AMiRo-OS

/*

µRtWare is a lightweight publish/subscribe middleware for real-time

applications. It was developed as part of the software habitat for the

Autonomous Mini Robot [1] (AMiRo) but can be used for other purposes as well.

Copyright (C) 2018..2020  Thomas Schöpping et al.

This program is free software: you can redistribute it and/or modify

it under the terms of the GNU General Public License as published by

the Free Software Foundation, either version 3 of the License, or

(at your option) any later version.

This program is distributed in the hope that it will be useful,

but WITHOUT ANY WARRANTY; without even the implied warranty of

MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the

GNU General Public License for more details.

You should have received a copy of the GNU General Public License

along with this program.  If not, see <http://www.gnu.org/licenses/>.

*/

#ifndef URTWARE_SUBSCRIBER_H

#define URTWARE_SUBSCRIBER_H

#include <urt_types.h>

#include <urtware.h>

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/* CONSTANTS                                                                  */

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/* SETTINGS                                                                   */

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/* CHECKS                                                                     */

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/* DATA STRUCTURES AND TYPES                                                  */

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/**

 * @brief  Base subscriber

 * @details The base subscriber is included in each specialized subscriber

 */

typedef struct urt_basesubscriber

{

  urt_topic_t* topic;

  urt_osEventListener_t evtListener;

  urt_message_t* lastMessage;

  urt_osTime_t lastMessageTime;

  #if (URT_CFG_PUBSUB_PROFILING)

    uint64_t sumLatencies;

    uint64_t numMessagesReceived;

  #endif /* URT_CFG_PUBSUB_PROFILING */

}urt_basesubscriber_t;

/**

 * @brief  nrt subscriber

 */

typedef struct urt_nrtsubscriber

{

  urt_basesubscriber_t base;

  #if (URT_CFG_PUBSUB_PROFILING)

    urt_delay_t minLatency;

    urt_delay_t maxLatency;

  #endif /* URT_CFG_PUBSUB_PROFILING */

}urt_nrtsubscriber_t;

/**

 * @brief  nrt subscriber

 */

typedef struct urt_srtsubscriber

{

  urt_basesubscriber_t base;

  urt_srtusefulnessfunc_t* usefulnesscb;

  #if (URT_CFG_PUBSUB_PROFILING)

    urt_delay_t minLatency;

    urt_delay_t maxLatency;

  #endif /* URT_CFG_PUBSUB_PROFILING */

}urt_srtsubscriber_t;

/**

 * @brief  nrt subscriber

 */

typedef struct urt_frtsubscriber

{

  urt_basesubscriber_t base;

  #if (URT_CFG_PUBSUB_QOS_DEADLINECHECKS)

    urt_delay_t deadlineOffset;

  #endif /* URT_CFG_PUBSUB_QOS_DEADLINECHECKS */

  #if (URT_CFG_PUBSUB_QOS_JITTERCHECKS)

    urt_delay_t maxJitter;

  #endif /* URT_CFG_PUBSUB_QOS_JITTERCHECKS */

  #if (URT_CFG_PUBSUB_QOS_JITTERCHECKS || URT_CFG_PUBSUB_PROFILING)

    urt_delay_t minLatency;

    urt_delay_t maxLatency;

  #endif /* URT_CFG_PUBSUB_QOS_JITTERCHECKS || URT_CFG_PUBSUB_PROFILING */

}urt_frtsubscriber_t;

/**

 * @brief  nrt subscriber

 */

typedef struct urt_hrtsubscriber

{

  urt_basesubscriber_t base;

  urt_hrtsubscriber_t* next;

  #if (URT_CFG_PUBSUB_QOS_DEADLINECHECKS)

    urt_delay_t deadlineOffset;

    urt_osTimer_t qosDeadlineTimer;

  #endif /* URT_CFG_PUBSUB_QOS_DEADLINECHECKS */

  #if (URT_CFG_PUBSUB_QOS_JITTERCHECKS)

    urt_delay_t maxJitter;

  #endif /* URT_CFG_PUBSUB_QOS_JITTERCHECKS */

  #if (URT_CFG_PUBSUB_QOS_JITTERCHECKS || URT_CFG_PUBSUB_PROFILING)

    urt_delay_t minLatency;

    urt_delay_t maxLatency;

  #endif /* URT_CFG_PUBSUB_QOS_JITTERCHECKS || URT_CFG_PUBSUB_PROFILING */

  #if (URT_CFG_PUBSUB_QOS_RATECHECKS)

    urt_delay_t expectedRate;

  #endif /* URT_CFG_PUBSUB_QOS_RATECHECKS */

}urt_hrtsubscriber_t;

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/* MACROS                                                                     */

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/* EXTERN DECLARATIONS                                                        */

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#if defined(__cplusplus)

extern "C" {

#endif /* defined(__cplusplus) */

  void urtNrtSubscriberInit(urt_nrtsubscriber_t* subscriber);

  urt_status_t urtNrtSubscriberSubscribe(urt_nrtsubscriber_t* subscriber, urt_topic_t* topic, urt_message_t* messages);

  urt_status_t urtNrtSubscriberFetchNextMessage(urt_nrtsubscriber_t* subscriber, void* payload, size_t bytes, urt_delay_t* latency);

  urt_status_t urtNrtSubscriberFetchLatestMessage(urt_nrtsubscriber_t* subscriber, void* payload, size_t bytes, urt_delay_t* latency);

  urt_status_t urtNrtSubscriberUnsubscribe(urt_nrtsubscriber_t* subscriber);

  void urtSrtSubscriberInit(urt_srtsubscriber_t* subscriber);

  urt_status_t urtSrtSubscriberSubscribe(urt_srtsubscriber_t* subscriber, urt_topic_t* topic, urt_message_t* message, urt_srtusefulnessfunc_t* usefulnesscb, void* cbparams);

  urt_status_t urtSrtSubscriberFetchNextMessage(urt_srtsubscriber_t* subscriber, void* payload, size_t bytes, urt_delay_t* latency);

  urt_status_t urtSrtSubscriberFetchLatestMessage(urt_srtsubscriber_t* subscriber, void* payload, size_t bytes, urt_delay_t* latency);

  float urtSrtSubscriberCalculateUsefulness(urt_srtsubscriber_t* subscriber, urt_delay_t latency);

  urt_status_t urtSrtSubscriberUnsubscribe(urt_srtsubscriber_t* subscriber);

  void urtFrtSubscriberInit(urt_frtsubscriber_t* subscriber);

  urt_status_t urtFrtSubscriberSubscribe(urt_frtsubscriber_t* subscriber, urt_topic_t* topic, urt_message_t* messages, urt_delay_t deadline, urt_delay_t jitter);

  urt_status_t urtFrtSubscriberFetchNextMessage(urt_frtsubscriber_t* subscriber, void* payload, size_t bytes, urt_delay_t* latency);

  urt_status_t urtFrtSubscriberFetchLatestMessage(urt_frtsubscriber_t* subscriber, void* payload, size_t bytes, urt_delay_t* latency);

  bool urtFrtSubscriberCalculateValidity(urt_frtsubscriber_t* subscriber, urt_delay_t latency);

  urt_status_t urtFrtSubscriberUnsubscribe(urt_frtsubscriber_t* subscriber);

  void urtHrtSubscriberInit(urt_hrtsubscriber_t* subscriber);

  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);

  urt_status_t urtHrtSubscriberFetchNextMessage(urt_hrtsubscriber_t* subscriber, void* payload, size_t bytes, urt_delay_t* latency);

  urt_status_t urtHrtSubscriberFetchLatestMessage(urt_hrtsubscriber_t* subscriber, void* payload, size_t bytes, urt_delay_t* latency);

  urt_status_t urtHrtSubscriberUnsubscribe(urt_hrtsubscriber_t* subscriber);

  float urt_srtusefulnessfunc_t (urt_delay_t dt, void* params);

#if defined(__cplusplus)

}

#endif /* defined(__cplusplus) */

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/* INLINE FUNCTIONS                                                           */

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#endif /* URTWARE_SUBSCRIBER_H */