *ep = (kn_epoll*)p;
struct epoll_event ev = {0};
int32_t ret;
if(!s->proactor) return -1;
TEMP_FAILURE_RETRY(ret = epoll_ctl(ep->epfd,EPOLL_CTL_DEL,s->fd,&ev));
//((kn_datasocket*)s)->flag = 0;
kn_dlist_remove((kn_dlist_node*)s);
s->proactor = NULL;
if(0 == ret) --ep->eventsize;
return ret;
}
CURLMcode kn_CURLM_add(kn_CURLM_t cm,kn_CURL_t curl,void (*cb)(kn_CURL_t,CURLMsg *message,void*),void*ud){
if(0 != kn_dlist_push(&cm->curls,(kn_dlist_node*)curl))
return CURLM_ADDED_ALREADY;
curl->cb = cb;
curl->ud = ud;
curl->c_handle = cm;
CURLMcode code = curl_multi_add_handle(cm->c_handle,curl->curl);
if(code != CURLM_OK) kn_dlist_remove((kn_dlist_node*)curl);
else{
curl_easy_setopt(curl->curl,CURLOPT_PRIVATE,curl);
if(!cm->timer) cm->timer = kn_reg_timer(cm->e,1,timer_callback,cm);
}
return code;
}
