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 |
/******************************************************************************/ |
|
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|
|
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/******************************************************************************/ |
|
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/* SETTINGS */ |
|
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/******************************************************************************/ |
|
| 32 |
|
|
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/******************************************************************************/ |
|
| 34 |
/* CHECKS */ |
|
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/******************************************************************************/ |
|
| 36 |
|
|
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/******************************************************************************/ |
|
| 38 |
/* DATA STRUCTURES AND TYPES */ |
|
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/******************************************************************************/ |
|
| 40 |
|
|
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/******************************************************************************/ |
|
| 42 |
/* MACROS */ |
|
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/******************************************************************************/ |
|
| 44 |
|
|
| 45 |
/******************************************************************************/ |
|
| 46 |
/* EXTERN DECLARATIONS */ |
|
| 47 |
/******************************************************************************/ |
|
| 48 |
|
|
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/******************************************************************************/ |
|
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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 */ |
|
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/******************************************************************************/ |
|
| 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 */ |
|
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/******************************************************************************/ |
|
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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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/******************************************************************************/ |
|
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/* CONSTANTS */ |
|
| 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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/******************************************************************************/ |
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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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urt_delay_t maxLatency; |
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#endif /* URT_CFG_PUBSUB_PROFILING */ |
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}urt_srtsubscriber_t; |
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| 83 |
|
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/** |
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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 */ |
|
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}urt_frtsubscriber_t; |
|
| 101 |
|
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| 102 |
/** |
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| 103 |
* @brief nrt subscriber |
|
| 104 |
*/ |
|
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typedef struct urt_hrtsubscriber |
|
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{
|
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| 107 |
urt_basesubscriber_t base; |
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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 urtSrtSubscriberFe | |