urtware / src / urt_subscriber.c @ 37cd5dc2
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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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#include <urtware.h> |
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/******************************************************************************/
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/* LOCAL DEFINITIONS */
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/******************************************************************************/
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/******************************************************************************/
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/* EXPORTED VARIABLES */
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/******************************************************************************/
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/******************************************************************************/
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/* LOCAL TYPES */
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/******************************************************************************/
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/******************************************************************************/
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/* LOCAL VARIABLES */
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/******************************************************************************/
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/******************************************************************************/
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/* LOCAL FUNCTIONS */
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/******************************************************************************/
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/******************************************************************************/
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/* EXPORTED FUNCTIONS */
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/******************************************************************************/
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/**
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* @brief Initialize the nrt Subscriber.
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*
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* @param[in] subscriber The NRT subscriber to initialize. Must not be NULL.
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*/
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void urtNrtSubscriberInit (urt_nrtsubscriber_t* subscriber)
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{
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urtDebugAssert(subscriber); |
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subscriber->base.topic = NULL;
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urtEventListenerInit(subscriber->base.evtListener); |
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subscriber->base.lastMessage = NULL;
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subscriber->base.lastMessageTime = 0;
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#if (URT_CFG_PUBSUB_PROFILING == true) |
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subscriber->minLatency = URT_DELAY_INFINITE; |
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subscriber->maxLatency = URT_DELAY_IMMEDIATE; |
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#endif /* URT_CFG_PUBSUB_PROFILING */ |
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return;
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} |
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/**
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* @brief Subscribes the subscriber to a topic.
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*
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* @param[in] subscriber The NRT subscriber which shall subscribe to a topic. Must not be NULL.
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* @param[in] topic The topic to subscribe to. Must not be NULL.
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* @param[in] messages NULL terminated list of messages to contribute to the topic.
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* Messages must not be associated to another topic.
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* Once a message has been contributed, it cannot be removed later.
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* May be NULL(no messages to contribute).
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*
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* @return Returns URT_STATUS_OK on success.
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* Returns URT_STATUS_SUBSCRIBE_TOPICSET if the subscriber is already associated to a topic.
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*/
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urt_status_t urtNrtSubscriberSubscribe (urt_nrtsubscriber_t* subscriber, urt_topic_t* topic, urt_message_t* messages) |
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{
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urtDebugAssert(subscriber); |
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urtDebugAssert(topic); |
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if (!subscriber->base.topic)
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return URT_STATUS_SUBSCRIBE_TOPICSET;
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subscriber->base.topic = topic; |
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urtMutexLock(topic->lock); |
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if (messages)
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{
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urt_message_t* lastMessageContribute = messages; |
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while (lastMessageContribute->next)
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{
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lastMessageContribute = lastMessageContribute->next; |
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} |
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lastMessageContribute->next = topic->latestMessage->next; |
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topic->latestMessage->next = messages; |
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} |
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subscriber->base.lastMessage = topic->latestMessage; |
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subscriber->base.lastMessageTime = topic->latestMessage->originTime; |
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urtEventRegister(topic->evtSource, subscriber->base.evtListener, subscriber->base.evtListener.events, subscriber->base.evtListener.flags); |
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#if (URT_CFG_PUBSUB_PROFILING == true) |
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topic->numHrtSubscribers--; |
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#endif /* URT_CFG_PUBSUB_PROFILING */ |
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urtMutexUnlock(topic->lock); |
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return URT_STATUS_OK;
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} |
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/**
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* @brief Fetches the next message.
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*
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* @param[in] subscriber The NRT subscriber that shall fetch the message. Must not be NULL.
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* @param[in] payload Pointer where to copy the payload to. May be NULL for messages without payload.
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* @param[in] bytes Payload size in bytes.
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* @param[in] latency The latency can be returned by reference. May be NULL.
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*
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* @return Returns URT_STATUS_OK on success.
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* Returns URT_STATUS_FETCH_NOTOPIC if the subscriber is not associated to a topic.
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* Retruns URT_STATUS_FETCH_NOMESSAGE if there is no new message to fetch.
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*/
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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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{
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urtDebugAssert(subscriber); |
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return URT_STATUS_OK;
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} |
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/**
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* @brief Fetches the latest message.
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*
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* @param[in] subscriber The NRT subscriber that shall fetch the message. Must not be NULL.
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* @param[in] payload Pointer where to copy the payload to. May be NULL for messages without payload.
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* @param[in] bytes Payload size in bytes.
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* @param[in] latency The latency can be returned by reference. May be NULL.
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*
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* @return Returns URT_STATUS_OK on success.
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* Returns URT_STATUS_FETCH_NOTOPIC if the subscriber is not associated to a topic.
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* Returns URT_STATUS_FETCH_NOMESSAGE if there is no new message to fetch.
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*/
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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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return URT_STATUS_OK;
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} |
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/**
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* @brief Unsubscribes from a subscriber.
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*
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* @param[in] subscriber The NRT subscriber to be unsubscribed. Must not be NULL.
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*
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* @return Returns URT_STATUS_OK on sucess.
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* Returns URT_STATUS_UNSUBSCRIBE_NOTOPIC if the subscriber is not associated to a topic.
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*/
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urt_status_t urtNrtSubscriberUnsubscribe (urt_nrtsubscriber_t* subscriber) |
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{
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if (subscriber->base.topic)
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{
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# if(URT_CFG_PUBSUB_PROFILING == true) |
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urtMutexLock(topic->lock); |
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subscriber->base.topic->numSubscribers--; |
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# endif /* URT_CFG_PUBSUB_PROFILING */ |
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urtEventUnregister(subscriber->base.topic->evtSource, subscriber->base.evtListener); |
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# if(URT_CFG_PUBSUB_PROFILING == true) |
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urtMutexUnlock(topic->lock); |
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subscriber->base.topic = NULL;
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subscriber->base.lastMessage = NULL;
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subscriber->base.lastMessageTime = 0;
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#endif /* URT_CFG_PUBSUB_PROFILING */ |
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return URT_STATUS_OK;
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} |
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return URT_STATUS_UNSUBSCRIBE_NOTOPIC;
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} |
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/**
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* @brief Initialize the srt Subscriber.
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*
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* @param[in] subscriber The SRT subscriber to initialize. Must not be NULL.
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*/
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void urtSrtSubscriberInit(urt_srtsubscriber_t* subscriber)
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{
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urtDebugAssert(subscriber); |
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subscriber->base.topic = NULL;
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urtEventListenerInit(subscriber->base.evtListener); |
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subscriber->base.lastMessage = NULL;
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subscriber->base.lastMessageTime = 0;
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#if (URT_CFG_PUBSUB_PROFILING)
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subscriber->base.sumLatencies = 0;
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subscriber->base.numMessagesReceived = 0;
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subscriber->usefulnesscb = NULL;
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subscriber->cbparams = NULL;
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subscriber->minLatency = URT_DELAY_INFINITE; |
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subscriber->maxLatency = URT_DELAY_IMMEDIATE; |
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#endif /* URT_CFG_PUBSUB_PROFILING */ |
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return;
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} |
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/**
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* @brief Subscribes the subscriber to a topic.
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*
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* @param[in] subscriber The SRT subscriber which shall subscribe to a topic. Must not be NULL.
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* @param[in] topic The topic to subscribe to. Must not be NULL.
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* @param[in] message NULL terminated list of messages to contribute to the topic.
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* Messages must not be associated to another topic.
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* Once a message has been contributed, it cannot be removed later.
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* May be NULL (no messages to contribute)
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* @param[in] usefulnesscb Pointer to a function to calculate usefulness of a message. Must not be NULL.
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* @param[in] cbparams Optional parameters for the usefulness callback.
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* May be NULL if the callback expects no parameters.
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*
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* @return Returns URT_STATUS_OK on success.
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* Returns URT_STATUS_SUBSCRIBE_TOPICSET if the subscriber is already associated to a topic.
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*/
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urt_status_t urtSrtSubscriberSubscribe(urt_srtsubscriber_t* subscriber, urt_topic_t* topic, |
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urt_message_t* messages, urt_srtusefulnessfunc_t* usefulnesscb, void* cbparams)
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{
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urtDebugAssert(subscriber); |
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urtDebugAssert(topic); |
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if (subscriber->base.topic)
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{
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return URT_STATUS_SUBSCRIBE_TOPICSET;
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} |
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subscriber->base.topic = topic; |
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subscriber->usefulnesscb = usefulnesscb; |
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subscriber->cbparams = cbparams; |
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# if (URT_CFG_PUBSUB_PROFILING == true) |
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subscriber->base.sumLatencies = 0;
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subscriber->base.numMessagesReceived = 0;
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subscriber->minLatency = URT_DELAY_INFINITE; |
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subscriber->maxLatency = URT_DELAY_IMMEDIATE; |
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# endif /* URT_CFG_PUBSUB_PROFILING */ |
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urtMutexLock(topic->lock); |
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if (messages)
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{
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urt_message_t* lastMessageContribute = messages; |
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while (lastMessageContribute->next)
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{
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lastMessageContribute = lastMessageContribute->next; |
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} |
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lastMessageContribute->next = topic->latestMessage->next; |
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topic->latestMessage->next = messages; |
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} |
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subscriber->base.lastMessage = topic->latestMessage; |
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subscriber->base.lastMessageTime = topic->latestMessage->originTime; |
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urtEventRegister(topic->evtSource, subscriber->base.evtListener, subscriber->base.evtListener.events, subscriber->base.evtListener.flags); |
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# if (URT_CFG_PUBSUB_PROFILING == true) |
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topic->numHrtSubscribers--; |
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# endif /* URT_CFG_PUBSUB_PROFILING */ |
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urtMutexUnlock(topic->lock); |
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return URT_STATUS_OK;
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} |
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/**
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* @brief Fetches the next message.
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*
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* @param[in] subscriber The SRT subscriber that shall fetch the message. Must not be NULL.
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* @param[in] payload Pointer where to copy the payload to. May be NULL for messages without payload.
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* @param[in] bytes Payload size in bytes.
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* @param[in] latency The latency can be returned by reference. May be NULL.
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*
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* @return Returns URT_STATUS_OK on success.
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* Returns URT_STATUS_FETCH_NOTOPIC if the subscriber is not associated to a topic.
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* Returns URT_STATUS_FETCH_NOMESSAGE if there is no new message to fetch.
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*/
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urt_status_t urtSrtSubscriberFetchNextMessage(urt_srtsubscriber_t* subscriber, void* payload,
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size_t bytes, urt_delay_t* latency){return URT_STATUS_OK;}
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/**
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* @brief Fetches the latest message.
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*
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* @param[in] subscriber The SRT subscriber that shall fetch the message. Must not be NULL.
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* @param[in] payload Pointer where to copy the payload to. May be NULL for messages without payload.
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* @param[in] bytes Payload size in bytes.
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* @param[in] latency The latency can be returned by reference. May be NULL.
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*
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* @return Returns URT_STATUS_OK on success.
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* Returns URT_STATUS_FETCH_NOTOPIC if the subscriber is not associated to a topic.
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* Returns URT_STATUS_FETCH_NOMESSAGE if there is no new message to fetch.
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*/
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urt_status_t urtSrtSubscriberFetchLatestMessage(urt_srtsubscriber_t* subscriber, void* payload,
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size_t bytes, urt_delay_t* latency){return URT_STATUS_OK;}
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/**
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* @brief Calculates the usefulness of the subscriber.
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*
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* @param[in] subscriber The SRT subscriber that shall fetch the message. Must not be NULL.
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* @param[in] latency Latency (of a message) as argument to calculate usefulness.
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*
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* @return Returns the usefulness as a value within [0,1].
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*/
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float urtSrtSubscriberCalculateUsefulness(urt_srtsubscriber_t* subscriber, urt_delay_t latency)
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{
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urtDebugAssert(subscriber); |
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return subscriber->usefulnesscb(latency);
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} |
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/**
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* @brief Unsubscribes from a subscriber.
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*
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* @param[in] subscriber The NRT subscriber to be unsubscribed. Must not be NULL.
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*
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* @return Returns URT_STATUS_OK on sucess.
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* Returns URT_STATUS_UNSUBSCRIBE_NOTOPIC if the subscriber is not associated to a topic.
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*/
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urt_status_t urtSrtSubscriberUnsubscribe(urt_srtsubscriber_t* subscriber) |
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{
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urtDebugAssert(subscriber); |
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if (subscriber->base.topic)
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{
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# if (URT_CFG_PUBSUB_PROFILING == true) |
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urtMutexLock(topic->lock); |
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subscriber->base.topic->numSubscribers--; |
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# endif /* URT_CFG_PUBSUB_PROFILING */ |
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urtEventUnregister(subscriber->base.topic->evtSource, subscriber->base.evtListener); |
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# if (URT_CFG_PUBSUB_PROFILING == true) |
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urtMutexUnlock(topic->lock); |
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# endif /* URT_CFG_PUBSUB_PROFILING */ |
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subscriber->base.topic = NULL;
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subscriber->base.lastMessage = NULL;
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subscriber->base.lastMessageTime = 0;
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return URT_STATUS_OK;
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} |
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return URT_STATUS_UNSUBSCRIBE_NOTOPIC;
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} |
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/**
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* @brief Initialize the FRT Subscriber.
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*
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* @param[in] subscriber The SRT subscriber to initialize. Must not be NULL.
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*/
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void urtFrtSubscriberInit(urt_frtsubscriber_t* subscriber)
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{
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urtDebugAssert(subscriber); |
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subscriber->base.topic = NULL;
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urtEventListenerInit(subscriber->base.evtListener); |
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subscriber->base.lastMessage = NULL;
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subscriber->base.lastMessageTime = 0;
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#if (URT_CFG_PUBSUB_PROFILING)
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subscriber->base.sumLatencies = 0;
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subscriber->base.numMessagesReceived = 0;
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#endif /* URT_CFG_PUBSUB_PROFILING */ |
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#if (URT_CFG_PUBSUB_QOS_DEADLINECHECKS)
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subscriber->deadlineOffset = 0;
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#endif /* URT_CFG_PUBSUB_QOS_DEADLINECHECKS */ |
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#if (URT_CFG_PUBSUB_QOS_JITTERCHECKS)
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subscriber->maxJitter = 0;
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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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subscriber->minLatency = URT_DELAY_INFINITE; |
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subscriber->maxLatency = URT_DELAY_IMMEDIATE; |
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#endif /* URT_CFG_PUBSUB_QOS_JITTERCHECKS || URT_CFG_PUBSUB_PROFILING */ |
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return;
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} |
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/**
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* @brief Subscribes the subscriber to a topic.
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*
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* @param[in] subscriber The NRT subscriber which shall subscribe to a topic. Must not be NULL.
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* @param[in] topic The topic to subscribe to. Must not be NULL.
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* @param[in] messages NULL terminated list of messages to contribute to the topic.
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* Messages must not be associated to another topic.
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* Once a message has been contributed, it cannot be removed later.
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* May be NULL(no messages to contribute).
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* @param[in] deadline Maximum latency to consume messages. A value of 0 indicates that latency is of no concern.
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* @param[in] jitter Maximum allowed jitter (difference between maximum and minimum latency) when consuming messages.
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* A value of 0 indicates that jitter is of no concern.
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*
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* @return Returns URT_STATUS_OK on success.
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* Returns URT_STATUS_SUBSCRIBE_TOPICSET if the subscriber is already associated to a topic.
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*/
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urt_status_t urtFrtSubscriberSubscribe(urt_frtsubscriber_t* subscriber, urt_topic_t* topic, |
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urt_message_t* messages, urt_delay_t deadline, urt_delay_t jitter) |
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{
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urtDebugAssert(subscriber); |
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urtDebugAssert(topic); |
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if (subscriber->base.topic)
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{
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return URT_STATUS_SUBSCRIBE_TOPICSET;
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} |
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subscriber->base.topic = topic; |
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# if (URT_CFG_PUBSUB_PROFILING == true) |
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subscriber->base.sumLatencies = 0;
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subscriber->base.numMessagesReceived = 0;
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# endif /* URT_CFG_PUBSUB_PROFILING */ |
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# if (URT_CFG_PUBSUB_QOS_DEADLINECHECKS == true) |
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subscriber->deadlineOffset = deadline; |
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# endif /* URT_CFG_PUBSUB_QOS_DEADLINECHECKS */ |
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# if (URT_CFG_PUBSUB_QOS_JITTERCHECKS == true) |
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subscriber->maxJitter =jitter; |
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# endif /* URT_CFG_PUBSUB_QOS_JITTERCHECKS */ |
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# if (URT_CFG_PUBSUB_QOS_JITTERCHECKS == true || URT_CFG_PUBSUB_PROFILING == true) |
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subscriber->minLatency = URT_DELAY_INFINITE; |
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subscriber->maxLatency = URT_DELAY_IMMEDIATE; |
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# endif /* URT_CFG_PUBSUB_QOS_JITTERCHECKS || URT_CFG_PUBSUB_PROFILING */ |
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|
| 421 |
urtMutexLock(topic->lock); |
| 422 |
if (messages)
|
| 423 |
{
|
| 424 |
urt_message_t* lastMessageContribute = messages; |
| 425 |
while (lastMessageContribute->next)
|
| 426 |
{
|
| 427 |
lastMessageContribute = lastMessageContribute->next; |
| 428 |
} |
| 429 |
lastMessageContribute->next = topic->latestMessage->next; |
| 430 |
topic->latestMessage->next = messages; |
| 431 |
} |
| 432 |
|
| 433 |
subscriber->base.lastMessage = topic->latestMessage; |
| 434 |
subscriber->base.lastMessageTime = topic->latestMessage->originTime; |
| 435 |
|
| 436 |
urtEventRegister(topic->evtSource, subscriber->base.evtListener, subscriber->base.evtListener.events, subscriber->base.evtListener.flags); |
| 437 |
|
| 438 |
# if (URT_CFG_PUBSUB_PROFILING == true) |
| 439 |
topic->numHrtSubscribers--; |
| 440 |
# endif /* URT_CFG_PUBSUB_PROFILING */ |
| 441 |
|
| 442 |
urtMutexUnlock(topic->lock); |
| 443 |
return URT_STATUS_OK;
|
| 444 |
} |
| 445 |
|
| 446 |
/**
|
| 447 |
* @brief Fetches the next message.
|
| 448 |
*
|
| 449 |
* @param[in] subscriber The SRT subscriber that shall fetch the message. Must not be NULL.
|
| 450 |
* @param[in] payload Pointer where to copy the payload to. May be NULL for messages without payload.
|
| 451 |
* @param[in] bytes Payload size in bytes.
|
| 452 |
* @param[in] latency The latency can be returned by reference. May be NULL.
|
| 453 |
*
|
| 454 |
* @return Returns URT_STATUS_OK on success.
|
| 455 |
* Returns URT_STATUS_FETCH_NOTOPIC if the subscriber is not associated to a topic.
|
| 456 |
* Returns URT_STATUS_FETCH_NOMESSAGE if there is no new message to fetch.
|
| 457 |
*/
|
| 458 |
urt_status_t urtFrtSubscriberFetchNextMessage(urt_frtsubscriber_t* subscriber, void* payload,
|
| 459 |
size_t bytes, urt_delay_t* latency){return URT_STATUS_OK;}
|
| 460 |
|
| 461 |
/**
|
| 462 |
* @brief Fetches the latest message.
|
| 463 |
*
|
| 464 |
* @param[in] subscriber The SRT subscriber that shall fetch the message. Must not be NULL.
|
| 465 |
* @param[in] payload Pointer where to copy the payload to. May be NULL for messages without payload.
|
| 466 |
* @param[in] bytes Payload size in bytes.
|
| 467 |
* @param[in] latency The latency can be returned by reference. May be NULL.
|
| 468 |
*
|
| 469 |
* @return Returns URT_STATUS_OK on success.
|
| 470 |
* Returns URT_STATUS_FETCH_NOTOPIC if the subscriber is not associated to a topic.
|
| 471 |
* Returns URT_STATUS_FETCH_NOMESSAGE if there is no new message to fetch.
|
| 472 |
*/
|
| 473 |
urt_status_t urtFrtSubscriberFetchLatestMessage(urt_frtsubscriber_t* subscriber, void* payload,
|
| 474 |
size_t bytes, urt_delay_t* latency){return URT_STATUS_OK;}
|
| 475 |
|
| 476 |
/**
|
| 477 |
* @brief Calculates the validity from the subscriber.
|
| 478 |
*
|
| 479 |
* @param[in] subscriber The FRT subscriber to calculate a validity for. Must not be NULL.
|
| 480 |
* @param[in] latency Latency (of a message) as argument to calculate validity.
|
| 481 |
*
|
| 482 |
* @return Returns a boolean indicator whether the latency is fine.
|
| 483 |
*/
|
| 484 |
bool urtFrtSubscriberCalculateValidity(urt_frtsubscriber_t* subscriber, urt_delay_t latency)
|
| 485 |
{
|
| 486 |
#if (URT_CFG_PUBSUB_QOS_JITTERCHECKS == true || URT_CFG_PUBSUB_PROFILING == true) |
| 487 |
if (latency > subscriber->minLatency && latency < subscriber->maxLatency)
|
| 488 |
return true; |
| 489 |
#endif /* URT_CFG_PUBSUB_QOS_JITTERCHECKS || URT_CFG_PUBSUB_PROFILING */ |
| 490 |
|
| 491 |
# if (URT_CFG_PUBSUB_QOS_JITTERCHECKS == true) |
| 492 |
if (latency < subscriber->minLatency && subscriber->maxLatency-subscriber->maxJitter < latency)
|
| 493 |
return true; |
| 494 |
|
| 495 |
if (latency > subscriber->maxLatency && subscriber->minLatency+subscriber->maxJitter > latency)
|
| 496 |
return true; |
| 497 |
# endif /* URT_CFG_PUBSUB_QOS_DEADLINECHECKS && URT_CFG_PUBSUB_QOS_JITTERCHECKS */ |
| 498 |
|
| 499 |
return false; |
| 500 |
} |
| 501 |
|
| 502 |
/**
|
| 503 |
* @brief Unsubscribes from a subscriber.
|
| 504 |
*
|
| 505 |
* @param[in] subscriber The FRT subscriber to be unsubscribed. Must not be NULL.
|
| 506 |
*
|
| 507 |
* @return Returns URT_STATUS_OK on sucess.
|
| 508 |
* Returns URT_STATUS_UNSUBSCRIBE_NOTOPIC if the subscriber is not associated to a topic.
|
| 509 |
*/
|
| 510 |
urt_status_t urtFrtSubscriberUnsubscribe(urt_frtsubscriber_t* subscriber) |
| 511 |
{
|
| 512 |
urtDebugAssert(subscriber); |
| 513 |
|
| 514 |
if (subscriber->base.topic)
|
| 515 |
{
|
| 516 |
urtMutexLock(topic->lock); |
| 517 |
urtEventUnregister(subscriber->base.topic->evtSource, subscriber->base.evtListener); |
| 518 |
//TODO: decrement topic's HRT counter
|
| 519 |
# if (URT_CFG_PUBSUB_PROFILING == true) |
| 520 |
subscriber->base.topic->numSubscribers--; |
| 521 |
# endif /* URT_CFG_PUBSUB_PROFILING */ |
| 522 |
//Hier weiter
|
| 523 |
|
| 524 |
# if (URT_CFG_PUBSUB_PROFILING == true) |
| 525 |
urtMutexUnlock(topic->lock); |
| 526 |
# endif /* URT_CFG_PUBSUB_PROFILING */ |
| 527 |
subscriber->base.topic = NULL;
|
| 528 |
subscriber->base.lastMessage = NULL;
|
| 529 |
subscriber->base.lastMessageTime = 0;
|
| 530 |
return URT_STATUS_OK;
|
| 531 |
} |
| 532 |
|
| 533 |
return URT_STATUS_UNSUBSCRIBE_NOTOPIC;
|
| 534 |
} |
| 535 |
|
| 536 |
|
| 537 |
/**
|
| 538 |
* @brief Initialize the HRT Subscriber.
|
| 539 |
*
|
| 540 |
* @param[in] subscriber The HRT subscriber to initialize. Must not be NULL.
|
| 541 |
*/
|
| 542 |
void urtHrtSubscriberInit(urt_hrtsubscriber_t* subscriber)
|
| 543 |
{
|
| 544 |
urtDebugAssert(subscriber); |
| 545 |
|
| 546 |
subscriber->base.topic = NULL;
|
| 547 |
urtEventListenerInit(subscriber->base.evtListener); |
| 548 |
subscriber->base.lastMessage = NULL;
|
| 549 |
subscriber->base.lastMessageTime = 0;
|
| 550 |
|
| 551 |
# if (URT_CFG_PUBSUB_PROFILING)
|
| 552 |
subscriber->base.sumLatencies = 0;
|
| 553 |
subscriber->base.numMessagesReceived = 0;
|
| 554 |
# endif /* URT_CFG_PUBSUB_PROFILING */ |
| 555 |
|
| 556 |
subscriber->next = NULL;
|
| 557 |
|
| 558 |
# if (URT_CFG_PUBSUB_QOS_DEADLINECHECKS)
|
| 559 |
subscriber->deadlineOffset = 0;
|
| 560 |
urtTimerInit(subscriber->qodDeadlineTimer); |
| 561 |
# endif /* URT_CFG_PUBSUB_QOS_DEADLINECHECKS */ |
| 562 |
|
| 563 |
# if (URT_CFG_PUBSUB_QOS_RATECHECKS)
|
| 564 |
subscriber->expectedRate = 0;
|
| 565 |
# endif /* URT_CFG_PUBSUB_QOS_RATECHECKS */ |
| 566 |
|
| 567 |
# if (URT_CFG_PUBSUB_QOS_JITTERCHECKS)
|
| 568 |
subscriber->maxJitter = 0;
|
| 569 |
# endif /* URT_CFG_PUBSUB_QOS_JITTERCHECKS */ |
| 570 |
|
| 571 |
# if (URT_CFG_PUBSUB_QOS_JITTERCHECKS || URT_CFG_PUBSUB_PROFILING)
|
| 572 |
subscriber->minLatency = URT_DELAY_INFINITE; |
| 573 |
subscriber->maxLatency = URT_DELAY_IMMEDIATE; |
| 574 |
# endif /* URT_CFG_PUBSUB_QOS_JITTERCHECKS || URT_CFG_PUBSUB_PROFILING */ |
| 575 |
return;
|
| 576 |
} |
| 577 |
|
| 578 |
|
| 579 |
/**
|
| 580 |
* @brief Subscribes the subscriber to a topic.
|
| 581 |
*
|
| 582 |
* @param[in] subscriber The HRT subscriber which shall subscribe to a topic. Must not be NULL.
|
| 583 |
* @param[in] topic The topic to subscribe to. Must not be NULL.
|
| 584 |
* @param[in] messages NULL terminated list of messages to contribute to the topic.
|
| 585 |
* Messages must not be associated to another topic.
|
| 586 |
* Once a message has been contributed, it cannot be removed later.
|
| 587 |
* May be NULL(no messages to contribute).
|
| 588 |
* @param[in] deadline Maximum latency to consume messages. A value of 0 indicates that latency is of no concern.
|
| 589 |
* @param[in] rate Expected minimum rate of new messages (= maximum time between consecutive messages).
|
| 590 |
* A value of 0 indicates, that rate is of no concern.
|
| 591 |
* @param[in] jitter Maximum allowed jitter (difference between maximum and minimum latency) when consuming messages.
|
| 592 |
* A value of 0 indicates that jitter is of no concern.
|
| 593 |
*
|
| 594 |
* @return Returns URT_STATUS_OK on success.
|
| 595 |
* Returns URT_STATUS_SUBSCRIBE_TOPICSET if the subscriber is already associated to a topic.
|
| 596 |
*/
|
| 597 |
urt_status_t urtHrtSubscriberSubscribe(urt_hrtsubscriber_t* subscriber, urt_topic_t* topic, |
| 598 |
urt_message_t* messages, urt_delay_t deadline, urt_delay_t rate, urt_delay_t jitter) |
| 599 |
{
|
| 600 |
urtDebugAssert(subscriber); |
| 601 |
urtDebugAssert(topic); |
| 602 |
|
| 603 |
if (subscriber->base.topic)
|
| 604 |
{
|
| 605 |
return URT_STATUS_SUBSCRIBE_TOPICSET;
|
| 606 |
} |
| 607 |
|
| 608 |
subscriber->base.topic = topic; |
| 609 |
# if (URT_CFG_PUBSUB_PROFILING == true) |
| 610 |
subscriber->base.sumLatencies = 0;
|
| 611 |
subscriber->base.numMessagesReceived = 0;
|
| 612 |
# endif /* URT_CFG_PUBSUB_PROFILING */ |
| 613 |
# if (URT_CFG_PUBSUB_QOS_DEADLINECHECKS == true) |
| 614 |
subscriber->deadlineOffset = deadline; |
| 615 |
# endif /* URT_CFG_PUBSUB_QOS_DEADLINECHECKS */ |
| 616 |
# if (URT_CFG_PUBSUB_QOS_JITTERCHECKS == true) |
| 617 |
subscriber->maxJitter =jitter; |
| 618 |
# endif /* URT_CFG_PUBSUB_QOS_JITTERCHECKS */ |
| 619 |
# if (URT_CFG_PUBSUB_QOS_JITTERCHECKS == true || URT_CFG_PUBSUB_PROFILING == true) |
| 620 |
subscriber->minLatency = URT_DELAY_INFINITE; |
| 621 |
subscriber->maxLatency = URT_DELAY_IMMEDIATE; |
| 622 |
# endif /* URT_CFG_PUBSUB_QOS_JITTERCHECKS || URT_CFG_PUBSUB_PROFILING */ |
| 623 |
# if (URT_CFG_PUBSUB_QOS_RATECHECKS == true) |
| 624 |
subscriber->expectedRate = rate; |
| 625 |
# endif /* URT_CFG_PUBSUB_QOS_RATECHECKS */ |
| 626 |
|
| 627 |
urtMutexLock(topic->lock); |
| 628 |
if (messages)
|
| 629 |
{
|
| 630 |
urt_message_t* lastMessageContribute = messages; |
| 631 |
while (lastMessageContribute->next)
|
| 632 |
{
|
| 633 |
lastMessageContribute = lastMessageContribute->next; |
| 634 |
} |
| 635 |
lastMessageContribute->next = topic->latestMessage->next; |
| 636 |
topic->latestMessage->next = messages; |
| 637 |
} |
| 638 |
|
| 639 |
subscriber->base.lastMessage = topic->latestMessage; |
| 640 |
subscriber->base.lastMessageTime = topic->latestMessage->originTime; |
| 641 |
|
| 642 |
urtEventRegister(topic->evtSource, subscriber->base.evtListener, subscriber->base.evtListener.events, subscriber->base.evtListener.flags); |
| 643 |
|
| 644 |
# if(URT_CFG_PUBSUB_QOS_RATECHECKS == true) |
| 645 |
//TODO: Implement
|
| 646 |
# endif /* URT_CFG_PUBSUB_QOS_RATECHECKS */ |
| 647 |
|
| 648 |
topic->numHrtSubscribers--; |
| 649 |
# if (URT_CFG_PUBSUB_PROFILING == true) |
| 650 |
topic->numSubscribers--; |
| 651 |
# endif /* URT_CFG_PUBSUB_PROFILING */ |
| 652 |
|
| 653 |
urtMutexUnlock(topic->lock); |
| 654 |
return URT_STATUS_OK;
|
| 655 |
} |
| 656 |
|
| 657 |
|
| 658 |
/**
|
| 659 |
* @brief Fetches the next message.
|
| 660 |
*
|
| 661 |
* @param[in] subscriber The SRT subscriber that shall fetch the message. Must not be NULL.
|
| 662 |
* @param[in] payload Pointer where to copy the payload to. May be NULL for messages without payload.
|
| 663 |
* @param[in] bytes Payload size in bytes.
|
| 664 |
* @param[in] latency The latency can be returned by reference. May be NULL.
|
| 665 |
*
|
| 666 |
* @return Returns URT_STATUS_OK on success.
|
| 667 |
* Returns URT_STATUS_FETCH_NOTOPIC if the subscriber is not associated to a topic.
|
| 668 |
* Returns URT_STATUS_FETCH_NOMESSAGE if there is no new message to fetch.
|
| 669 |
*/
|
| 670 |
urt_status_t urtHrtSubscriberFetchNextMessage(urt_hrtsubscriber_t* subscriber, void* payload,
|
| 671 |
size_t bytes, urt_delay_t* latency){return URT_STATUS_OK;}
|
| 672 |
|
| 673 |
|
| 674 |
/**
|
| 675 |
* @brief Fetches the latest message.
|
| 676 |
*
|
| 677 |
* @param[in] subscriber The SRT subscriber that shall fetch the message. Must not be NULL.
|
| 678 |
* @param[in] payload Pointer where to copy the payload to. May be NULL for messages without payload.
|
| 679 |
* @param[in] bytes Payload size in bytes.
|
| 680 |
* @param[in] latency The latency can be returned by reference. May be NULL.
|
| 681 |
*
|
| 682 |
* @return Returns URT_STATUS_OK on success.
|
| 683 |
* Returns URT_STATUS_FETCH_NOTOPIC if the subscriber is not associated to a topic.
|
| 684 |
* Returns URT_STATUS_FETCH_NOMESSAGE if there is no new message to fetch.
|
| 685 |
*/
|
| 686 |
urt_status_t urtHrtSubscriberFetchLatestMessage(urt_hrtsubscriber_t* subscriber, void* payload,
|
| 687 |
size_t bytes, urt_delay_t* latency){return URT_STATUS_OK;}
|
| 688 |
|
| 689 |
/**
|
| 690 |
* @brief Unsubscribes from a subscriber.
|
| 691 |
*
|
| 692 |
* @param[in] subscriber The HRT subscriber to be unsubscribed. Must not be NULL.
|
| 693 |
*
|
| 694 |
* @return Returns URT_STATUS_OK on sucess.
|
| 695 |
* Returns URT_STATUS_UNSUBSCRIBE_NOTOPIC if the subscriber is not associated to a topic.
|
| 696 |
*/
|
| 697 |
urt_status_t urtHrtSubscriberUnsubscribe(urt_hrtsubscriber_t* subscriber) |
| 698 |
{
|
| 699 |
urtDebugAssert(subscriber); |
| 700 |
|
| 701 |
if (subscriber->base.topic)
|
| 702 |
{
|
| 703 |
urtMutexLock(topic->lock); |
| 704 |
urtEventUnregister(subscriber->base.topic->evtSource, subscriber->base.evtListener); |
| 705 |
subscriber->base.topic->numHrtSubscribers--; |
| 706 |
# if (URT_CFG_PUBSUB_PROFILING == true) |
| 707 |
subscriber->base.topic->numSubscribers--; |
| 708 |
# endif /* URT_CFG_PUBSUB_PROFILING */ |
| 709 |
# if (URT_CFG_PUBSUB_QOS_RATECHECKS == true) |
| 710 |
//TODO: remove self from topics lsit of HRT subscribers
|
| 711 |
//TODO: ...
|
| 712 |
# endif /* URT_CFG_PUBSUB_QOS_RATECHECKS */ |
| 713 |
|
| 714 |
urt_message_t* messageTemp = subscriber->base.lastMessage; |
| 715 |
bool hrtZero = false; |
| 716 |
while (messageTemp->next->originTime < messageTemp->originTime)
|
| 717 |
{
|
| 718 |
messageTemp = messageTemp->next; |
| 719 |
messageTemp->numHrtConsumersLeft--; |
| 720 |
if (messageTemp->numHrtConsumersLeft == 0) |
| 721 |
{
|
| 722 |
hrtZero = true;
|
| 723 |
} |
| 724 |
# if(URT_CFG_PUBSUB_PROFILING == true) |
| 725 |
messageTemp->numConsumersLeft--; |
| 726 |
# endif /* URT_CFG_PUBSUB_PROFILING */ |
| 727 |
} |
| 728 |
if (hrtZero)
|
| 729 |
{
|
| 730 |
urtCondvarSignal(subscriber->base.topic->hrtReleased); |
| 731 |
} |
| 732 |
|
| 733 |
urtMutexUnlock(topic->lock); |
| 734 |
subscriber->base.topic = NULL;
|
| 735 |
subscriber->base.lastMessage = NULL;
|
| 736 |
subscriber->base.lastMessageTime = 0;
|
| 737 |
return URT_STATUS_OK;
|
| 738 |
} |
| 739 |
|
| 740 |
return URT_STATUS_UNSUBSCRIBE_NOTOPIC;
|
| 741 |
} |
| 742 |
|
| 743 |
|
| 744 |
|