urtware / inc / urt_topic.h @ 03ed5026
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| 1 | 1fb06240 | skenneweg | /*
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| 2 | µRtWare is a lightweight publish/subscribe middleware for real-time
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| 3 | applications. It was developed as part of the software habitat for the
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| 4 | Autonomous Mini Robot [1] (AMiRo) but can be used for other purposes as well.
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| 5 | |||
| 6 | Copyright (C) 2018..2020 Thomas Schöpping et al.
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| 7 | |||
| 8 | This program is free software: you can redistribute it and/or modify
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| 9 | it under the terms of the GNU General Public License as published by
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| 10 | the Free Software Foundation, either version 3 of the License, or
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| 11 | (at your option) any later version.
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| 12 | |||
| 13 | This program is distributed in the hope that it will be useful,
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| 14 | but WITHOUT ANY WARRANTY; without even the implied warranty of
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| 15 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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| 16 | GNU General Public License for more details.
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| 17 | |||
| 18 | You should have received a copy of the GNU General Public License
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| 19 | along with this program. If not, see <http://www.gnu.org/licenses/>.
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| 20 | */
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| 21 | |||
| 22 | #ifndef URTWARE_TOPIC_H
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| 23 | #define URTWARE_TOPIC_H
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| 24 | |||
| 25 | 7d9678db | skenneweg | #include <urt_types.h> |
| 26 | #include <urtware.h> |
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| 27 | |||
| 28 | 1fb06240 | skenneweg | /******************************************************************************/
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| 29 | /* CONSTANTS */
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| 30 | /******************************************************************************/
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| 31 | |||
| 32 | /******************************************************************************/
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| 33 | /* SETTINGS */
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| 34 | /******************************************************************************/
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| 35 | |||
| 36 | /******************************************************************************/
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| 37 | /* CHECKS */
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| 38 | /******************************************************************************/
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| 39 | |||
| 40 | /******************************************************************************/
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| 41 | /* DATA STRUCTURES AND TYPES */
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| 42 | /******************************************************************************/
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| 43 | |||
| 44 | 7d9678db | skenneweg | /**
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| 45 | * @brief topic
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| 46 | */
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| 47 | typedef struct urt_topic |
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| 48 | {
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| 49 | cd21e832 | skenneweg | urt_topic_t* next; |
| 50 | urt_topicid_t id; |
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| 51 | urt_osMutex_t lock; |
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| 52 | urt_osEventSource_t evtSource; |
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| 53 | unsigned int numHrtSubscribers; |
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| 54 | urt_osCondvar_t hrtReleased; |
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| 55 | urt_message_t mandatoryMessage; |
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| 56 | urt_message_t* latestMessage; |
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| 57 | #if (URT_CFG_PUBSUB_QOS_RATECHECKS)
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| 58 | urt_hrtsubscriber_t* hrtSubscribers; |
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| 59 | urt_osTimer_t qosRateTimer; |
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| 60 | #endif /* URT_CFG_PUBSUB_QOS_RATECHECKS */ |
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| 61 | #if (URT_CFG_PUBSUB_PROFILING)
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| 62 | uint64_t numMessagesPublished; |
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| 63 | uint64_t numMessagesDiscarded; |
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| 64 | unsigned int numSubscribers; |
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| 65 | #endif /* URT_CFG_PUBSUB_PROFILING */ |
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| 66 | 7d9678db | skenneweg | }urt_topic_t; |
| 67 | |||
| 68 | 1fb06240 | skenneweg | /******************************************************************************/
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| 69 | /* MACROS */
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| 70 | /******************************************************************************/
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| 71 | |||
| 72 | /******************************************************************************/
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| 73 | /* EXTERN DECLARATIONS */
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| 74 | /******************************************************************************/
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| 75 | |||
| 76 | 7d9678db | skenneweg | #if defined(__cplusplus)
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| 77 | extern "C" { |
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| 78 | #endif /* defined(__cplusplus) */ |
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| 79 | |||
| 80 | cd21e832 | skenneweg | urt_status_t urtTopicInit(urt_topic_t* topic, urt_topicid_t id); |
| 81 | 7d9678db | skenneweg | #if defined(__cplusplus)
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| 82 | } |
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| 83 | #endif /* defined(__cplusplus) */ |
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| 84 | |||
| 85 | 1fb06240 | skenneweg | /******************************************************************************/
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| 86 | /* INLINE FUNCTIONS */
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| 87 | /******************************************************************************/
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| 88 | |||
| 89 | #endif /* URTWARE_TOPIC_H */ |