AMiRo-OS

/*

µRtWare is a lightweight publish/subscribe middleware for real-time

applications. It was developed as part of the software habitat for the

Autonomous Mini Robot [1] (AMiRo) but can be used for other purposes as well.

Copyright (C) 2018..2020  Thomas Schöpping et al.

This program is free software: you can redistribute it and/or modify

it under the terms of the GNU General Public License as published by

the Free Software Foundation, either version 3 of the License, or

(at your option) any later version.

This program is distributed in the hope that it will be useful,

but WITHOUT ANY WARRANTY; without even the implied warranty of

MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the

GNU General Public License for more details.

You should have received a copy of the GNU General Public License

along with this program.  If not, see <http://www.gnu.org/licenses/>.

*/

#ifndef URTWARE_TOPIC_H

#define URTWARE_TOPIC_H

#include <urtware.h>

/******************************************************************************/

/* CONSTANTS                                                                  */

/******************************************************************************/

/******************************************************************************/

/* SETTINGS                                                                   */

/******************************************************************************/

/******************************************************************************/

/* CHECKS                                                                     */

/******************************************************************************/

/******************************************************************************/

/* DATA STRUCTURES AND TYPES                                                  */

/******************************************************************************/

/**

 * @brief  topic

 */

typedef struct urt_topic

{

  struct urt_topic* next;

  urt_topicid_t id;

  urt_osMutex_t lock;

  urt_osEventSource_t evtSource;

  unsigned int numHrtSubscribers;

  urt_osCondvar_t hrtReleased;

  urt_message_t mandatoryMessage;

  urt_message_t* latestMessage;

  #if (URT_CFG_PUBSUB_QOS_RATECHECKS)

    struct urt_hrtsubscriber* hrtSubscribers;

    urt_osTimer_t qosRateTimer;

  #endif /* URT_CFG_PUBSUB_QOS_RATECHECKS */

  #if (URT_CFG_PUBSUB_PROFILING)

    uint64_t numMessagesPublished;

    uint64_t numMessagesDiscarded;

    unsigned int numSubscribers;

  #endif /* URT_CFG_PUBSUB_PROFILING */

}urt_topic_t;

/******************************************************************************/

/* MACROS                                                                     */

/******************************************************************************/

/******************************************************************************/

/* EXTERN DECLARATIONS                                                        */

/******************************************************************************/

#if defined(__cplusplus)

extern "C" {

#endif /* defined(__cplusplus) */

  urt_status_t urtTopicInit(urt_topic_t* topic, urt_topicid_t id, urt_message_t* mandatoryMessage);

#if defined(__cplusplus)

}

#endif /* defined(__cplusplus) */

/******************************************************************************/

/* INLINE FUNCTIONS                                                           */

/******************************************************************************/

#endif /* URTWARE_TOPIC_H */