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urtware / inc / urt_subscriber.h @ 017b2ac7

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/*
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µRtWare is a lightweight publish/subscribe middleware for real-time
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applications. It was developed as part of the software habitat for the
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Autonomous Mini Robot [1] (AMiRo) but can be used for other purposes as well.
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Copyright (C) 2018..2020  Thomas Schöpping et al.
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program.  If not, see <http://www.gnu.org/licenses/>.
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*/
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#ifndef URTWARE_SUBSCRIBER_H
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#define URTWARE_SUBSCRIBER_H
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#include <urt_types.h>
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#include <urtware.h>
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/******************************************************************************/
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/* CONSTANTS                                                                  */
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/******************************************************************************/
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/******************************************************************************/
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/* SETTINGS                                                                   */
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/******************************************************************************/
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/******************************************************************************/
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/* CHECKS                                                                     */
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/******************************************************************************/
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/******************************************************************************/
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/* DATA STRUCTURES AND TYPES                                                  */
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/******************************************************************************/
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/**
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 * @brief  Base subscriber
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 * @details The base subscriber is included in each specialized subscriber
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 */
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typedef struct urt_basesubscriber
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{
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  urt_topic_t* topic;
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  urt_osEventListener_t evtListener;
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  urt_message_t* lastMessage;
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  urt_osTime_t lastMessageTime;
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  #if (URT_CFG_PUBSUB_PROFILING)
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    uint64_t sumLatencies;
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    uint64_t numMessagesReceived;
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  #endif /* URT_CFG_PUBSUB_PROFILING */
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}urt_basesubscriber_t;
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/**
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 * @brief  nrt subscriber
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 */
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typedef struct urt_nrtsubscriber
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{
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  urt_basesubscriber_t base;
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  #if (URT_CFG_PUBSUB_PROFILING)
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    urt_delay_t minLatency;
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    urt_delay_t maxLatency;
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  #endif /* URT_CFG_PUBSUB_PROFILING */
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}urt_nrtsubscriber_t;
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/**
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 * @brief  nrt subscriber
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 */
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typedef struct urt_srtsubscriber
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{
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  urt_basesubscriber_t base;
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  urt_srtusefulnessfunc_t* usefulnesscb;
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  #if (URT_CFG_PUBSUB_PROFILING)
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    urt_delay_t minLatency;
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    urt_delay_t maxLatency;
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  #endif /* URT_CFG_PUBSUB_PROFILING */
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}urt_srtsubscriber_t;
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/**
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 * @brief  nrt subscriber
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 */
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typedef struct urt_frtsubscriber
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{
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  urt_basesubscriber_t base;
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  #if (URT_CFG_PUBSUB_QOS_DEADLINECHECKS)
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    urt_delay_t deadlineOffset;
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  #endif /* URT_CFG_PUBSUB_QOS_DEADLINECHECKS */
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  #if (URT_CFG_PUBSUB_QOS_JITTERCHECKS)
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    urt_delay_t maxJitter;
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  #endif /* URT_CFG_PUBSUB_QOS_JITTERCHECKS */
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  #if (URT_CFG_PUBSUB_QOS_JITTERCHECKS || URT_CFG_PUBSUB_PROFILING)
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    urt_delay_t minLatency;
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    urt_delay_t maxLatency;
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  #endif /* URT_CFG_PUBSUB_QOS_JITTERCHECKS || URT_CFG_PUBSUB_PROFILING */
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}urt_frtsubscriber_t;
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/**
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 * @brief  nrt subscriber
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 */
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typedef struct urt_hrtsubscriber
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{
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  urt_basesubscriber_t base;
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  urt_hrtsubscriber_t* next;
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  #if (URT_CFG_PUBSUB_QOS_DEADLINECHECKS)
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    urt_delay_t deadlineOffset;
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    urt_osTimer_t qosDeadlineTimer;
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  #endif /* URT_CFG_PUBSUB_QOS_DEADLINECHECKS */
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  #if (URT_CFG_PUBSUB_QOS_JITTERCHECKS)
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    urt_delay_t maxJitter;
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  #endif /* URT_CFG_PUBSUB_QOS_JITTERCHECKS */
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  #if (URT_CFG_PUBSUB_QOS_JITTERCHECKS || URT_CFG_PUBSUB_PROFILING)
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    urt_delay_t minLatency;
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    urt_delay_t maxLatency;
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  #endif /* URT_CFG_PUBSUB_QOS_JITTERCHECKS || URT_CFG_PUBSUB_PROFILING */
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  #if (URT_CFG_PUBSUB_QOS_RATECHECKS)
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    urt_delay_t expectedRate;
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  #endif /* URT_CFG_PUBSUB_QOS_RATECHECKS */
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}urt_hrtsubscriber_t;
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/******************************************************************************/
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/* MACROS                                                                     */
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/******************************************************************************/
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/******************************************************************************/
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/* EXTERN DECLARATIONS                                                        */
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/******************************************************************************/
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#if defined(__cplusplus)
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extern "C" {
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#endif /* defined(__cplusplus) */
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  void urtNrtSubscriberInit(urt_nrtsubscriber_t* subscriber);
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  urt_status_t urtNrtSubscriberSubscribe(urt_nrtsubscriber_t* subscriber, urt_topic_t* topic, urt_message_t* messages);
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  urt_status_t urtNrtSubscriberFetchNextMessage(urt_nrtsubscriber_t* subscriber, void* payload, size_t bytes, urt_delay_t* latency);
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  urt_status_t urtNrtSubscriberFetchLatestMessage(urt_nrtsubscriber_t* subscriber, void* payload, size_t bytes, urt_delay_t* latency);
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  urt_status_t urtNrtSubscriberUnsubscribe(urt_nrtsubscriber_t* subscriber);
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  void urtSrtSubscriberInit(urt_srtsubscriber_t* subscriber);
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  urt_status_t urtSrtSubscriberSubscribe(urt_srtsubscriber_t* subscriber, urt_topic_t* topic, urt_message_t* message, urt_srtusefulnessfunc_t* usefulnesscb, void* cbparams);
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  urt_status_t urtSrtSubscriberFetchNextMessage(urt_srtsubscriber_t* subscriber, void* payload, size_t bytes, urt_delay_t* latency);
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  urt_status_t urtSrtSubscriberFetchLatestMessage(urt_srtsubscriber_t* subscriber, void* payload, size_t bytes, urt_delay_t* latency);
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  urt_status_t urtSrtSubscriberCalculateUsefulness(urt_srtsubscriber_t* subscriber, urt_delay_t latency);
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  urt_status_t urtSrtSubscriberUnsubscribe(urt_srtsubscriber_t* subscriber);
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  void urtFrtSubscriberInit(urt_frtsubscriber_t* subscriber);
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  urt_status_t urtFrtSubscriberSubscribe(urt_frtsubscriber_t* subscriber, urt_topic_t* topic, urt_message_t* messages, urt_delay_t deadline, urt_delay_t jitter);
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  urt_status_t urtFrtSubscriberFetchNextMessage(urt_frtsubscriber_t* subscriber, void* payload, size_t bytes, urt_delay_t* latency);
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  urt_status_t urtFrtSubscriberFetchLatestMessage(urt_frtsubscriber_t* subscriber, void* payload, size_t bytes, urt_delay_t* latency);
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  bool urtFrtSubscriberCalculateValidity(urt_frtsubscriber_t* subscriber, urt_delay_t latency);
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  urt_status_t urtFrtSubscriberUnsubscribe(urt_frtsubscriber_t* subscriber);
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  void urtHrtSubscriberInit(urt_hrtsubscriber_t* subscriber);
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  urt_status_t urtHrtSubscriberSubscribe(urt_hrtsubscriber_t* subscriber, urt_topic_t* topic, urt_message_t* message, urt_delay_t deadline, urt_delay_t rate, urt_delay_t jitter);
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  urt_status_t urtHrtSubscriberFetchNextMessage(urt_hrtsubscriber_t* subscriber, void* payload, size_t bytes, urt_delay_t* latency);
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  urt_status_t urtHrtSubscriberFetchLatestMessage(urt_hrtsubscriber_t* subscriber, void* payload, size_t bytes, urt_delay_t* latency);
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  urt_status_t urtHrtSubscriberUnsubscribe(urt_hrtsubscriber_t* subscriber);
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  float urt_srtusefulnessfunc_t (urt_delay_t dt, void* params);
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#if defined(__cplusplus)
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}
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#endif /* defined(__cplusplus) */
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/******************************************************************************/
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/* INLINE FUNCTIONS                                                           */
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/******************************************************************************/
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#endif /* URTWARE_SUBSCRIBER_H */