Statistics
| Branch: | Revision:

urtware / inc / urt_publisher.h @ 33aa05c5

History | View | Annotate | Download (3.23 KB)

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
23
#define URTWARE_PUBLISHER_H
24

    
25
#include <urtware.h>
26

    
27
/******************************************************************************/
28
/* CONSTANTS                                                                  */
29
/******************************************************************************/
30

    
31
/******************************************************************************/
32
/* SETTINGS                                                                   */
33
/******************************************************************************/
34

    
35
/******************************************************************************/
36
/* CHECKS                                                                     */
37
/******************************************************************************/
38

    
39
/******************************************************************************/
40
/* DATA STRUCTURES AND TYPES                                                  */
41
/******************************************************************************/
42

    
43
/**
44
 * @brief  publisher
45
 */
46
typedef struct urt_publisher
47
{
48
  urt_topic_t* topic;
49
  #if (URT_CFG_PUBSUB_PROFILING)
50
    uint64_t publishAttempts;
51
    uint64_t publishFails;
52
  #endif /* URT_CFG_PUBSUB_PROFILING */
53
}urt_publisher_t;
54

    
55
/******************************************************************************/
56
/* MACROS                                                                     */
57
/******************************************************************************/
58

    
59
/******************************************************************************/
60
/* EXTERN DECLARATIONS                                                        */
61
/******************************************************************************/
62

    
63
#if defined(__cplusplus)
64
extern "C" {
65
#endif /* defined(__cplusplus) */
66

    
67
  void urtPublisherInit(urt_publisher_t* publisher, urt_topic_t* topic, urt_message_t* messages);
68
  urt_status_t urtPublisherPublish(urt_publisher_t* publisher, void* payload, size_t bytes, urt_osTime_t t, urt_delay_t timeout);
69
#if defined(__cplusplus)
70
}
71
#endif /* defined(__cplusplus) */
72

    
73
/******************************************************************************/
74
/* INLINE FUNCTIONS                                                           */
75
/******************************************************************************/
76

    
77
#endif /* URTWARE_PUBLISHER_H */