urtware / inc / urt_subscriber.h @ 33aa05c5
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/*
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µRtWare is a lightweight publish/subscribe middleware for real-time
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applications. It was developed as part of the software habitat for the
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Autonomous Mini Robot [1] (AMiRo) but can be used for other purposes as well.
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Copyright (C) 2018..2020 Thomas Schöpping et al.
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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#ifndef URTWARE_SUBSCRIBER_H
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#define URTWARE_SUBSCRIBER_H
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#include <urtware.h> |
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#include <urt_basesubscriber.h> |
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/******************************************************************************/
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/* CONSTANTS */
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/******************************************************************************/
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/******************************************************************************/
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/* SETTINGS */
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/******************************************************************************/
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/******************************************************************************/
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/* CHECKS */
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/******************************************************************************/
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/******************************************************************************/
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/* DATA STRUCTURES AND TYPES */
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/******************************************************************************/
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/**
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* @brief nrt subscriber
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*/
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typedef struct urt_nrtsubscriber |
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{
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urt_basesubscriber_t base; |
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#if (URT_CFG_PUBSUB_PROFILING)
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urt_delay_t minLatency; |
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urt_delay_t maxLatency; |
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#endif /* URT_CFG_PUBSUB_PROFILING */ |
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}urt_nrtsubscriber_t; |
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/**
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* @brief srt 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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void* cbparams;
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urt_usefulness_f* usefulnesscb; |
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#if (URT_CFG_PUBSUB_PROFILING)
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urt_delay_t minLatency; |
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urt_delay_t maxLatency; |
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#endif /* URT_CFG_PUBSUB_PROFILING */ |
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}urt_srtsubscriber_t; |
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/**
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* @brief frt subscriber
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*/
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typedef struct urt_frtsubscriber |
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{
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urt_basesubscriber_t base; |
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#if (URT_CFG_PUBSUB_QOS_DEADLINECHECKS)
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urt_delay_t deadlineOffset; |
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#endif /* URT_CFG_PUBSUB_QOS_DEADLINECHECKS */ |
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#if (URT_CFG_PUBSUB_QOS_JITTERCHECKS)
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urt_delay_t maxJitter; |
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#endif /* URT_CFG_PUBSUB_QOS_JITTERCHECKS */ |
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#if (URT_CFG_PUBSUB_QOS_JITTERCHECKS || URT_CFG_PUBSUB_PROFILING)
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urt_delay_t minLatency; |
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urt_delay_t maxLatency; |
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#endif /* URT_CFG_PUBSUB_QOS_JITTERCHECKS || URT_CFG_PUBSUB_PROFILING */ |
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}urt_frtsubscriber_t; |
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/**
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* @brief nrt subscriber
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*/
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typedef struct urt_hrtsubscriber |
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{
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urt_basesubscriber_t base; |
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struct urt_hrtsubscriber* next;
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#if (URT_CFG_PUBSUB_QOS_DEADLINECHECKS)
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urt_delay_t deadlineOffset; |
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urt_osTimer_t qosDeadlineTimer; |
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#endif /* URT_CFG_PUBSUB_QOS_DEADLINECHECKS */ |
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#if (URT_CFG_PUBSUB_QOS_JITTERCHECKS)
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urt_delay_t maxJitter; |
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#endif /* URT_CFG_PUBSUB_QOS_JITTERCHECKS */ |
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#if (URT_CFG_PUBSUB_QOS_JITTERCHECKS || URT_CFG_PUBSUB_PROFILING)
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urt_delay_t minLatency; |
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urt_delay_t maxLatency; |
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#endif /* URT_CFG_PUBSUB_QOS_JITTERCHECKS || URT_CFG_PUBSUB_PROFILING */ |
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#if (URT_CFG_PUBSUB_QOS_RATECHECKS)
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urt_delay_t expectedRate; |
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#endif /* URT_CFG_PUBSUB_QOS_RATECHECKS */ |
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}urt_hrtsubscriber_t; |
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/******************************************************************************/
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/* MACROS */
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/******************************************************************************/
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/******************************************************************************/
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/* EXTERN DECLARATIONS */
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/******************************************************************************/
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#if defined(__cplusplus)
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extern "C" { |
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#endif /* defined(__cplusplus) */ |
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void urtNrtSubscriberInit(urt_nrtsubscriber_t* subscriber);
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urt_status_t urtNrtSubscriberSubscribe(urt_nrtsubscriber_t* subscriber, urt_topic_t* topic, urt_message_t* messages); |
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urt_status_t urtNrtSubscriberFetchNextMessage(urt_nrtsubscriber_t* subscriber, void* payload, size_t bytes, urt_delay_t* latency);
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urt_status_t urtNrtSubscriberFetchLatestMessage(urt_nrtsubscriber_t* subscriber, void* payload, size_t bytes, urt_delay_t* latency);
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urt_status_t urtNrtSubscriberUnsubscribe(urt_nrtsubscriber_t* subscriber); |
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void urtSrtSubscriberInit(urt_srtsubscriber_t* subscriber);
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urt_status_t urtSrtSubscriberSubscribe(urt_srtsubscriber_t* subscriber, urt_topic_t* topic, urt_message_t* messages, urt_usefulness_f* usefulnesscb, void* cbparams);
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urt_status_t urtSrtSubscriberFetchNextMessage(urt_srtsubscriber_t* subscriber, void* payload, size_t bytes, urt_delay_t* latency);
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urt_status_t urtSrtSubscriberFetchLatestMessage(urt_srtsubscriber_t* subscriber, void* payload, size_t bytes, urt_delay_t* latency);
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float urtSrtSubscriberCalculateUsefulness(urt_srtsubscriber_t* subscriber, urt_delay_t latency);
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urt_status_t urtSrtSubscriberUnsubscribe(urt_srtsubscriber_t* subscriber); |
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void urtFrtSubscriberInit(urt_frtsubscriber_t* subscriber);
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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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urt_status_t urtFrtSubscriberFetchNextMessage(urt_frtsubscriber_t* subscriber, void* payload, size_t bytes, urt_delay_t* latency);
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urt_status_t urtFrtSubscriberFetchLatestMessage(urt_frtsubscriber_t* subscriber, void* payload, size_t bytes, urt_delay_t* latency);
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bool urtFrtSubscriberCalculateValidity(urt_frtsubscriber_t* subscriber, urt_delay_t latency);
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urt_status_t urtFrtSubscriberUnsubscribe(urt_frtsubscriber_t* subscriber); |
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void urtHrtSubscriberInit(urt_hrtsubscriber_t* subscriber);
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urt_status_t urtHrtSubscriberSubscribe(urt_hrtsubscriber_t* subscriber, urt_topic_t* topic, urt_message_t* messages, urt_delay_t deadline, urt_delay_t rate, urt_delay_t jitter); |
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urt_status_t urtHrtSubscriberFetchNextMessage(urt_hrtsubscriber_t* subscriber, void* payload, size_t bytes, urt_delay_t* latency);
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urt_status_t urtHrtSubscriberFetchLatestMessage(urt_hrtsubscriber_t* subscriber, void* payload, size_t bytes, urt_delay_t* latency);
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urt_status_t urtHrtSubscriberUnsubscribe(urt_hrtsubscriber_t* subscriber); |
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#if defined(__cplusplus)
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} |
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#endif /* defined(__cplusplus) */ |
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/******************************************************************************/
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/* INLINE FUNCTIONS */
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/******************************************************************************/
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#endif /* URTWARE_SUBSCRIBER_H */ |