urtware / inc / urt_subscriber.h @ 22ccef0f
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| 1 | 1fb06240 | skenneweg | /*
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| 2 | µRtWare is a lightweight publish/subscribe middleware for real-time
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| 3 | applications. It was developed as part of the software habitat for the
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| 4 | Autonomous Mini Robot [1] (AMiRo) but can be used for other purposes as well.
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| 5 | |||
| 6 | Copyright (C) 2018..2020 Thomas Schöpping et al.
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| 7 | |||
| 8 | This program is free software: you can redistribute it and/or modify
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| 9 | it under the terms of the GNU General Public License as published by
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| 10 | the Free Software Foundation, either version 3 of the License, or
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| 11 | (at your option) any later version.
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| 12 | |||
| 13 | This program is distributed in the hope that it will be useful,
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| 14 | but WITHOUT ANY WARRANTY; without even the implied warranty of
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| 15 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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| 16 | GNU General Public License for more details.
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| 17 | |||
| 18 | You should have received a copy of the GNU General Public License
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| 19 | along with this program. If not, see <http://www.gnu.org/licenses/>.
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| 20 | */
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| 21 | |||
| 22 | #ifndef URTWARE_SUBSCRIBER_H
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| 23 | #define URTWARE_SUBSCRIBER_H
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| 24 | |||
| 25 | #include <urt_types.h> |
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| 26 | 7d9678db | skenneweg | #include <urtware.h> |
| 27 | 1fb06240 | skenneweg | |
| 28 | /******************************************************************************/
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| 29 | /* CONSTANTS */
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| 30 | /******************************************************************************/
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| 31 | |||
| 32 | /******************************************************************************/
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| 33 | /* SETTINGS */
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| 34 | /******************************************************************************/
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| 35 | |||
| 36 | /******************************************************************************/
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| 37 | /* CHECKS */
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| 38 | /******************************************************************************/
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| 39 | |||
| 40 | /******************************************************************************/
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| 41 | /* DATA STRUCTURES AND TYPES */
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| 42 | /******************************************************************************/
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| 43 | |||
| 44 | /**
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| 45 | * @brief Base subscriber
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| 46 | * @details The base subscriber is included in each specialized subscriber
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| 47 | */
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| 48 | typedef struct urt_basesubscriber |
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| 49 | {
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| 50 | cd21e832 | skenneweg | urt_topic_t* topic; |
| 51 | urt_osEventListener_t evtListener; |
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| 52 | urt_message_t* lastMessage; |
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| 53 | urt_osTime_t lastMessageTime; |
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| 54 | #if (URT_CFG_PUBSUB_PROFILING)
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| 55 | uint64_t sumLatencies; |
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| 56 | uint64_t numMessagesReceived; |
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| 57 | #endif /* URT_CFG_PUBSUB_PROFILING */ |
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| 58 | 1fb06240 | skenneweg | }urt_basesubscriber_t; |
| 59 | |||
| 60 | /**
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| 61 | * @brief nrt subscriber
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| 62 | */
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| 63 | typedef struct urt_nrtsubscriber |
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| 64 | {
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| 65 | cd21e832 | skenneweg | urt_basesubscriber_t base; |
| 66 | #if (URT_CFG_PUBSUB_PROFILING)
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| 67 | urt_delay_t minLatency; |
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| 68 | urt_delay_t maxLatency; |
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| 69 | #endif /* URT_CFG_PUBSUB_PROFILING */ |
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| 70 | 1fb06240 | skenneweg | }urt_nrtsubscriber_t; |
| 71 | |||
| 72 | /**
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| 73 | * @brief nrt subscriber
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| 74 | */
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| 75 | typedef struct urt_srtsubscriber |
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| 76 | {
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| 77 | cd21e832 | skenneweg | urt_basesubscriber_t base; |
| 78 | urt_srtusefulnessfunc_t* usefulnesscb; |
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| 79 | #if (URT_CFG_PUBSUB_PROFILING)
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| 80 | urt_delay_t minLatency; |
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| 81 | urt_delay_t maxLatency; |
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| 82 | #endif /* URT_CFG_PUBSUB_PROFILING */ |
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| 83 | 1fb06240 | skenneweg | }urt_srtsubscriber_t; |
| 84 | |||
| 85 | /**
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| 86 | * @brief nrt subscriber
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| 87 | */
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| 88 | typedef struct urt_frtsubscriber |
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| 89 | {
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| 90 | cd21e832 | skenneweg | urt_basesubscriber_t base; |
| 91 | #if (URT_CFG_PUBSUB_QOS_DEADLINECHECKS)
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| 92 | urt_delay_t deadlineOffset; |
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| 93 | #endif /* URT_CFG_PUBSUB_QOS_DEADLINECHECKS */ |
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| 94 | #if (URT_CFG_PUBSUB_QOS_JITTERCHECKS)
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| 95 | urt_delay_t maxJitter; |
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| 96 | #endif /* URT_CFG_PUBSUB_QOS_JITTERCHECKS */ |
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| 97 | #if (URT_CFG_PUBSUB_QOS_JITTERCHECKS || URT_CFG_PUBSUB_PROFILING)
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| 98 | urt_delay_t minLatency; |
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| 99 | urt_delay_t maxLatency; |
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| 100 | #endif /* URT_CFG_PUBSUB_QOS_JITTERCHECKS || URT_CFG_PUBSUB_PROFILING */ |
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| 101 | 1fb06240 | skenneweg | }urt_frtsubscriber_t; |
| 102 | |||
| 103 | /**
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| 104 | * @brief nrt subscriber
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| 105 | */
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| 106 | typedef struct urt_hrtsubscriber |
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| 107 | {
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| 108 | cd21e832 | skenneweg | urt_basesubscriber_t base; |
| 109 | urt_hrtsubscriber_t* next; |
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| 110 | #if (URT_CFG_PUBSUB_QOS_DEADLINECHECKS)
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| 111 | urt_delay_t deadlineOffset; |
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| 112 | urt_osTimer_t qosDeadlineTimer; |
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| 113 | #endif /* URT_CFG_PUBSUB_QOS_DEADLINECHECKS */ |
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| 114 | #if (URT_CFG_PUBSUB_QOS_JITTERCHECKS)
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| 115 | urt_delay_t maxJitter; |
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| 116 | #endif /* URT_CFG_PUBSUB_QOS_JITTERCHECKS */ |
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| 117 | #if (URT_CFG_PUBSUB_QOS_JITTERCHECKS || URT_CFG_PUBSUB_PROFILING)
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| 118 | urt_delay_t minLatency; |
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| 119 | urt_delay_t maxLatency; |
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| 120 | #endif /* URT_CFG_PUBSUB_QOS_JITTERCHECKS || URT_CFG_PUBSUB_PROFILING */ |
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| 121 | #if (URT_CFG_PUBSUB_QOS_RATECHECKS)
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| 122 | urt_delay_t expectedRate; |
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| 123 | #endif /* URT_CFG_PUBSUB_QOS_RATECHECKS */ |
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| 124 | 1fb06240 | skenneweg | }urt_hrtsubscriber_t; |
| 125 | |||
| 126 | /******************************************************************************/
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| 127 | /* MACROS */
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| 128 | /******************************************************************************/
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| 129 | |||
| 130 | /******************************************************************************/
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| 131 | /* EXTERN DECLARATIONS */
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| 132 | /******************************************************************************/
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| 133 | |||
| 134 | #if defined(__cplusplus)
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| 135 | extern "C" { |
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| 136 | #endif /* defined(__cplusplus) */ |
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| 137 | |||
| 138 | cd21e832 | skenneweg | void urtNrtSubscriberInit(urt_nrtsubscriber_t* subscriber);
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| 139 | urt_status_t urtNrtSubscriberSubscribe(urt_nrtsubscriber_t* subscriber, urt_topic_t* topic, urt_message_t* messages); |
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| 140 | urt_status_t urtNrtSubscriberFetchNextMessage(urt_nrtsubscriber_t* subscriber, void* payload, size_t bytes, urt_delay_t* latency);
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| 141 | urt_status_t urtNrtSubscriberFetchLatestMessage(urt_nrtsubscriber_t* subscriber, void* payload, size_t bytes, urt_delay_t* latency);
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| 142 | urt_status_t urtNrtSubscriberUnsubscribe(urt_nrtsubscriber_t* subscriber); |
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| 143 | |||
| 144 | void urtSrtSubscriberInit(urt_srtsubscriber_t* subscriber);
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| 145 | urt_status_t urtSrtSubscriberSubscribe(urt_srtsubscriber_t* subscriber, urt_topic_t* topic, urt_message_t* message, urt_srtusefulnessfunc_t* usefulnesscb, void* cbparams);
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| 146 | urt_status_t urtSrtSubscriberFetchNextMessage(urt_srtsubscriber_t* subscriber, void* payload, size_t bytes, urt_delay_t* latency);
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| 147 | urt_status_t urtSrtSubscriberFetchLatestMessage(urt_srtsubscriber_t* subscriber, void* payload, size_t bytes, urt_delay_t* latency);
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| 148 | 5198dfae | skenneweg | float urtSrtSubscriberCalculateUsefulness(urt_srtsubscriber_t* subscriber, urt_delay_t latency);
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| 149 | cd21e832 | skenneweg | urt_status_t urtSrtSubscriberUnsubscribe(urt_srtsubscriber_t* subscriber); |
| 150 | |||
| 151 | void urtFrtSubscriberInit(urt_frtsubscriber_t* subscriber);
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| 152 | urt_status_t urtFrtSubscriberSubscribe(urt_frtsubscriber_t* subscriber, urt_topic_t* topic, urt_message_t* messages, urt_delay_t deadline, urt_delay_t jitter); |
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| 153 | urt_status_t urtFrtSubscriberFetchNextMessage(urt_frtsubscriber_t* subscriber, void* payload, size_t bytes, urt_delay_t* latency);
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| 154 | urt_status_t urtFrtSubscriberFetchLatestMessage(urt_frtsubscriber_t* subscriber, void* payload, size_t bytes, urt_delay_t* latency);
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| 155 | bool urtFrtSubscriberCalculateValidity(urt_frtsubscriber_t* subscriber, urt_delay_t latency);
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| 156 | urt_status_t urtFrtSubscriberUnsubscribe(urt_frtsubscriber_t* subscriber); |
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| 157 | |||
| 158 | void urtHrtSubscriberInit(urt_hrtsubscriber_t* subscriber);
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| 159 | urt_status_t urtHrtSubscriberSubscribe(urt_hrtsubscriber_t* subscriber, urt_topic_t* topic, urt_message_t* message, urt_delay_t deadline, urt_delay_t rate, urt_delay_t jitter); |
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| 160 | urt_status_t urtHrtSubscriberFetchNextMessage(urt_hrtsubscriber_t* subscriber, void* payload, size_t bytes, urt_delay_t* latency);
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| 161 | urt_status_t urtHrtSubscriberFetchLatestMessage(urt_hrtsubscriber_t* subscriber, void* payload, size_t bytes, urt_delay_t* latency);
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| 162 | urt_status_t urtHrtSubscriberUnsubscribe(urt_hrtsubscriber_t* subscriber); |
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| 163 | 017b2ac7 | skenneweg | |
| 164 | float urt_srtusefulnessfunc_t (urt_delay_t dt, void* params); |
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| 165 | 1fb06240 | skenneweg | #if defined(__cplusplus)
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| 166 | } |
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| 167 | #endif /* defined(__cplusplus) */ |
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| 168 | |||
| 169 | /******************************************************************************/
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| 170 | /* INLINE FUNCTIONS */
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| 171 | /******************************************************************************/
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| 172 | |||
| 173 | #endif /* URTWARE_SUBSCRIBER_H */ |