urtware / src / urt_publisher.c @ 33aa05c5
History | View | Annotate | Download (6.409 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 |
#include <urtware.h> |
23 |
|
24 |
/******************************************************************************/
|
25 |
/* LOCAL DEFINITIONS */
|
26 |
/******************************************************************************/
|
27 |
|
28 |
/******************************************************************************/
|
29 |
/* EXPORTED VARIABLES */
|
30 |
/******************************************************************************/
|
31 |
|
32 |
/******************************************************************************/
|
33 |
/* LOCAL TYPES */
|
34 |
/******************************************************************************/
|
35 |
|
36 |
/******************************************************************************/
|
37 |
/* LOCAL VARIABLES */
|
38 |
/******************************************************************************/
|
39 |
|
40 |
/******************************************************************************/
|
41 |
/* LOCAL FUNCTIONS */
|
42 |
/******************************************************************************/
|
43 |
|
44 |
/******************************************************************************/
|
45 |
/* EXPORTED FUNCTIONS */
|
46 |
/******************************************************************************/
|
47 |
|
48 |
/**
|
49 |
* @brief Initialize the publisher.
|
50 |
*
|
51 |
* @param[in] publisher The publisher to initialize. Must not be NULL.
|
52 |
* @param[in] topic The topic, this publisher is associated to. Must not be NULL.
|
53 |
* @param[in] message NULL terminated list of messages to contribute to the topic.
|
54 |
* Messages must not be associated to another topic.
|
55 |
* Once a message has been contributed, it cannot be removed later.
|
56 |
* May be NULL (no messages to contribute).
|
57 |
*/
|
58 |
void urtPublisherInit(urt_publisher_t* publisher, urt_topic_t* topic, urt_message_t* messages)
|
59 |
{ |
60 |
urtDebugAssert(publisher); |
61 |
urtDebugAssert(topic); |
62 |
|
63 |
urt_publisher_t.topic = topic; |
64 |
#if (URT_CFG_PUBSUB_PROFILING == true) |
65 |
urt_publisher_t.publishAttempts = 0;
|
66 |
urt_publisher_t.publishFails = 0;
|
67 |
#endif /* URT_CFG_PUBSUB_PROFILING */ |
68 |
if (messages != NULL) { |
69 |
urtMutexLock(topic->lock); |
70 |
urt_message_t* lastMessage = messages; |
71 |
while (lastMessage->next != NULL) { |
72 |
lastMessage = lastMessage->next; |
73 |
} |
74 |
//TODO: setnextpointer of last message to contribute to the message after the topic's latest message
|
75 |
topic->latestMessage->next = messages; |
76 |
} |
77 |
|
78 |
return;
|
79 |
} |
80 |
|
81 |
|
82 |
/**
|
83 |
* @brief Publish data.
|
84 |
*
|
85 |
* @param[in] publisher Pointer to the publisher to use. Must not be NULL.
|
86 |
* @param[in] payload Pointer to the data to be published. May be NULL for messages without payload.
|
87 |
* @param[in] bytes Size of the payload in bytes.
|
88 |
* @param[in] t Timestamp to be set for the message.
|
89 |
* @param[in] timeout Timeout delay in case the message cannot be published.
|
90 |
*
|
91 |
* @return Returns URT_STATUS_OK on success. Returns URT_STATUS_PUBLISH_TIMEOUT on timeout.
|
92 |
*/
|
93 |
urt_status_t urtPublisherPublish(urt_publisher_t* publisher, void* payload, size_t bytes, urt_osTime_t t, urt_delay_t timeout)
|
94 |
{ |
95 |
urtMutexLock(publisher->topic->lock); |
96 |
urt_message_t* message = publisher->topic->next->latestMessage; |
97 |
urt_osTime_t messageTime = message->originTime; |
98 |
#if (URT_CFG_PUBSUB_PROFILING == true) |
99 |
publisher->publishAttempts++; |
100 |
#endif /* URT_CFG_PUBSUB_PROFILING */ |
101 |
|
102 |
while (message->numHrtConsumersLeft > 0) { |
103 |
urt_osCondvarWaitStatus_t timeout = urtCondvarWait(publisher->topic->hrtReleased, publisher->topic->lock, URT_DELAY_INFINITE); |
104 |
if (timeout == URT_CONDVAR_WAITSTATUS_TIMEOUT) {
|
105 |
#if (URT_CFG_PUBSUB_PROFILING == true) |
106 |
publisher->publishFails++; |
107 |
#endif /* URT_CFG_PUBSUB_PROFILING */ |
108 |
urtMutexUnlock(publisher->topic->lock); |
109 |
return URT_STATUS_PUBLISH_TIMEOUT;
|
110 |
} |
111 |
|
112 |
if (messageTime != message->originTime) {
|
113 |
messageTime = message->originTime; |
114 |
message = message->next; |
115 |
while (message->originTime < messageTime) {
|
116 |
message = message->next; |
117 |
} |
118 |
} |
119 |
} |
120 |
|
121 |
#if (URT_CFG_PUBSUB_PROFILING == true) |
122 |
if (message->numHrtConsumersLeft > 0) { //TODO: never true because of while? |
123 |
publisher->topic->numMessagesDiscarded++; |
124 |
} |
125 |
#endif /* URT_CFG_PUBSUB_PROFILING */ |
126 |
|
127 |
publisher->topic->latestMessage = message; //TODO: Iterate topic's pointer to this message?
|
128 |
memcpy(message->payload, payload, bytes); //TODO: copy payload to message?
|
129 |
//TODO: Set origin time of message
|
130 |
publisher->topic->numHrtSubscribers = message->numHrtConsumersLeft; |
131 |
#if (URT_CFG_PUBSUB_PROFILING == true) |
132 |
publisher->topic->numSubscribers = message->numHrtConsumersLeft; //TODO: Set number of comsumers?
|
133 |
#endif /* URT_CFG_PUBSUB_PROFILING */ |
134 |
|
135 |
#if (URT_CFG_PUBSUB_QOS_RATECHECKS == true) |
136 |
publisher->topic->qosRateTimer = NULL; //TODO: Set QoS rate timer wrt. most critical HRT Subscriber |
137 |
#endif /* URT_CFG_PUBSUB_QOS_RATECHECKS */ |
138 |
|
139 |
#if (URT_CFG_PUBSUB_QOS_DEADLINECHECKS == true) |
140 |
urt_hrtsubscriber_t* hrtSubscriber = publisher->topic->hrtSubscribers; |
141 |
while (hrtSubscriber != NULL) { |
142 |
if (!urtTimerIsArmed(hrtSubscriber->qosDeadlineTimer)) {
|
143 |
*hrtSubscriber->qosDeadlineTimer = message->originTime; |
144 |
} |
145 |
hrtSubscriber = hrtSubscriber->next; |
146 |
} |
147 |
#endif /* URT_CFG_PUBSUB_QOS_DEADLINECHECKS */ |
148 |
|
149 |
#if (URT_CFG_PUBSUB_PROFILING == true) |
150 |
publisher->topic->numMessagesPublished++; |
151 |
#endif /* URT_CFG_PUBSUB_PROFILING */ |
152 |
|
153 |
//TODO: Fire event
|
154 |
urtMutexUnlock(publisher->topic->lock); |
155 |
return URT_STATUS_OK;
|
156 |
} |