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README.txt
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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..2019  Thomas Schöpping et al.
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Copyright (C) 2018..2020  Thomas Schöpping et al.
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(a complete list of all authors is given below)
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This program is free software: you can redistribute it and/or modify
......
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Authors:
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 - Thomas Schöpping          <tschoepp[at]cit-ec.uni-bielefeld.de>
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 - Marc Rothmann             <mrothmann[at]techfak.uni-bielefeld.de>
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 - Svenja Kenneweg	     <skenneweg[at]techfak.uni-bielefeld.de>
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References:
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 [1] S. Herbrechtsmeier, T. Korthals, T. Schopping and U. Rückert, "AMiRo: A
inc/urt_confcheck.h
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applications. It was developed as part of the software habitat for the
4 4
Autonomous Mini Robot [1] (AMiRo) but can be used for other purposes as well.
5 5

  
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Copyright (C) 2018..2019  Thomas Schöpping et al.
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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
inc/urt_core.h
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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.
5

  
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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_CORE_H
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#define URTWARE_CORE_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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/* MACROS                                                                     */
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/******************************************************************************/
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/******************************************************************************/
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/* EXTERN DECLARATIONS                                                        */
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/******************************************************************************/
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/******************************************************************************/
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/* INLINE FUNCTIONS                                                           */
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/******************************************************************************/
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#endif /* URTWARE_CORE_H */
inc/urt_message.h
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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
4
Autonomous Mini Robot [1] (AMiRo) but can be used for other purposes as well.
5

  
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Copyright (C) 2018..2020  Thomas Schöpping et al.
7

  
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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
10
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_MESSAGE_H
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#define URTWARE_MESSAGE_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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/* MACROS                                                                     */
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/******************************************************************************/
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/******************************************************************************/
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/* EXTERN DECLARATIONS                                                        */
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/******************************************************************************/
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/******************************************************************************/
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/* INLINE FUNCTIONS                                                           */
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/******************************************************************************/
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#endif /* URTWARE_MESSAGE_H */
inc/urt_node.h
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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.
5

  
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Copyright (C) 2018..2020  Thomas Schöpping et al.
7

  
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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_NODE_H
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#define URTWARE_NODE_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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/* MACROS                                                                     */
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/******************************************************************************/
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/******************************************************************************/
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/* EXTERN DECLARATIONS                                                        */
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/******************************************************************************/
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/******************************************************************************/
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/* INLINE FUNCTIONS                                                           */
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/******************************************************************************/
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#endif /* URTWARE_NODE_H */
inc/urt_publisher.h
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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.
5

  
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Copyright (C) 2018..2020  Thomas Schöpping et al.
7

  
8
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
10
the Free Software Foundation, either version 3 of the License, or
11
(at your option) any later version.
12

  
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This program is distributed in the hope that it will be useful,
14
but WITHOUT ANY WARRANTY; without even the implied warranty of
15
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
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GNU General Public License for more details.
17

  
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You should have received a copy of the GNU General Public License
19
along with this program.  If not, see <http://www.gnu.org/licenses/>.
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*/
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#ifndef URTWARE_PUBLISHER_H
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#define URTWARE_PUBLISHER_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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/* MACROS                                                                     */
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/******************************************************************************/
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/******************************************************************************/
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/* EXTERN DECLARATIONS                                                        */
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/******************************************************************************/
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/******************************************************************************/
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/* INLINE FUNCTIONS                                                           */
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/******************************************************************************/
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#endif /* URTWARE_PUBLISHER_H */
inc/urt_service.h
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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.
5

  
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Copyright (C) 2018..2020  Thomas Schöpping et al.
7

  
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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
10
the Free Software Foundation, either version 3 of the License, or
11
(at your option) any later version.
12

  
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This program is distributed in the hope that it will be useful,
14
but WITHOUT ANY WARRANTY; without even the implied warranty of
15
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
16
GNU General Public License for more details.
17

  
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You should have received a copy of the GNU General Public License
19
along with this program.  If not, see <http://www.gnu.org/licenses/>.
20
*/
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#ifndef URTWARE_SERVICE_H
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#define URTWARE_SERVICE_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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/* MACROS                                                                     */
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/******************************************************************************/
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/******************************************************************************/
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/* EXTERN DECLARATIONS                                                        */
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/******************************************************************************/
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/******************************************************************************/
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/* INLINE FUNCTIONS                                                           */
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/******************************************************************************/
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#endif /* URTWARE_SERVICE_H */
inc/urt_subscriber.h
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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.
5

  
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Copyright (C) 2018..2020  Thomas Schöpping et al.
7

  
8
This program is free software: you can redistribute it and/or modify
9
it under the terms of the GNU General Public License as published by
10
the Free Software Foundation, either version 3 of the License, or
11
(at your option) any later version.
12

  
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This program is distributed in the hope that it will be useful,
14
but WITHOUT ANY WARRANTY; without even the implied warranty of
15
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
16
GNU General Public License for more details.
17

  
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You should have received a copy of the GNU General Public License
19
along with this program.  If not, see <http://www.gnu.org/licenses/>.
20
*/
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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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/******************************************************************************/
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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();
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    urt_status_t urtNrtSubscriberSubscribe();
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    urt_status_t urtNrtSubscriberFetchNextMessage();
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    urt_status_t urtNrtSubscriberFetchLatestMessage();
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    urt_status_t urtNrtSubscriberUnsubscribe();
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    void urtSrtSubscriberInit();
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    urt_status_t urtSrtSubscriberSubscribe();
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    urt_status_t urtSrtSubscriberFetchNextMessage();
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    urt_status_t urtSrtSubscriberFe