Revision 1fb06240
| README.txt | ||
|---|---|---|
| 2 | 2 |
applications. It was developed as part of the software habitat for the |
| 3 | 3 |
Autonomous Mini Robot [1] (AMiRo) but can be used for other purposes as well. |
| 4 | 4 |
|
| 5 |
Copyright (C) 2018..2019 Thomas Schöpping et al.
|
|
| 5 |
Copyright (C) 2018..2020 Thomas Schöpping et al.
|
|
| 6 | 6 |
(a complete list of all authors is given below) |
| 7 | 7 |
|
| 8 | 8 |
This program is free software: you can redistribute it and/or modify |
| ... | ... | |
| 25 | 25 |
Authors: |
| 26 | 26 |
- Thomas Schöpping <tschoepp[at]cit-ec.uni-bielefeld.de> |
| 27 | 27 |
- Marc Rothmann <mrothmann[at]techfak.uni-bielefeld.de> |
| 28 |
- Svenja Kenneweg <skenneweg[at]techfak.uni-bielefeld.de> |
|
| 28 | 29 |
|
| 29 | 30 |
References: |
| 30 | 31 |
[1] S. Herbrechtsmeier, T. Korthals, T. Schopping and U. Rückert, "AMiRo: A |
| inc/urt_confcheck.h | ||
|---|---|---|
| 3 | 3 |
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 |
|
| 6 |
Copyright (C) 2018..2019 Thomas Schöpping et al.
|
|
| 6 |
Copyright (C) 2018..2020 Thomas Schöpping et al.
|
|
| 7 | 7 |
|
| 8 | 8 |
This program is free software: you can redistribute it and/or modify |
| 9 | 9 |
it under the terms of the GNU General Public License as published by |
| inc/urt_core.h | ||
|---|---|---|
| 1 |
/* |
|
| 2 |
µRtWare is a lightweight publish/subscribe middleware for real-time |
|
| 3 |
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 |
|
|
| 6 |
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 |
|
|
| 13 |
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 |
|
|
| 18 |
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 |
*/ |
|
| 21 |
|
|
| 22 |
#ifndef URTWARE_CORE_H |
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#define URTWARE_CORE_H |
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|
|
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/******************************************************************************/ |
|
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/* CONSTANTS */ |
|
| 27 |
/******************************************************************************/ |
|
| 28 |
|
|
| 29 |
/******************************************************************************/ |
|
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/* SETTINGS */ |
|
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/******************************************************************************/ |
|
| 32 |
|
|
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/******************************************************************************/ |
|
| 34 |
/* CHECKS */ |
|
| 35 |
/******************************************************************************/ |
|
| 36 |
|
|
| 37 |
/******************************************************************************/ |
|
| 38 |
/* DATA STRUCTURES AND TYPES */ |
|
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/******************************************************************************/ |
|
| 40 |
|
|
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/******************************************************************************/ |
|
| 42 |
/* MACROS */ |
|
| 43 |
/******************************************************************************/ |
|
| 44 |
|
|
| 45 |
/******************************************************************************/ |
|
| 46 |
/* EXTERN DECLARATIONS */ |
|
| 47 |
/******************************************************************************/ |
|
| 48 |
|
|
| 49 |
/******************************************************************************/ |
|
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/* INLINE FUNCTIONS */ |
|
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/******************************************************************************/ |
|
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|
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#endif /* URTWARE_CORE_H */ |
|
| inc/urt_message.h | ||
|---|---|---|
| 1 |
/* |
|
| 2 |
µRtWare is a lightweight publish/subscribe middleware for real-time |
|
| 3 |
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 |
|
|
| 6 |
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 |
|
|
| 13 |
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 |
|
|
| 18 |
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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|
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#ifndef URTWARE_MESSAGE_H |
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#define URTWARE_MESSAGE_H |
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|
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/******************************************************************************/ |
|
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/* CONSTANTS */ |
|
| 27 |
/******************************************************************************/ |
|
| 28 |
|
|
| 29 |
/******************************************************************************/ |
|
| 30 |
/* SETTINGS */ |
|
| 31 |
/******************************************************************************/ |
|
| 32 |
|
|
| 33 |
/******************************************************************************/ |
|
| 34 |
/* CHECKS */ |
|
| 35 |
/******************************************************************************/ |
|
| 36 |
|
|
| 37 |
/******************************************************************************/ |
|
| 38 |
/* DATA STRUCTURES AND TYPES */ |
|
| 39 |
/******************************************************************************/ |
|
| 40 |
|
|
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/******************************************************************************/ |
|
| 42 |
/* MACROS */ |
|
| 43 |
/******************************************************************************/ |
|
| 44 |
|
|
| 45 |
/******************************************************************************/ |
|
| 46 |
/* EXTERN DECLARATIONS */ |
|
| 47 |
/******************************************************************************/ |
|
| 48 |
|
|
| 49 |
/******************************************************************************/ |
|
| 50 |
/* INLINE FUNCTIONS */ |
|
| 51 |
/******************************************************************************/ |
|
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|
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#endif /* URTWARE_MESSAGE_H */ |
|
| inc/urt_node.h | ||
|---|---|---|
| 1 |
/* |
|
| 2 |
µRtWare is a lightweight publish/subscribe middleware for real-time |
|
| 3 |
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 |
|
|
| 6 |
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 |
|
|
| 13 |
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 |
|
|
| 18 |
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 |
*/ |
|
| 21 |
|
|
| 22 |
#ifndef URTWARE_NODE_H |
|
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#define URTWARE_NODE_H |
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|
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/******************************************************************************/ |
|
| 26 |
/* CONSTANTS */ |
|
| 27 |
/******************************************************************************/ |
|
| 28 |
|
|
| 29 |
/******************************************************************************/ |
|
| 30 |
/* SETTINGS */ |
|
| 31 |
/******************************************************************************/ |
|
| 32 |
|
|
| 33 |
/******************************************************************************/ |
|
| 34 |
/* CHECKS */ |
|
| 35 |
/******************************************************************************/ |
|
| 36 |
|
|
| 37 |
/******************************************************************************/ |
|
| 38 |
/* DATA STRUCTURES AND TYPES */ |
|
| 39 |
/******************************************************************************/ |
|
| 40 |
|
|
| 41 |
/******************************************************************************/ |
|
| 42 |
/* MACROS */ |
|
| 43 |
/******************************************************************************/ |
|
| 44 |
|
|
| 45 |
/******************************************************************************/ |
|
| 46 |
/* EXTERN DECLARATIONS */ |
|
| 47 |
/******************************************************************************/ |
|
| 48 |
|
|
| 49 |
/******************************************************************************/ |
|
| 50 |
/* INLINE FUNCTIONS */ |
|
| 51 |
/******************************************************************************/ |
|
| 52 |
|
|
| 53 |
#endif /* URTWARE_NODE_H */ |
|
| inc/urt_publisher.h | ||
|---|---|---|
| 1 |
/* |
|
| 2 |
µRtWare is a lightweight publish/subscribe middleware for real-time |
|
| 3 |
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 |
|
|
| 6 |
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 |
|
|
| 13 |
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 |
|
|
| 18 |
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 |
*/ |
|
| 21 |
|
|
| 22 |
#ifndef URTWARE_PUBLISHER_H |
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#define URTWARE_PUBLISHER_H |
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|
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/******************************************************************************/ |
|
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/* CONSTANTS */ |
|
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/******************************************************************************/ |
|
| 28 |
|
|
| 29 |
/******************************************************************************/ |
|
| 30 |
/* SETTINGS */ |
|
| 31 |
/******************************************************************************/ |
|
| 32 |
|
|
| 33 |
/******************************************************************************/ |
|
| 34 |
/* CHECKS */ |
|
| 35 |
/******************************************************************************/ |
|
| 36 |
|
|
| 37 |
/******************************************************************************/ |
|
| 38 |
/* DATA STRUCTURES AND TYPES */ |
|
| 39 |
/******************************************************************************/ |
|
| 40 |
|
|
| 41 |
/******************************************************************************/ |
|
| 42 |
/* MACROS */ |
|
| 43 |
/******************************************************************************/ |
|
| 44 |
|
|
| 45 |
/******************************************************************************/ |
|
| 46 |
/* EXTERN DECLARATIONS */ |
|
| 47 |
/******************************************************************************/ |
|
| 48 |
|
|
| 49 |
/******************************************************************************/ |
|
| 50 |
/* INLINE FUNCTIONS */ |
|
| 51 |
/******************************************************************************/ |
|
| 52 |
|
|
| 53 |
#endif /* URTWARE_PUBLISHER_H */ |
|
| inc/urt_service.h | ||
|---|---|---|
| 1 |
/* |
|
| 2 |
µRtWare is a lightweight publish/subscribe middleware for real-time |
|
| 3 |
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 |
|
|
| 6 |
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 |
|
|
| 13 |
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 |
|
|
| 18 |
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 |
*/ |
|
| 21 |
|
|
| 22 |
#ifndef URTWARE_SERVICE_H |
|
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#define URTWARE_SERVICE_H |
|
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|
|
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/******************************************************************************/ |
|
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/* CONSTANTS */ |
|
| 27 |
/******************************************************************************/ |
|
| 28 |
|
|
| 29 |
/******************************************************************************/ |
|
| 30 |
/* SETTINGS */ |
|
| 31 |
/******************************************************************************/ |
|
| 32 |
|
|
| 33 |
/******************************************************************************/ |
|
| 34 |
/* CHECKS */ |
|
| 35 |
/******************************************************************************/ |
|
| 36 |
|
|
| 37 |
/******************************************************************************/ |
|
| 38 |
/* DATA STRUCTURES AND TYPES */ |
|
| 39 |
/******************************************************************************/ |
|
| 40 |
|
|
| 41 |
/******************************************************************************/ |
|
| 42 |
/* MACROS */ |
|
| 43 |
/******************************************************************************/ |
|
| 44 |
|
|
| 45 |
/******************************************************************************/ |
|
| 46 |
/* EXTERN DECLARATIONS */ |
|
| 47 |
/******************************************************************************/ |
|
| 48 |
|
|
| 49 |
/******************************************************************************/ |
|
| 50 |
/* INLINE FUNCTIONS */ |
|
| 51 |
/******************************************************************************/ |
|
| 52 |
|
|
| 53 |
#endif /* URTWARE_SERVICE_H */ |
|
| inc/urt_subscriber.h | ||
|---|---|---|
| 1 |
/* |
|
| 2 |
µRtWare is a lightweight publish/subscribe middleware for real-time |
|
| 3 |
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 |
|
|
| 6 |
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 |
|
|
| 13 |
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 |
|
|
| 18 |
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 |
*/ |
|
| 21 |
|
|
| 22 |
#ifndef URTWARE_SUBSCRIBER_H |
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#define URTWARE_SUBSCRIBER_H |
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|
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#include <urt_types.h> |
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|
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/******************************************************************************/ |
|
| 28 |
/* CONSTANTS */ |
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| 29 |
/******************************************************************************/ |
|
| 30 |
|
|
| 31 |
/******************************************************************************/ |
|
| 32 |
/* SETTINGS */ |
|
| 33 |
/******************************************************************************/ |
|
| 34 |
|
|
| 35 |
/******************************************************************************/ |
|
| 36 |
/* CHECKS */ |
|
| 37 |
/******************************************************************************/ |
|
| 38 |
|
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| 39 |
/******************************************************************************/ |
|
| 40 |
/* DATA STRUCTURES AND TYPES */ |
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| 41 |
/******************************************************************************/ |
|
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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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/** |
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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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/** |
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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; |
|
| 78 |
#if (URT_CFG_PUBSUB_PROFILING) |
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urt_delay_t minLatency; |
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| 80 |
urt_delay_t maxLatency; |
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| 81 |
#endif /* URT_CFG_PUBSUB_PROFILING */ |
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}urt_srtsubscriber_t; |
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| 83 |
|
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| 84 |
/** |
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| 85 |
* @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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| 92 |
#endif /* URT_CFG_PUBSUB_QOS_DEADLINECHECKS */ |
|
| 93 |
#if (URT_CFG_PUBSUB_QOS_JITTERCHECKS) |
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urt_delay_t maxJitter; |
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| 95 |
#endif /* URT_CFG_PUBSUB_QOS_JITTERCHECKS */ |
|
| 96 |
#if (URT_CFG_PUBSUB_QOS_JITTERCHECKS || URT_CFG_PUBSUB_PROFILING) |
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| 97 |
urt_delay_t minLatency; |
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| 98 |
urt_delay_t maxLatency; |
|
| 99 |
#endif /* URT_CFG_PUBSUB_QOS_JITTERCHECKS || URT_CFG_PUBSUB_PROFILING */ |
|
| 100 |
}urt_frtsubscriber_t; |
|
| 101 |
|
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| 102 |
/** |
|
| 103 |
* @brief nrt subscriber |
|
| 104 |
*/ |
|
| 105 |
typedef struct urt_hrtsubscriber |
|
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{
|
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| 107 |
urt_basesubscriber_t base; |
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| 108 |
urt_hrtsubscriber_t* next; |
|
| 109 |
#if (URT_CFG_PUBSUB_QOS_DEADLINECHECKS) |
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| 110 |
urt_delay_t deadlineOffset; |
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| 111 |
urt_osTimer_t qosDeadlineTimer; |
|
| 112 |
#endif /* URT_CFG_PUBSUB_QOS_DEADLINECHECKS */ |
|
| 113 |
#if (URT_CFG_PUBSUB_QOS_JITTERCHECKS) |
|
| 114 |
urt_delay_t maxJitter; |
|
| 115 |
#endif /* URT_CFG_PUBSUB_QOS_JITTERCHECKS */ |
|
| 116 |
#if (URT_CFG_PUBSUB_QOS_JITTERCHECKS || URT_CFG_PUBSUB_PROFILING) |
|
| 117 |
urt_delay_t minLatency; |
|
| 118 |
urt_delay_t maxLatency; |
|
| 119 |
#endif /* URT_CFG_PUBSUB_QOS_JITTERCHECKS || URT_CFG_PUBSUB_PROFILING */ |
|
| 120 |
#if (URT_CFG_PUBSUB_QOS_RATECHECKS) |
|
| 121 |
urt_delay_t expectedRate; |
|
| 122 |
#endif /* URT_CFG_PUBSUB_QOS_RATECHECKS */ |
|
| 123 |
}urt_hrtsubscriber_t; |
|
| 124 |
|
|
| 125 |
/******************************************************************************/ |
|
| 126 |
/* MACROS */ |
|
| 127 |
/******************************************************************************/ |
|
| 128 |
|
|
| 129 |
/******************************************************************************/ |
|
| 130 |
/* EXTERN DECLARATIONS */ |
|
| 131 |
/******************************************************************************/ |
|
| 132 |
|
|
| 133 |
#if defined(__cplusplus) |
|
| 134 |
extern "C" {
|
|
| 135 |
#endif /* defined(__cplusplus) */ |
|
| 136 |
|
|
| 137 |
void urtNrtSubscriberInit(); |
|
| 138 |
urt_status_t urtNrtSubscriberSubscribe(); |
|
| 139 |
urt_status_t urtNrtSubscriberFetchNextMessage(); |
|
| 140 |
urt_status_t urtNrtSubscriberFetchLatestMessage(); |
|
| 141 |
urt_status_t urtNrtSubscriberUnsubscribe(); |
|
| 142 |
|
|
| 143 |
void urtSrtSubscriberInit(); |
|
| 144 |
urt_status_t urtSrtSubscriberSubscribe(); |
|
| 145 |
urt_status_t urtSrtSubscriberFetchNextMessage(); |
|
| 146 |
urt_status_t urtSrtSubscriberFetchLatestMessage(); |
|
| 147 |
urt_status_t urtSrtSubscriberCalculateUsefulness(); |
|
| 148 |
urt_status_t urtSrtSubscriberUnsubscribe(); |
|
| 149 |
|
|
| 150 |
void urtFrtSubscriberInit(); |
|
| 151 |
urt_status_t urtFrtSubscriberSubscribe(); |
|
| 152 |
urt_status_t urtFrtSubscriberFetchNextMessage(); |
|
| 153 |
urt_status_t urtFrtSubscriberFetchLatestMessage(); |
|
| 154 |
bool urtFrtSubscriberCalculateValidity(); |
|
| 155 |
urt_status_t urtFrtSubscriberUnsubscribe(); |
|
| 156 |
|
|
| 157 |
void urtHrtSubscriberInit(); |
|
| 158 |
urt_status_t urtHrtSubscriberSubscribe(); |
|
| 159 |
urt_status_t urtHrtSubscriberFetchNextMessage(); |
|
| 160 |
urt_status_t urtHrtSubscriberFetchLatestMessage(); |
|
| 161 |
urt_status_t urtHrtSubscriberUnsubscribe(); |
|
| 162 |
|
|
| 163 |
float urt_srtusefulnessfunc_t(); |
|
| 164 |
#if defined(__cplusplus) |
|
| 165 |
} |
|
| 166 |
#endif /* defined(__cplusplus) */ |
|
| 167 |
|
|
| 168 |
/******************************************************************************/ |
|
| 169 |
/* INLINE FUNCTIONS */ |
|
| 170 |
/******************************************************************************/ |
|
| 171 |
|
|
| 172 |
#endif /* URTWARE_SUBSCRIBER_H */ |
|
| inc/urt_topic.h | ||
|---|---|---|
| 1 |
/* |
|
| 2 |
µRtWare is a lightweight publish/subscribe middleware for real-time |
|
| 3 |
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 |
|
|
| 6 |
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 |
|
|
| 13 |
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 |
|
|
| 18 |
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 |
*/ |
|
| 21 |
|
|
| 22 |
#ifndef URTWARE_TOPIC_H |
|
| 23 |
#define URTWARE_TOPIC_H |
|
| 24 |
|
|
| 25 |
/******************************************************************************/ |
|
| 26 |
/* CONSTANTS */ |
|
| 27 |
/******************************************************************************/ |
|
| 28 |
|
|
| 29 |
/******************************************************************************/ |
|
| 30 |
/* SETTINGS */ |
|
| 31 |
/******************************************************************************/ |
|
| 32 |
|
|
| 33 |
/******************************************************************************/ |
|
| 34 |
/* CHECKS */ |
|
| 35 |
/******************************************************************************/ |
|
| 36 |
|
|
| 37 |
/******************************************************************************/ |
|
| 38 |
/* DATA STRUCTURES AND TYPES */ |
|
| 39 |
/******************************************************************************/ |
|
| 40 |
|
|
| 41 |
/******************************************************************************/ |
|
| 42 |
/* MACROS */ |
|
| 43 |
/******************************************************************************/ |
|
| 44 |
|
|
| 45 |
/******************************************************************************/ |
|
| 46 |
/* EXTERN DECLARATIONS */ |
|
| 47 |
/******************************************************************************/ |
|
| 48 |
|
|
| 49 |
/******************************************************************************/ |
|
| 50 |
/* INLINE FUNCTIONS */ |
|
| 51 |
/******************************************************************************/ |
|
| 52 |
|
|
| 53 |
#endif /* URTWARE_TOPIC_H */ |
|
| setup.sh | ||
|---|---|---|
| 1 |
################################################################################ |
|
| 2 |
# AMiRo-Apps is a collection of applications for the Autonomous Mini Robot # |
|
| 3 |
# (AMiRo) platform. # |
|
| 4 |
# Copyright (C) 2018..2019 Thomas Schöpping et al. # |
|
| 5 |
# # |
|
| 6 |
# This program is free software: you can redistribute it and/or modify # |
|
| 7 |
# it under the terms of the GNU General Public License as published by # |
|
| 8 |
# the Free Software Foundation, either version 3 of the License, or # |
|
| 9 |
# (at your option) any later version. # |
|
| 10 |
# # |
|
| 11 |
# This program is distributed in the hope that it will be useful, # |
|
| 12 |
# but WITHOUT ANY WARRANTY; without even the implied warranty of # |
|
| 13 |
# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the # |
|
| 14 |
# GNU General Public License for more details. # |
|
| 15 |
# # |
|
| 16 |
# You should have received a copy of the GNU General Public License # |
|
| 17 |
# along with this program. If not, see <http://www.gnu.org/licenses/>. # |
|
| 18 |
# # |
|
| 19 |
# This research/work was supported by the Cluster of Excellence Cognitive # |
|
| 20 |
# Interaction Technology 'CITEC' (EXC 277) at Bielefeld University, which is # |
|
| 21 |
# funded by the German Research Foundation (DFG). # |
|
| 22 |
################################################################################ |
|
| 23 |
|
|
| 24 |
#!/bin/bash |
|
| 25 |
|
|
| 26 |
# load library |
|
| 27 |
source "$(dirname ${BASH_SOURCE[0]})/tools/bash/setuplib.sh"
|
|
| 28 |
|
|
| 29 |
### print welcome text ######################################################### |
|
| 30 |
# Prints a welcome message to standard out. |
|
| 31 |
# |
|
| 32 |
# usage: printWelcomeText |
|
| 33 |
# arguments: n/a |
|
| 34 |
# return: n/a |
|
| 35 |
# |
|
| 36 |
function printWelcomeText {
|
|
| 37 |
printf "######################################################################\n" |
|
| 38 |
printf "# #\n" |
|
| 39 |
printf "# Welcome to the AMiRo-Apps setup! #\n" |
|
| 40 |
printf "# #\n" |
|
| 41 |
printf "######################################################################\n" |
|
| 42 |
printf "# #\n" |
|
| 43 |
printf "# Copyright (c) 2018..2019 Thomas Schöpping #\n" |
|
| 44 |
printf "# #\n" |
|
| 45 |
printf "# This is free software; see the source for copying conditions. #\n" |
|
| 46 |
printf "# There is NO warranty; not even for MERCHANTABILITY or FITNESS FOR #\n" |
|
| 47 |
printf "# A PARTICULAR PURPOSE. The development of this software was #\n" |
|
| 48 |
printf "# supported by the Excellence Cluster EXC 227 Cognitive Interaction #\n" |
|
| 49 |
printf "# Technology. The Excellence Cluster EXC 227 is a grant of the #\n" |
|
| 50 |
printf "# Deutsche Forschungsgemeinschaft (DFG) in the context of the German #\n" |
|
| 51 |
printf "# Excellence Initiative. #\n" |
|
| 52 |
printf "# #\n" |
|
| 53 |
printf "######################################################################\n" |
|
| 54 |
} |
|
| 55 |
|
|
| 56 |
### print help ################################################################# |
|
| 57 |
# Prints a help text to standard out. |
|
| 58 |
# |
|
| 59 |
# usage: printHelp |
|
| 60 |
# arguments: n/a |
|
| 61 |
# return: n/a |
|
| 62 |
# |
|
| 63 |
function printHelp {
|
|
| 64 |
printInfo "printing help text\n" |
|
| 65 |
printf "usage: $(basename ${BASH_SOURCE[0]}) [-h|--help] [-i|--init] [-k|--kernel] [-b|--bootloader] [-p|--periphery-LLD] [-m|--middleware] [-c|--compiler] [--IDE] [-q|--quit] [--log=<file>]\n"
|
|
| 66 |
printf "\n" |
|
| 67 |
printf "options: -h, --help\n" |
|
| 68 |
printf " Print this help text.\n" |
|
| 69 |
printf " --IDE\n" |
|
| 70 |
printf " Enter IDE setup.\n" |
|
| 71 |
printf " -q, --quit\n" |
|
| 72 |
printf " Quit the script.\n" |
|
| 73 |
} |
|
| 74 |
|
|
| 75 |
### enter IDE setup ############################################################ |
|
| 76 |
# Enter IDE setup. |
|
| 77 |
# |
|
| 78 |
# usage: ideSetup |
|
| 79 |
# arguments: n/a |
|
| 80 |
# return: n/a |
|
| 81 |
# |
|
| 82 |
function ideSetup {
|
|
| 83 |
printInfo "entering IDE setup\n" |
|
| 84 |
$(dirname $(realpath ${BASH_SOURCE[0]}))/tools/ide/idesetup.sh
|
|
| 85 |
} |
|
| 86 |
|
|
| 87 |
### main function of this script ############################################### |
|
| 88 |
# Provides functions for project initialization, configuration of IDE and |
|
| 89 |
# compiler setup, as well as entry points to the several Git submodules. |
|
| 90 |
# |
|
| 91 |
# usage: see function printHelp |
|
| 92 |
# arguments: see function printHelp |
|
| 93 |
# return: 0 |
|
| 94 |
# No error or warning occurred. |
|
| 95 |
# |
|
| 96 |
function main {
|
|
| 97 |
# print welcome/info text if not suppressed |
|
| 98 |
if [[ $@ != *"--noinfo"* ]]; then |
|
| 99 |
printWelcomeText |
|
| 100 |
else |
|
| 101 |
printf "######################################################################\n" |
|
| 102 |
fi |
|
| 103 |
printf "\n" |
|
| 104 |
|
|
| 105 |
# if --help or -h was specified, print the help text and exit |
|
| 106 |
if [[ $@ == *"--help"* || $@ == *"-h"* ]]; then |
|
| 107 |
printHelp |
|
| 108 |
printf "\n" |
|
| 109 |
quitScript |
|
| 110 |
fi |
|
| 111 |
|
|
| 112 |
# parse arguments |
|
| 113 |
local otherargs=() |
|
| 114 |
while [ $# -gt 0 ]; do |
|
| 115 |
if ( parseIsOption $1 ); then |
|
| 116 |
case "$1" in |
|
| 117 |
-h|--help) # already handled; ignore |
|
| 118 |
shift 1;; |
|
| 119 |
--IDE) |
|
| 120 |
ideSetup; printf "\n"; shift 1;; |
|
| 121 |
-q|--quit) |
|
| 122 |
quitScript; shift 1;; |
|
| 123 |
*) |
|
| 124 |
printError "invalid option: $1\n"; shift 1;; |
|
| 125 |
esac |
|
| 126 |
else |
|
| 127 |
otherargs+=("$1")
|
|
| 128 |
shift 1 |
|
| 129 |
fi |
|
| 130 |
done |
|
| 131 |
|
|
| 132 |
# interactive menu |
|
| 133 |
while ( true ); do |
|
| 134 |
# main menu info prompt and selection |
|
| 135 |
printInfo "AMiRo-Apps main menu\n" |
|
| 136 |
printf "Please select one of the following actions:\n" |
|
| 137 |
printf " [E] - enter IDE project setup\n" |
|
| 138 |
printf " [Q] - quit this setup\n" |
|
| 139 |
local userinput="" |
|
| 140 |
readUserInput "IiOoMmCcEeQq" userinput |
|
| 141 |
printf "\n" |
|
| 142 |
|
|
| 143 |
# evaluate user selection |
|
| 144 |
case "$userinput" in |
|
| 145 |
E|e) |
|
| 146 |
ideSetup; printf "\n";; |
|
| 147 |
Q|q) |
|
| 148 |
quitScript;; |
|
| 149 |
*) # sanity check (exit with error) |
|
| 150 |
printError "unexpected argument: $userinput\n";; |
|
| 151 |
esac |
|
| 152 |
done |
|
| 153 |
|
|
| 154 |
exit 0 |
|
| 155 |
} |
|
| 156 |
|
|
| 157 |
################################################################################ |
|
| 158 |
# SCRIPT ENTRY POINT # |
|
| 159 |
################################################################################ |
|
| 160 |
|
|
| 161 |
main "$@" |
|
| src/subscriber/nrtsubscriber.c | ||
|---|---|---|
| 1 |
#include "subscriber.h" |
|
| 2 |
|
|
| 3 |
void urtNrtSubscriberInit (urt_nrtsubscriber_t* subscriber) {}
|
|
| 4 |
|
|
| 5 |
urt_status_t urtNrtSubscriberSubscribe (urt_nrtsubscriber_t* subscriber, urt_topic_t* topic, urt_message_t* messages) {
|
|
| 6 |
return 0; |
|
| 7 |
} |
|
| 8 |
|
|
| 9 |
urt_status_t urtNrtSubscriberFetchNextMessage (urt_nrtsubscriber_t* subscriber, void* payload, size_t bytes, urt_delay_t* latency) {
|
|
| 10 |
return 0; |
|
| 11 |
} |
|
| 12 |
|
|
| 13 |
urt_status_t urtNrtSubscriberFetchLatestMessage (urt_nrtsubscriber_t* subscriber, void* payload, size_t bytes, urt_delay_t* latency) {
|
|
| 14 |
return 0; |
|
| 15 |
} |
|
| 16 |
|
|
| 17 |
urt_status_t urtNrtSubscriberUnsubscribe (urt_nrtsubscriber_t* subscriber) {
|
|
| 18 |
return 0; |
|
| 19 |
} |
|
| 20 |
|
|
| 21 |
int main () {
|
|
| 22 |
return 0; |
|
| 23 |
} |
|
| src/subscriber/subscriber.h | ||
|---|---|---|
| 1 |
#ifndef SUBSCRIBER_H_ |
|
| 2 |
#define SUBSCRIBER_H_ |
|
| 3 |
#define URT_CFG_PUBSUB_PROFILING 0 |
|
| 4 |
|
|
| 5 |
// Base subscriber which is included in each specialised subscriber |
|
| 6 |
struct urt_basesubscriber_t {
|
|
| 7 |
urt_topic_t *topic; |
|
| 8 |
urt_osEventListener_t evtListener; |
|
| 9 |
urt_message_t *lastMessage; |
|
| 10 |
urt_osTime_t lastMessageTime; |
|
| 11 |
#if (URT_CFG_PUBSUB_PROFILING) |
|
| 12 |
uint64_t sumLatencies; |
|
| 13 |
uint64_t numMessagesReceived; |
|
| 14 |
#endif /* URT_CFG_PUBSUB_PROFILING */ |
|
| 15 |
}; |
|
| 16 |
|
|
| 17 |
struct urt_nrtsubscriber_t {
|
|
| 18 |
struct urt_basesubscriber_t base; |
|
| 19 |
#if (URT_CFG_PUBSUB_PROFILING) |
|
| 20 |
urt_delay_t minLatency; |
|
| 21 |
urt_delay_t maxLatency; |
|
| 22 |
#endif /* URT_CFG_PUBSUB_PROFILING */ |
|
| 23 |
}; |
|
| 24 |
|
|
| 25 |
#endif /* SUBSCRIBER_H_ */ |
|
| src/todo.txt | ||
|---|---|---|
| 1 |
todo |
|
| src/urt_core.c | ||
|---|---|---|
| 1 |
/* |
|
| 2 |
µRtWare is a lightweight publish/subscribe middleware for real-time |
|
| 3 |
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 |
|
|
| 6 |
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 |
|
|
| 13 |
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 |
|
|
| 18 |
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 |
*/ |
|
| 21 |
|
|
| 22 |
/******************************************************************************/ |
|
| 23 |
/* LOCAL DEFINITIONS */ |
|
| 24 |
/******************************************************************************/ |
|
| 25 |
|
|
| 26 |
/******************************************************************************/ |
|
| 27 |
/* EXPORTED VARIABLES */ |
|
| 28 |
/******************************************************************************/ |
|
| 29 |
|
|
| 30 |
/******************************************************************************/ |
|
| 31 |
/* LOCAL TYPES */ |
|
| 32 |
/******************************************************************************/ |
|
| 33 |
|
|
| 34 |
/******************************************************************************/ |
|
| 35 |
/* LOCAL VARIABLES */ |
|
| 36 |
/******************************************************************************/ |
|
| 37 |
|
|
| 38 |
/******************************************************************************/ |
|
| 39 |
/* LOCAL FUNCTIONS */ |
|
| 40 |
/******************************************************************************/ |
|
| 41 |
|
|
| 42 |
/******************************************************************************/ |
|
| 43 |
/* EXPORTED FUNCTIONS */ |
|
| 44 |
/******************************************************************************/ |
|
| src/urt_message.c | ||
|---|---|---|
| 1 |
/* |
|
| 2 |
µRtWare is a lightweight publish/subscribe middleware for real-time |
|
| 3 |
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 |
|
|
| 6 |
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 |
|
|
| 13 |
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 |
|
|
| 18 |
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 |
*/ |
|
| 21 |
|
|
| 22 |
/******************************************************************************/ |
|
| 23 |
/* LOCAL DEFINITIONS */ |
|
| 24 |
/******************************************************************************/ |
|
| 25 |
|
|
| 26 |
/******************************************************************************/ |
|
| 27 |
/* EXPORTED VARIABLES */ |
|
| 28 |
/******************************************************************************/ |
|
| 29 |
|
|
| 30 |
/******************************************************************************/ |
|
| 31 |
/* LOCAL TYPES */ |
|
| 32 |
/******************************************************************************/ |
|
| 33 |
|
|
| 34 |
/******************************************************************************/ |
|
| 35 |
/* LOCAL VARIABLES */ |
|
| 36 |
/******************************************************************************/ |
|
| 37 |
|
|
| 38 |
/******************************************************************************/ |
|
| 39 |
/* LOCAL FUNCTIONS */ |
|
| 40 |
/******************************************************************************/ |
|
| 41 |
|
|
| 42 |
/******************************************************************************/ |
|
| 43 |
/* EXPORTED FUNCTIONS */ |
|
| 44 |
/******************************************************************************/ |
|
| src/urt_node.c | ||
|---|---|---|
| 1 |
/* |
|
| 2 |
µRtWare is a lightweight publish/subscribe middleware for real-time |
|
| 3 |
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 |
|
|
| 6 |
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 |
|
|
| 13 |
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 |
|
|
| 18 |
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 |
*/ |
|
| 21 |
|
|
| 22 |
/******************************************************************************/ |
|
| 23 |
/* LOCAL DEFINITIONS */ |
|
| 24 |
/******************************************************************************/ |
|
| 25 |
|
|
| 26 |
/******************************************************************************/ |
|
| 27 |
/* EXPORTED VARIABLES */ |
|
| 28 |
/******************************************************************************/ |
|
| 29 |
|
|
| 30 |
/******************************************************************************/ |
|
| 31 |
/* LOCAL TYPES */ |
|
| 32 |
/******************************************************************************/ |
|
| 33 |
|
|
| 34 |
/******************************************************************************/ |
|
| 35 |
/* LOCAL VARIABLES */ |
|
| 36 |
/******************************************************************************/ |
|
| 37 |
|
|
| 38 |
/******************************************************************************/ |
|
| 39 |
/* LOCAL FUNCTIONS */ |
|
| 40 |
/******************************************************************************/ |
|
| 41 |
|
|
| 42 |
/******************************************************************************/ |
|
| 43 |
/* EXPORTED FUNCTIONS */ |
|
| 44 |
/******************************************************************************/ |
|
| src/urt_publisher.c | ||
|---|---|---|
| 1 |
/* |
|
| 2 |
µRtWare is a lightweight publish/subscribe middleware for real-time |
|
| 3 |
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 |
|
|
| 6 |
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 |
|
|
| 13 |
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 |
|
|
| 18 |
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 |
*/ |
|
| 21 |
|
|
| 22 |
/******************************************************************************/ |
|
| 23 |
/* LOCAL DEFINITIONS */ |
|
| 24 |
/******************************************************************************/ |
|
| 25 |
|
|
| 26 |
/******************************************************************************/ |
|
| 27 |
/* EXPORTED VARIABLES */ |
|
| 28 |
/******************************************************************************/ |
|
| 29 |
|
|
| 30 |
/******************************************************************************/ |
|
| 31 |
/* LOCAL TYPES */ |
|
| 32 |
/******************************************************************************/ |
|
| 33 |
|
|
| 34 |
/******************************************************************************/ |
|
| 35 |
/* LOCAL VARIABLES */ |
|
| 36 |
/******************************************************************************/ |
|
| 37 |
|
|
| 38 |
/******************************************************************************/ |
|
| 39 |
/* LOCAL FUNCTIONS */ |
|
| 40 |
/******************************************************************************/ |
|
| 41 |
|
|
| 42 |
/******************************************************************************/ |
|
| 43 |
/* EXPORTED FUNCTIONS */ |
|
| 44 |
/******************************************************************************/ |
|
| src/urt_service.c | ||
|---|---|---|
| 1 |
/* |
|
| 2 |
µRtWare is a lightweight publish/subscribe middleware for real-time |
|
| 3 |
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 |
|
|
| 6 |
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 |
|
|
| 13 |
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 |
|
|
| 18 |
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 |
*/ |
|
| 21 |
|
|
| 22 |
/******************************************************************************/ |
|
| 23 |
/* LOCAL DEFINITIONS */ |
|
| 24 |
/******************************************************************************/ |
|
| 25 |
|
|
| 26 |
/******************************************************************************/ |
|
| 27 |
/* EXPORTED VARIABLES */ |
|
| 28 |
/******************************************************************************/ |
|
| 29 |
|
|
| 30 |
/******************************************************************************/ |
|
| 31 |
/* LOCAL TYPES */ |
|
| 32 |
/******************************************************************************/ |
|
| 33 |
|
|
| 34 |
/******************************************************************************/ |
|
| 35 |
/* LOCAL VARIABLES */ |
|
| 36 |
/******************************************************************************/ |
|
| 37 |
|
|
| 38 |
/******************************************************************************/ |
|
| 39 |
/* LOCAL FUNCTIONS */ |
|
| 40 |
/******************************************************************************/ |
|
| 41 |
|
|
| 42 |
/******************************************************************************/ |
|
| 43 |
/* EXPORTED FUNCTIONS */ |
|
| 44 |
/******************************************************************************/ |
|
| src/urt_subscriber.c | ||
|---|---|---|
| 1 |
/* |
|
| 2 |
µRtWare is a lightweight publish/subscribe middleware for real-time |
|
| 3 |
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 |
|
|
| 6 |
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 |
|
|
| 13 |
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 |
|
|
| 18 |
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 |
*/ |
|
| 21 |
|
|
| 22 |
/******************************************************************************/ |
|
| 23 |
/* LOCAL DEFINITIONS */ |
|
| 24 |
/******************************************************************************/ |
|
| 25 |
|
|
| 26 |
/******************************************************************************/ |
|
| 27 |
/* EXPORTED VARIABLES */ |
|
| 28 |
/******************************************************************************/ |
|
| 29 |
|
|
| 30 |
/******************************************************************************/ |
|
| 31 |
/* LOCAL TYPES */ |
|
| 32 |
/******************************************************************************/ |
|
| 33 |
|
|
| 34 |
/******************************************************************************/ |
|
| 35 |
/* LOCAL VARIABLES */ |
|
| 36 |
/******************************************************************************/ |
|
| 37 |
|
|
| 38 |
/******************************************************************************/ |
|
| 39 |
/* LOCAL FUNCTIONS */ |
|
| 40 |
/******************************************************************************/ |
|
| 41 |
|
|
| 42 |
/******************************************************************************/ |
|
| 43 |
/* EXPORTED FUNCTIONS */ |
|
| 44 |
/******************************************************************************/ |
|
| 45 |
#include "subscriber.h" |
|
| 46 |
|
|
| 47 |
void urtNrtSubscriberInit (urt_nrtsubscriber_t* subscriber) {}
|
|
| 48 |
|
|
| 49 |
urt_status_t urtNrtSubscriberSubscribe (urt_nrtsubscriber_t* subscriber, urt_topic_t* topic, urt_message_t* messages) {
|
|
| 50 |
return 1; |
|
| 51 |
} |
|
| 52 |
|
|
| 53 |
urt_status_t urtNrtSubscriberFetchNextMessage (urt_nrtsubscriber_t* subscriber, void* payload, size_t bytes, urt_delay_t* latency) {
|
|
| 54 |
return 0; |
|
| 55 |
} |
|
| 56 |
|
|
| 57 |
urt_status_t urtNrtSubscriberFetchLatestMessage (urt_nrtsubscriber_t* subscriber, void* payload, size_t bytes, urt_delay_t* latency) {
|
|
| 58 |
return 0; |
|
| 59 |
} |
|
| 60 |
|
|
| 61 |
urt_status_t urtNrtSubscriberUnsubscribe (urt_nrtsubscriber_t* subscriber) {
|
|
| 62 |
return 0; |
|
| 63 |
} |
|
| 64 |
|
|
| 65 |
int main () {
|
|
| 66 |
return 0; |
|
| 67 |
} |
|
| src/urt_topic.c | ||
|---|---|---|
| 1 |
/* |
|
| 2 |
µRtWare is a lightweight publish/subscribe middleware for real-time |
|
| 3 |
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 |
|
|
| 6 |
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 |
|
|
| 13 |
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 |
|
|
| 18 |
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 |
*/ |
|
| 21 |
|
|
| 22 |
/******************************************************************************/ |
|
| 23 |
/* LOCAL DEFINITIONS */ |
|
| 24 |
/******************************************************************************/ |
|
| 25 |
|
|
| 26 |
/******************************************************************************/ |
|
| 27 |
/* EXPORTED VARIABLES */ |
|
| 28 |
/******************************************************************************/ |
|
| 29 |
|
|
| 30 |
/******************************************************************************/ |
|
| 31 |
/* LOCAL TYPES */ |
|
| 32 |
/******************************************************************************/ |
|
| 33 |
|
|
| 34 |
/******************************************************************************/ |
|
| 35 |
/* LOCAL VARIABLES */ |
|
| 36 |
/******************************************************************************/ |
|
| 37 |
|
|
| 38 |
/******************************************************************************/ |
|
| 39 |
/* LOCAL FUNCTIONS */ |
|
| 40 |
/******************************************************************************/ |
|
| 41 |
|
|
| 42 |
/******************************************************************************/ |
|
| 43 |
/* EXPORTED FUNCTIONS */ |
|
| 44 |
/******************************************************************************/ |
|
| tools/bash/setuplib.sh | ||
|---|---|---|
| 1 |
################################################################################ |
|
| 2 |
# AMiRo-uRtWare is a collection of applications for the Autonomous Mini Robot # |
|
| 3 |
# (AMiRo) platform. # |
|
| 4 |
# Copyright (C) 2016..2020 Thomas Schöpping et al. # |
|
| 5 |
# # |
|
| 6 |
# This program is free software: you can redistribute it and/or modify # |
|
| 7 |
# it under the terms of the GNU General Public License as published by # |
|
| 8 |
# the Free Software Foundation, either version 3 of the License, or # |
|
| 9 |
# (at your option) any later version. # |
|
| 10 |
# # |
|
| 11 |
# This program is distributed in the hope that it will be useful, # |
|
| 12 |
# but WITHOUT ANY WARRANTY; without even the implied warranty of # |
|
| 13 |
# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the # |
|
| 14 |
# GNU General Public License for more details. # |
|
| 15 |
# # |
|
| 16 |
# You should have received a copy of the GNU General Public License # |
|
| 17 |
# along with this program. If not, see <http://www.gnu.org/licenses/>. # |
|
| 18 |
# # |
|
| 19 |
# This research/work was supported by the Cluster of Excellence Cognitive # |
|
| 20 |
# Interaction Technology 'CITEC' (EXC 277) at Bielefeld University, which is # |
|
| 21 |
# funded by the German Research Foundation (DFG). # |
|
| 22 |
################################################################################ |
|
| 23 |
|
|
| 24 |
### print an error message ##################################################### |
|
| 25 |
# Prints a error <message> to standard output. |
|
| 26 |
#If variable 'LOG_FILE' is specified, the message is also appended to the given file. |
|
| 27 |
# |
|
| 28 |
# usage: printError <message> |
|
| 29 |
# arguments: <message> |
|
| 30 |
# Message string to print. |
|
| 31 |
# return: n/a |
|
| 32 |
# |
|
| 33 |
function printError {
|
|
| 34 |
local string="ERROR: $1" |
|
| 35 |
# if a log file is specified |
|
| 36 |
if [ -n "$LOG_FILE" ]; then |
|
| 37 |
printf "[$(date '+%Y-%m-%d %H:%M:%S')] $string" >> $LOG_FILE |
|
| 38 |
fi |
|
| 39 |
printf "$(tput setaf 1)>>> $string$(tput sgr 0)" 1>&2 |
|
| 40 |
} |
|
| 41 |
|
|
| 42 |
### print a warning message #################################################### |
|
| 43 |
# Prints a warning <message> to standard output. |
|
| 44 |
#If variable 'LOG_FILE' is specified, the message is also appended to the given file. |
|
| 45 |
# |
|
| 46 |
# usage: printMessage <message> |
|
| 47 |
# arguments: <message> |
|
| 48 |
# Message string to print. |
|
| 49 |
# return: n/a |
|
| 50 |
# |
|
| 51 |
function printWarning {
|
|
| 52 |
local string="WARNING: $1" |
|
| 53 |
# if a log file is specified |
|
| 54 |
if [ -n "$LOG_FILE" ]; then |
|
| 55 |
printf "[$(date '+%Y-%m-%d %H:%M:%S')] $string" >> $LOG_FILE |
|
| 56 |
fi |
|
| 57 |
printf "$(tput setaf 3)>>> $string$(tput sgr 0)" |
|
| 58 |
} |
|
| 59 |
|
|
| 60 |
### print an information message ############################################### |
|
| 61 |
# Prints an information <message> to standard output. |
|
| 62 |
#If variable 'LOG_FILE' is specified, the message is also appended to the given file. |
|
| 63 |
# |
|
| 64 |
# usage: printInfo <message> |
|
| 65 |
# arguments: <message> |
|
| 66 |
# Message string to print. |
|
| 67 |
# return: n/a |
|
| 68 |
# |
|
| 69 |
function printInfo {
|
|
| 70 |
local string="INFO: $1" |
|
| 71 |
# if a log file is specified |
|
| 72 |
if [ -n "$LOG_FILE" ]; then |
|
| 73 |
printf "[$(date '+%Y-%m-%d %H:%M:%S')] $string" >> $LOG_FILE |
|
| 74 |
fi |
|
| 75 |
printf "$(tput setaf 2)>>> $string$(tput sgr 0)" |
|
| 76 |
} |
|
| 77 |
|
|
| 78 |
### print a message to file #################################################### |
|
| 79 |
# Appends a <message> to a log file, specified by the variable 'LOG_FILE'. |
|
| 80 |
# |
|
| 81 |
# usage printLog <message> |
|
| 82 |
# arguments: <message> |
|
| 83 |
# Message string to print. |
|
| 84 |
# return: n/a |
|
| 85 |
# |
|
| 86 |
function printLog {
|
|
| 87 |
local string="LOG: $1" |
|
| 88 |
# if a log file is specified |
|
| 89 |
if [ -n "$LOG_FILE" ]; then |
|
| 90 |
printf "[$(date '+%Y-%m-%d %H:%M:%S')] $string" >> $LOG_FILE |
|
| 91 |
fi |
|
| 92 |
} |
|
| 93 |
|
|
| 94 |
### exit the script normally ################################################### |
|
| 95 |
# Prints a delimiter and exits the script normally (returns 0). |
|
| 96 |
# |
|
| 97 |
# usage: quitScript |
|
| 98 |
# arguments: n/a |
|
| 99 |
# return: 0 |
|
| 100 |
# No error or warning occurred. |
|
| 101 |
# |
|
| 102 |
function quitScript {
|
|
| 103 |
if [ ! -z ${BASH_SOURCE[1]} ]; then
|
|
| 104 |
printInfo "exiting $(realpath --relative-to="${PWD}" "${BASH_SOURCE[1]}")\n"
|
|
| 105 |
printf "\n" |
|
| 106 |
fi |
|
| 107 |
printf "######################################################################\n" |
|
| 108 |
exit 0 |
|
| 109 |
} |
|
| 110 |
|
|
| 111 |
### read a user input ########################################################## |
|
| 112 |
# Reads a single character user input from a set up <options> and stores it in |
|
| 113 |
# a given <return> variable. |
|
| 114 |
# |
|
| 115 |
# usage: readUserInput <options> <return> |
|
| 116 |
# arguments: <options> |
|
| 117 |
# String definiing the set of valid characters. |
|
| 118 |
# If the string is empty, the user can input any character. |
|
| 119 |
# <return> |
|
| 120 |
# Variable to store the selected character to. |
|
| 121 |
# return: n/a |
|
| 122 |
# |
|
| 123 |
function readUserInput {
|
|
| 124 |
local input="" |
|
| 125 |
# read user input |
|
| 126 |
while [ -z $input ] || ( [ -n "$1" ] && [[ ! $input =~ ^[$1]$ ]] ); do |
|
| 127 |
read -p "your selection: " -n 1 -e input |
|
| 128 |
if [ -z $input ] || ( [ -n "$1" ] && [[ ! $input =~ ^[$1]$ ]] ); then |
|
| 129 |
printWarning "[$input] is no valid action\n" |
|
| 130 |
fi |
|
| 131 |
done |
|
| 132 |
printLog "[$input] has been selected\n" |
|
| 133 |
eval $2="$input" |
|
| 134 |
} |
|
| 135 |
|
|
| 136 |
### check whether argument is an option ######################################## |
|
| 137 |
# Checks a <string> whether it is an option. |
|
| 138 |
# Options are defined to either start with '--' followed by any string, or |
|
| 139 |
# to start with a single '-' followed by a single character, or |
|
| 140 |
# to start with a single '-' followed by a single character, a '=' and any string. |
|
| 141 |
# Examples: '--option', '--option=arg', '-o', '-o=arg', '--' |
|
| 142 |
# |
|
| 143 |
# usage: parseIsOption <string> |
|
| 144 |
# arguments: <string> |
|
| 145 |
# A string to check whether it is an option. |
|
| 146 |
# return: 0 |
|
| 147 |
# <string> is an option. |
|
| 148 |
# -1 |
|
| 149 |
# <string> is not an option. |
|
| 150 |
# |
|
| 151 |
function parseIsOption {
|
|
| 152 |
if [[ "$1" =~ ^-(.$|.=.*) ]] || [[ "$1" =~ ^--.* ]]; then |
|
| 153 |
return 0 |
|
| 154 |
else |
|
| 155 |
return -1 |
|
| 156 |
fi |
|
| 157 |
} |
|
| 158 |
|
|
| 159 |
### set the log file ########################################################### |
|
| 160 |
# Sets a specified <infile> as log file and checks whether it already exists. |
|
| 161 |
# If so, the log may either be appended to the file, its content can be cleared, |
|
| 162 |
# or no log is generated at all. |
|
| 163 |
# The resulting path is stored in <outvar>. |
|
| 164 |
# |
|
| 165 |
# usage: setLogFile [--option=<option>] [--quiet] <infile> <outvar> |
|
| 166 |
# arguments: --option=<option> |
|
| 167 |
# Select what to do if <file> already exists. |
|
| 168 |
# Possible values are 'a', 'c', 'r' and 'n'. |
|
| 169 |
# - a: append (starts with a separator) |
|
| 170 |
# - c: continue (does not insert a seperator) |
|
| 171 |
# - r: delete and restart |
|
| 172 |
# - n: no log |
|
| 173 |
# If no option is secified but <file> exists, an interactive selection is provided. |
|
| 174 |
# --quiet |
|
| 175 |
# Suppress all messages. |
|
| 176 |
# <infile> |
|
| 177 |
# Path of the wanted log file. |
|
| 178 |
# <outvar> |
|
| 179 |
# Variable to store the path of the log file to. |
|
| 180 |
# return: 0 |
|
| 181 |
# No error or warning occurred. |
|
| 182 |
# -1 |
|
| 183 |
# Error: invalid input |
|
| 184 |
# |
|
| 185 |
function setLogFile {
|
|
| 186 |
local filepath="" |
|
| 187 |
local option="" |
|
| 188 |
local quiet=false |
|
| 189 |
|
|
| 190 |
# parse arguments |
|
| 191 |
local otherargs=() |
|
| 192 |
while [ $# -gt 0 ]; do |
|
| 193 |
if ( parseIsOption $1 ); then |
|
| 194 |
case "$1" in |
|
| 195 |
-o=*|--option=*) |
|
| 196 |
option=${1#*=}; shift 1;;
|
|
| 197 |
-o*|--option*) |
|
| 198 |
option="$2"; shift 2;; |
|
| 199 |
-q|--quiet) |
|
| 200 |
quiet=true; shift 1;; |
|
| 201 |
*) |
|
| 202 |
printError "invalid option: $1\n"; shift 1;; |
|
| 203 |
esac |
|
| 204 |
else |
|
| 205 |
otherargs+=("$1")
|
|
| 206 |
shift 1 |
|
| 207 |
fi |
|
| 208 |
done |
|
| 209 |
filepath=$(realpath ${otherargs[0]})
|
|
| 210 |
|
|
| 211 |
# if file already exists |
|
| 212 |
if [ -e $filepath ]; then |
|
| 213 |
# if no option was specified, ask what to do |
|
| 214 |
if [ -z "$option" ]; then |
|
| 215 |
printWarning "log file $filepath already esists\n" |
|
| 216 |
local userinput="" |
|
| 217 |
printf "Select what to do:\n" |
|
| 218 |
printf " [A] - append log\n" |
|
| 219 |
printf " [R] - restart log (delete existing file)\n" |
|
| 220 |
printf " [N] - no log\n" |
|
| 221 |
readUserInput "AaRrNn" userinput |
|
| 222 |
option=${userinput,,}
|
|
| 223 |
fi |
|
| 224 |
# evaluate option |
|
| 225 |
case "$option" in |
|
| 226 |
a|c) |
|
| 227 |
if [ $quiet = false ]; then |
|
| 228 |
printInfo "appending log to $filepath\n" |
|
| 229 |
fi |
|
| 230 |
if [ $option != c ]; then |
|
| 231 |
printf "\n" >> $filepath |
|
| 232 |
printf "######################################################################\n" >> $filepath |
|
| 233 |
printf "\n" >> $filepath |
|
| 234 |
fi |
|
| 235 |
;; |
|
| 236 |
r) |
|
| 237 |
echo -n "" > $filepath |
|
| 238 |
if [ $quiet = false ]; then |
|
| 239 |
printInfo "content of $filepath wiped\n" |
|
| 240 |
fi |
|
| 241 |
;; |
|
| 242 |
n) |
|
| 243 |
if [ $quiet = false ]; then |
|
| 244 |
printInfo "no log file will be generated\n" |
|
| 245 |
fi |
|
| 246 |
filepath="" |
|
| 247 |
;; |
|
| 248 |
*) # sanity check (return error) |
|
| 249 |
printError "unexpected argument: $option\n"; return -1;; |
|
| 250 |
esac |
|
| 251 |
else |
|
| 252 |
if [ $quiet = false ]; then |
|
| 253 |
printInfo "log file set to $filepath\n" |
|
| 254 |
fi |
|
| 255 |
fi |
|
| 256 |
|
|
| 257 |
eval ${otherargs[1]}="$filepath"
|
|
| 258 |
|
|
| 259 |
return 0 |
|
| 260 |
} |
|
| 261 |
|
|
| 262 |
### check whether commands are available ####################################### |
|
| 263 |
# Checks whether the specified commands are available and can be executed. |
|
| 264 |
# |
|
| 265 |
# usage: checkCommands [<command> <command> ...] |
|
| 266 |
# arguments: <command> |
|
| 267 |
# Name of the command to check. |
|
| 268 |
# return: 0 |
|
| 269 |
# All requested commands are available. |
|
| 270 |
# >0 |
|
| 271 |
# Number of requested commands that were not found. |
|
| 272 |
# -1 |
|
| 273 |
# No argument given. |
|
| 274 |
# |
|
| 275 |
function checkCommands {
|
|
| 276 |
local status=0 |
|
| 277 |
|
|
| 278 |
# return if no argument was specified |
|
| 279 |
if [ $# -eq 0 ]; then |
|
| 280 |
return -1 |
|
| 281 |
fi |
|
| 282 |
|
|
| 283 |
# check all specified commands |
|
| 284 |
while [ $# -gt 0 ]; do |
|
| 285 |
command -v $1 &>/dev/null |
|
| 286 |
if [ $? -ne 0 ]; then |
|
| 287 |
printWarning "Command '$1' not available.\n" |
|
| 288 |
status=$((status + 1)) |
|
| 289 |
fi |
|
| 290 |
shift 1 |
|
| 291 |
done |
|
| 292 |
|
|
| 293 |
return $status |
|
| 294 |
} |
|
| tools/ide/QtCreator/QtCreatorSetup.sh | ||
|---|---|---|
| 1 |
################################################################################ |
|
| 2 |
# AMiRo-uRtWare is a collection of applications and configurations for the # |
|
| 3 |
# Autonomous Mini Robot (AMiRo). # |
|
| 4 |
# Copyright (C) 2018..2020 Thomas Schöpping et al. # |
|
| 5 |
# # |
|
| 6 |
# This program is free software: you can redistribute it and/or modify # |
|
| 7 |
# it under the terms of the GNU General Public License as published by # |
|
| 8 |
# the Free Software Foundation, either version 3 of the License, or # |
|
| 9 |
# (at your option) any later version. # |
|
| 10 |
# # |
|
| 11 |
# This program is distributed in the hope that it will be useful, # |
|
| 12 |
# but WITHOUT ANY WARRANTY; without even the implied warranty of # |
|
| 13 |
# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the # |
|
| 14 |
# GNU General Public License for more details. # |
|
| 15 |
# # |
|
| 16 |
# You should have received a copy of the GNU General Public License # |
|
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