Revision 5198dfae
| inc/urt_debug.h | ||
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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 URT_DEBUG_H |
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#define URT_DEBUG_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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/* 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 urtDebugAssert (bool condition); |
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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 /* URT_DEBUG_H */ |
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| inc/urt_subscriber.h | ||
|---|---|---|
| 145 | 145 |
urt_status_t urtSrtSubscriberSubscribe(urt_srtsubscriber_t* subscriber, urt_topic_t* topic, urt_message_t* message, urt_srtusefulnessfunc_t* usefulnesscb, void* cbparams); |
| 146 | 146 |
urt_status_t urtSrtSubscriberFetchNextMessage(urt_srtsubscriber_t* subscriber, void* payload, size_t bytes, urt_delay_t* latency); |
| 147 | 147 |
urt_status_t urtSrtSubscriberFetchLatestMessage(urt_srtsubscriber_t* subscriber, void* payload, size_t bytes, urt_delay_t* latency); |
| 148 |
urt_status_t urtSrtSubscriberCalculateUsefulness(urt_srtsubscriber_t* subscriber, urt_delay_t latency);
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float urtSrtSubscriberCalculateUsefulness(urt_srtsubscriber_t* subscriber, urt_delay_t latency);
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| 149 | 149 |
urt_status_t urtSrtSubscriberUnsubscribe(urt_srtsubscriber_t* subscriber); |
| 150 | 150 |
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| 151 | 151 |
void urtFrtSubscriberInit(urt_frtsubscriber_t* subscriber); |
| src/urt_core.c | ||
|---|---|---|
| 53 | 53 |
/** |
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* @brief Get Core status. |
| 55 | 55 |
* |
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* @return A status value.
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* @return Current system status.
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| 57 | 57 |
*/ |
| 58 | 58 |
urt_status_t urtCoreGetStatus(void) {return URT_STATUS_OK;}
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| 59 | 59 |
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| 60 | 60 |
/** |
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* @brief Start Nodes... .
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* @brief Start threads of all nodes of the Core.
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| 62 | 62 |
*/ |
| 63 | 63 |
void urtCoreStartNodes(void) {return;}
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| 64 | 64 |
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/** |
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* @brief Synchronize ...
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* @brief Synchronize all nodes of the core.
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* |
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* @param[in] node The node to... .
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* @param[in] node Pointer to a node to synchronize. Must not be NULL.
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| 69 | 69 |
* |
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* @return A status value. |
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* @return Returns URT_STATUS_OK if all nodes are synchronized and proceed. |
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* Returns URT_STATUS_SYNC_ERROR if an exception occurred (faulty stage value detected). |
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* Returns URT_STATUS_SYNC_PENDING if there are nodes left to synchronize. |
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* In the latter case, the node thread must still wait for the control event (proceed) to synchronize. |
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*/ |
| 72 | 75 |
urt_status_t urtCoreSynchronize(urt_node_t* node) {return URT_STATUS_OK;}
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| 73 | 76 |
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/** |
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* @brief Stop nodes... .
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* @brief Stop threads of all nodes of the Core.
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* |
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* @param[in] reason Reason why nodes should be stopped.
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* @param[in] reason The reason why the function was called. For normal shutdown URT_STATUS_OK should be used.
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* |
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* @return A status value. |
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* @return Returns URT_STATUS_OK if there was no call with another reason than URT_STATUS_OK before. |
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* If the function has been called before with a different reason, that reason is returned. |
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*/ |
| 81 | 85 |
urt_status_t urtCoreStopNodes(urt_status_t reason) {return URT_STATUS_OK;}
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| 82 | 86 |
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| 83 | 87 |
/** |
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* @brief Get the topic of the Core. |
| 85 | 89 |
* |
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* @param[in] id The id of the topic.
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* @param[in] id Identifier of the topic to retrieve.
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* |
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* @return . |
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* @return Returns a pointer to the requested service. Returns NULL if no service matches the given ID.
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*/ |
| 90 | 94 |
urt_topic_t* urtCoreGetTopic(urt_topicid_t id) {return urt_topic_t;}
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/** |
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* @brief Get the service of the Core. |
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* |
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* @param[in] id The id of the service.
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* @param[in] id Identifier of the service to retrieve.
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* |
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* @return . |
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* @return Returns a pointer to the requested service. Returns NULL if no service matches the given ID.
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*/ |
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urt_service_t urtCoreGetService(urt_serviceid_t id) {return urt_service_t;}
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| 100 | 104 |
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| src/urt_message.c | ||
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| 48 | 48 |
/** |
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* @brief Initalize the messages. |
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* |
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* @param[in] message Message to initalize. |
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* @param[in] payload .
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* @param[in] message Message to initalize. Must not be NULL.
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* @param[in] payload May be NULL for messages without payload.
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*/ |
| 54 | 54 |
void urtMessageInit(urt_message_t* message, void* payload) {return;}
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| src/urt_node.c | ||
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| 48 | 48 |
/** |
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* @brief Initalize the node. |
| 50 | 50 |
* |
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* @param[in] node Node to initalize. |
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* @param[in] thread . |
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* @param[in] setupcallback . |
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* @param[in] setupparams . |
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* @param[in] loopcallback . |
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* @param[in] loopparams . |
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* @param[in] shutdowncallback . |
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* @param[in] shutdownparams . |
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* @param[in] node The node to initialize. Must not be NULL. |
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* @param[in] thread The already initialized, exclusive thread for the node. Must not be NULL. |
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* @param[in] setupcallback Callback function to be executed during setup. |
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* May be NULL if no custom setup is required. |
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* @param[in] setupparams Parameters for the setup callback function. |
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* Must be NULLif no setup callback is specified. |
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* May be NULLif the specified setup callback does not expect parameters. |
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* @param[in] loopcallback Callback function to be executed in a loop. |
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* Must not be NULL. |
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* @param[in] loopparams Parameters for the loop callback function. |
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* May be NULL if the specified loop callback does not expect parameters. |
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* @param[in] shutdowncallback Callback function to be executed during shutdown. |
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* May be NULL if no custom shutdown is required. |
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* @param[in] shutdownparams Parameters for the loop callback function. |
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* Must be NULL if no shutdown callback is specified. |
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* May be NULL if the specified shutdown callback does not expect parameters. |
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*/ |
| 60 | 68 |
void urtNodeInit(urt_node_t* node, urt_osThread_t* thread, urt_nodeSetupCallback_t* setupcallback, |
| 61 | 69 |
void* setupparams, urt_nodeLoopCallback_t* loopcallback, void* loopparams, |
| src/urt_publisher.c | ||
|---|---|---|
| 48 | 48 |
/** |
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* @brief Initalize the publisher. |
| 50 | 50 |
* |
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* @param[in] publisher Publisher to initalize. |
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* @param[in] topic . |
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* @param[in] message . |
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* @param[in] publisher The publisher to initialize. Must not be NULL. |
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* @param[in] topic The topic, this publisher is associated 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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*/ |
| 55 | 58 |
void urtPublisherInit(urt_publisher_t* publisher, urt_topic_t* topic, urt_message_t* message) {return;}
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| 56 | 59 |
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/** |
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* @brief Initalize the node.
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* @brief Publish data.
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* |
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* @param[in] publisher Publisher to .
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* @param[in] payload .
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* @param[in] bytes .
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* @param[in] t .
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* @param[in] timeout .
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* @param[in] publisher Pointer to the publisher to use. Must not be NULL.
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* @param[in] payload Pointer to the data to be published. May be NULL for messages without payload.
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* @param[in] bytes Size of the payload in bytes.
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* @param[in] t Timestamp to be set for the message.
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* @param[in] timeout Timeout delay in case the message cannot be published.
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* |
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* @return A status value.
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* @return Returns URT_STATUS_OK on success. Returns URT_STATUS_PUBLISH_TIMEOUT on timeout.
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*/ |
| 69 | 72 |
urt_status_t urtPublisherPublish(urt_publisher_t* publisher, void* payload, size_t bytes, urt_osTime_t t, urt_delay_t timeout) {return URT_STATUS_OK;}
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| src/urt_service.c | ||
|---|---|---|
| 48 | 48 |
/** |
| 49 | 49 |
* @brief Initalize the service. |
| 50 | 50 |
* |
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* @param[in] service Service to intialize.
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* @param[in] id .
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* @param[in] callback .
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* @param[in] service The service to initialize. Must not be NULL.
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* @param[in] id Unique, numeric identifier of the service.
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* @param[in] callback Callback function to be executed by this service. Must not be NULL.
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| 54 | 54 |
* |
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* @return A status value. |
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* @return Returns URT_STATUS_OK on success. |
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* Returns URT_STATUS_SERVICE_DUPLICATE if another service with the same identifier already exists. |
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| 56 | 57 |
*/ |
| 57 | 58 |
urt_status_t urtServiceInit(urt_service_t* service, urt_serviceid_t id, urt_servicefunc_t* callback) {return URT_STATUS_OK;}
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| 58 | 59 |
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| 59 | 60 |
/** |
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* @brief Call the Service .
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* @brief Calls a service.
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* |
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* @param[in] service Service to . |
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* @param[in] arg . |
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* @param[in] ret . |
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* @param[in] timeout . |
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* @param[in] service The service to call. Must not be NULL. |
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* @param[in] arg Optional argument for the service call. May be NULL if the service expects no arguments. |
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* @param[in] ret Pointer to an optional output value. May be NULL. |
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* @param[in] timeout Timeout delay to be propagated to the callback function. |
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* Whether timeout is considered depends on the callback function. |
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* |
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* @return A status value.
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* @return Returns the exact output status of the service call.
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| 68 | 70 |
*/ |
| 69 | 71 |
urt_status_t urtServiceCall(urt_service_t* service, void* arg, void* ret, urt_delay_t timeout) {return URT_STATUS_OK;}
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| src/urt_subscriber.c | ||
|---|---|---|
| 48 | 48 |
/** |
| 49 | 49 |
* @brief Initialize the nrt Subscriber. |
| 50 | 50 |
* |
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* @param[in] subscriber Subscriber to initalize.
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* @param[in] subscriber The NRT subscriber to initialize. Must not be NULL.
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| 52 | 52 |
*/ |
| 53 | 53 |
void urtNrtSubscriberInit (urt_nrtsubscriber_t* subscriber) {return;}
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| 54 | 54 |
|
| 55 | 55 |
/** |
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* @brief .
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* @brief Subscribes the subscriber to a topic.
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| 57 | 57 |
* |
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* @param[in] subscriber Subscriber to . |
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* @param[in] topic . |
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* @param[in] messages . |
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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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| 61 | 64 |
* |
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* @return A status value. |
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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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| 63 | 67 |
*/ |
| 64 | 68 |
urt_status_t urtNrtSubscriberSubscribe (urt_nrtsubscriber_t* subscriber, urt_topic_t* topic, urt_message_t* messages) {
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| 65 | 69 |
return URT_STATUS_OK; |
| 66 | 70 |
} |
| 67 | 71 |
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| 68 | 72 |
/** |
| 69 |
* @brief .
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* @brief Fetches the next message.
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| 70 | 74 |
* |
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* @param[in] subscriber .
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* @param[in] payload .
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* @param[in] bytes .
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* @param[in] latency .
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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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| 75 | 79 |
* |
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* @return A status value. |
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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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| 77 | 83 |
*/ |
| 78 | 84 |
urt_status_t urtNrtSubscriberFetchNextMessage (urt_nrtsubscriber_t* subscriber, void* payload, size_t bytes, urt_delay_t* latency) {
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| 79 | 85 |
return URT_STATUS_OK; |
| 80 | 86 |
} |
| 81 | 87 |
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| 82 | 88 |
/** |
| 83 |
* @brief .
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* @brief Fetches the lates message.
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| 84 | 90 |
* |
| 85 |
* @param[in] subscriber .
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* @param[in] payload .
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* @param[in] bytes .
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* @param[in] latency .
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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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| 89 | 95 |
* |
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* @return A status value. |
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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. |
|
| 91 | 99 |
*/ |
| 92 | 100 |
urt_status_t urtNrtSubscriberFetchLatestMessage (urt_nrtsubscriber_t* subscriber, void* payload, size_t bytes, urt_delay_t* latency) {
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| 93 | 101 |
return URT_STATUS_OK; |
| 94 | 102 |
} |
| 95 | 103 |
|
| 96 | 104 |
/** |
| 97 |
* @brief .
|
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| 105 |
* @brief Unsubscribes from a subscriber.
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| 98 | 106 |
* |
| 99 |
* @param[in] subscriber |
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| 107 |
* @param[in] subscriber The NRT subscriber to be unsubscribed. Must not be NULL.
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| 100 | 108 |
* |
| 101 |
* @return A status value. |
|
| 109 |
* @return Returns URT_STATUS_OK on sucess. |
|
| 110 |
* Returns URT_STATUS_UNSUBSCRIBE_NOTOPIC if the subscriber is not associated to a topic. |
|
| 102 | 111 |
*/ |
| 103 | 112 |
urt_status_t urtNrtSubscriberUnsubscribe (urt_nrtsubscriber_t* subscriber) {
|
| 104 | 113 |
return URT_STATUS_OK; |
| ... | ... | |
| 106 | 115 |
|
| 107 | 116 |
|
| 108 | 117 |
/** |
| 109 |
* @brief .
|
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| 118 |
* @brief Initialize the srt Subscriber.
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| 110 | 119 |
* |
| 111 |
* @param[in] subscriber . |
|
| 120 |
* @param[in] subscriber The SRT subscriber to initialize. Must not be NULL.
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|
| 112 | 121 |
*/ |
| 113 | 122 |
void urtSrtSubscriberInit(urt_srtsubscriber_t* subscriber) {return;}
|
| 114 | 123 |
|
| 115 | 124 |
/** |
| 116 |
* @brief . |
|
| 117 |
* |
|
| 118 |
* @param[in] subscriber . |
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| 119 |
* @param[in] topic . |
|
| 120 |
* @param[in] message . |
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| 121 |
* @param[in] usefulnesscb . |
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| 122 |
* @param[in] cbparams . |
|
| 123 |
* |
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| 124 |
* @return A status value. |
|
| 125 |
* @brief Subscribes the subscriber to a topic. |
|
| 126 |
* |
|
| 127 |
* @param[in] subscriber The SRT subscriber which shall subscribe to a topic. Must not be NULL. |
|
| 128 |
* @param[in] topic The topic to subscribe to. Must not be NULL. |
|
| 129 |
* @param[in] message NULL terminated list of messages to contribute to the topic. |
|
| 130 |
* Messages must not be associated to another topic. |
|
| 131 |
* Once a message has been contributed, it cannot be removed later. |
|
| 132 |
* May be NULL (no messages to contribute) |
|
| 133 |
* @param[in] usefulnesscb Pointer to a function to calculate usefulness of a message. Must not be NULL. |
|
| 134 |
* @param[in] cbparams Optional parameters for the usefulness callback. |
|
| 135 |
* May be NULL if the callback expects no parameters. |
|
| 136 |
* |
|
| 137 |
* @return Returns URT_STATUS_OK on success. |
|
| 138 |
* Returns URT_STATUS_SUBSCRIBE_TOPICSET if the subscriber is already associated to a topic. |
|
| 125 | 139 |
*/ |
| 126 | 140 |
urt_status_t urtSrtSubscriberSubscribe(urt_srtsubscriber_t* subscriber, urt_topic_t* topic, |
| 127 | 141 |
urt_message_t* message, urt_srtusefulnessfunc_t* usefulnesscb, void* cbparams) {return URT_STATUS_OK;}
|
| 128 | 142 |
|
| 129 | 143 |
/** |
| 130 |
* @brief .
|
|
| 144 |
* @brief Fetches the next message.
|
|
| 131 | 145 |
* |
| 132 |
* @param[in] subscriber . |
|
| 133 |
* @param[in] payload . |
|
| 134 |
* @param[in] latency . |
|
| 146 |
* @param[in] subscriber The SRT subscriber that shall fetch the message. Must not be NULL. |
|
| 147 |
* @param[in] payload Pointer where to copy the payload to. May be NULL for messages without payload. |
|
| 148 |
* @param[in] bytes Payload size in bytes. |
|
| 149 |
* @param[in] latency The latency can be returned by reference. May be NULL. |
|
| 135 | 150 |
* |
| 136 |
* @return A status value. |
|
| 151 |
* @return Returns URT_STATUS_OK on success. |
|
| 152 |
* Returns URT_STATUS_FETCH_NOTOPIC if the subscriber is not associated to a topic. |
|
| 153 |
* Returns URT_STATUS_FETCH_NOMESSAGE if there is no new message to fetch. |
|
| 137 | 154 |
*/ |
| 138 | 155 |
urt_status_t urtSrtSubscriberFetchNextMessage(urt_srtsubscriber_t* subscriber, void* payload, |
| 139 | 156 |
size_t bytes, urt_delay_t* latency){return URT_STATUS_OK;}
|
| 140 | 157 |
|
| 141 | 158 |
/** |
| 142 |
* @brief .
|
|
| 159 |
* @brief Fetches the latest message.
|
|
| 143 | 160 |
* |
| 144 |
* @param[in] subscriber . |
|
| 145 |
* @param[in] payload . |
|
| 146 |
* @param[in] bytes . |
|
| 147 |
* @param[in] latency . |
|
| 161 |
* @param[in] subscriber The SRT subscriber that shall fetch the message. Must not be NULL.
|
|
| 162 |
* @param[in] payload Pointer where to copy the payload to. May be NULL for messages without payload.
|
|
| 163 |
* @param[in] bytes Payload size in bytes.
|
|
| 164 |
* @param[in] latency The latency can be returned by reference. May be NULL.
|
|
| 148 | 165 |
* |
| 149 |
* @return A status value. |
|
| 166 |
* @return Returns URT_STATUS_OK on success. |
|
| 167 |
* Returns URT_STATUS_FETCH_NOTOPIC if the subscriber is not associated to a topic. |
|
| 168 |
* Returns URT_STATUS_FETCH_NOMESSAGE if there is no new message to fetch. |
|
| 150 | 169 |
*/ |
| 151 | 170 |
urt_status_t urtSrtSubscriberFetchLatestMessage(urt_srtsubscriber_t* subscriber, void* payload, |
| 152 | 171 |
size_t bytes, urt_delay_t* latency){return URT_STATUS_OK;}
|
| 153 | 172 |
|
| 154 | 173 |
/** |
| 155 |
* @brief .
|
|
| 174 |
* @brief Calculates the usefulness of the subscriber.
|
|
| 156 | 175 |
* |
| 157 |
* @param[in] subscriber . |
|
| 158 |
* @param[in] latency . |
|
| 176 |
* @param[in] subscriber The SRT subscriber that shall fetch the message. Must not be NULL.
|
|
| 177 |
* @param[in] latency Latency (of a message) as argument to calculate usefulness.
|
|
| 159 | 178 |
* |
| 160 |
* @return A status value.
|
|
| 179 |
* @return Returns the usefulness as a value within [0,1].
|
|
| 161 | 180 |
*/ |
| 162 |
urt_status_t urtSrtSubscriberCalculateUsefulness(urt_srtsubscriber_t* subscriber, urt_delay_t latency){return URT_STATUS_OK;}
|
|
| 181 |
float urtSrtSubscriberCalculateUsefulness(urt_srtsubscriber_t* subscriber, urt_delay_t latency){return 0;}
|
|
| 163 | 182 |
|
| 164 | 183 |
/** |
| 165 |
* @brief .
|
|
| 184 |
* @brief Unsubscribes from a subscriber.
|
|
| 166 | 185 |
* |
| 167 |
* @param[in] subscriber . |
|
| 186 |
* @param[in] subscriber The NRT subscriber to be unsubscribed. Must not be NULL.
|
|
| 168 | 187 |
* |
| 169 |
* @return A status value. |
|
| 188 |
* @return Returns URT_STATUS_OK on sucess. |
|
| 189 |
* Returns URT_STATUS_UNSUBSCRIBE_NOTOPIC if the subscriber is not associated to a topic. |
|
| 170 | 190 |
*/ |
| 171 | 191 |
urt_status_t urtSrtSubscriberUnsubscribe(urt_srtsubscriber_t* subscriber){return URT_STATUS_OK;}
|
| 172 | 192 |
|
| 173 | 193 |
|
| 174 | 194 |
/** |
| 175 |
* @brief .
|
|
| 195 |
* @brief Initialize the FRT Subscriber.
|
|
| 176 | 196 |
* |
| 177 |
* @param[in] subscriber . |
|
| 178 |
* |
|
| 179 |
* @return A status value. |
|
| 197 |
* @param[in] subscriber The SRT subscriber to initialize. Must not be NULL. |
|
| 180 | 198 |
*/ |
| 181 | 199 |
void urtFrtSubscriberInit(urt_frtsubscriber_t* subscriber){return URT_STATUS_OK;}
|
| 182 | 200 |
|
| 183 | 201 |
/** |
| 184 |
* @brief . |
|
| 185 |
* |
|
| 186 |
* @param[in] subscriber . |
|
| 187 |
* @param[in] topic . |
|
| 188 |
* @param[in] messages . |
|
| 189 |
* @param[in] deadline . |
|
| 190 |
* @param[in] jitter . |
|
| 191 |
* |
|
| 192 |
* @return A status value. |
|
| 202 |
* @brief Subscribes the subscriber to a topic. |
|
| 203 |
* |
|
| 204 |
* @param[in] subscriber The NRT subscriber which shall subscribe to a topic. Must not be NULL. |
|
| 205 |
* @param[in] topic The topic to subscribe to. Must not be NULL. |
|
| 206 |
* @param[in] messages NULL terminated list of messages to contribute to the topic. |
|
| 207 |
* Messages must not be associated to another topic. |
|
| 208 |
* Once a message has been contributed, it cannot be removed later. |
|
| 209 |
* May be NULL(no messages to contribute). |
|
| 210 |
* @param[in] deadline Maximum latency to consume messages. A value of 0 indicates that latency is of no concern. |
|
| 211 |
* @param[in] jitter Maximum allowed jitter (difference between maximum and minimum latency) when consuming messages. |
|
| 212 |
* A value of 0 indicates that jitter is of no concern. |
|
| 213 |
* |
|
| 214 |
* @return Returns URT_STATUS_OK on success. |
|
| 215 |
* Returns URT_STATUS_SUBSCRIBE_TOPICSET if the subscriber is already associated to a topic. |
|
| 193 | 216 |
*/ |
| 194 | 217 |
urt_status_t urtFrtSubscriberSubscribe(urt_frtsubscriber_t* subscriber, urt_topic_t* topic, |
| 195 | 218 |
urt_message_t* messages, urt_delay_t deadline, urt_delay_t jitter){return URT_STATUS_OK;}
|
| 196 | 219 |
|
| 197 | 220 |
/** |
| 198 |
* @brief .
|
|
| 221 |
* @brief Fetches the next message.
|
|
| 199 | 222 |
* |
| 200 |
* @param[in] subscriber . |
|
| 201 |
* @param[in] payload . |
|
| 202 |
* @param[in] bytes . |
|
| 203 |
* @param[in] latency . |
|
| 223 |
* @param[in] subscriber The SRT subscriber that shall fetch the message. Must not be NULL.
|
|
| 224 |
* @param[in] payload Pointer where to copy the payload to. May be NULL for messages without payload.
|
|
| 225 |
* @param[in] bytes Payload size in bytes.
|
|
| 226 |
* @param[in] latency The latency can be returned by reference. May be NULL.
|
|
| 204 | 227 |
* |
| 205 |
* @return A status value. |
|
| 228 |
* @return Returns URT_STATUS_OK on success. |
|
| 229 |
* Returns URT_STATUS_FETCH_NOTOPIC if the subscriber is not associated to a topic. |
|
| 230 |
* Returns URT_STATUS_FETCH_NOMESSAGE if there is no new message to fetch. |
|
| 206 | 231 |
*/ |
| 207 | 232 |
urt_status_t urtFrtSubscriberFetchNextMessage(urt_frtsubscriber_t* subscriber, void* payload, |
| 208 | 233 |
size_t bytes, urt_delay_t* latency){return URT_STATUS_OK;}
|
| 209 | 234 |
|
| 210 | 235 |
/** |
| 211 |
* @brief .
|
|
| 236 |
* @brief Fetches the latest message.
|
|
| 212 | 237 |
* |
| 213 |
* @param[in] subscriber . |
|
| 214 |
* @param[in] payload . |
|
| 215 |
* @param[in] bytes . |
|
| 216 |
* @param[in] latency . |
|
| 238 |
* @param[in] subscriber The SRT subscriber that shall fetch the message. Must not be NULL.
|
|
| 239 |
* @param[in] payload Pointer where to copy the payload to. May be NULL for messages without payload.
|
|
| 240 |
* @param[in] bytes Payload size in bytes.
|
|
| 241 |
* @param[in] latency The latency can be returned by reference. May be NULL.
|
|
| 217 | 242 |
* |
| 218 |
* @return A status value. |
|
| 243 |
* @return Returns URT_STATUS_OK on success. |
|
| 244 |
* Returns URT_STATUS_FETCH_NOTOPIC if the subscriber is not associated to a topic. |
|
| 245 |
* Returns URT_STATUS_FETCH_NOMESSAGE if there is no new message to fetch. |
|
| 219 | 246 |
*/ |
| 220 | 247 |
urt_status_t urtFrtSubscriberFetchLatestMessage(urt_frtsubscriber_t* subscriber, void* payload, |
| 221 | 248 |
size_t bytes, urt_delay_t* latency){return URT_STATUS_OK;}
|
| 222 | 249 |
|
| 223 | 250 |
/** |
| 224 |
* @brief .
|
|
| 251 |
* @brief Calculates the validity from the subscriber.
|
|
| 225 | 252 |
* |
| 226 |
* @param[in] subscriber . |
|
| 227 |
* @param[in] latency . |
|
| 253 |
* @param[in] subscriber The FRT subscriber to calculate a validity for. Must not be NULL.
|
|
| 254 |
* @param[in] latency Latency (of a message) as argument to calculate validity.
|
|
| 228 | 255 |
* |
| 229 |
* @return A status value.
|
|
| 256 |
* @return Returns a boolean indicator whether the latency is fine.
|
|
| 230 | 257 |
*/ |
| 231 | 258 |
bool urtFrtSubscriberCalculateValidity(urt_frtsubscriber_t* subscriber, urt_delay_t latency){return true;}
|
| 232 | 259 |
|
| 233 | 260 |
/** |
| 234 |
* @brief .
|
|
| 261 |
* @brief Unsubscribes from a subscriber.
|
|
| 235 | 262 |
* |
| 236 |
* @param[in] subscriber . |
|
| 263 |
* @param[in] subscriber The NRT subscriber to be unsubscribed. Must not be NULL.
|
|
| 237 | 264 |
* |
| 238 |
* @return A status value. |
|
| 265 |
* @return Returns URT_STATUS_OK on sucess. |
|
| 266 |
* Returns URT_STATUS_UNSUBSCRIBE_NOTOPIC if the subscriber is not associated to a topic. |
|
| 239 | 267 |
*/ |
| 240 | 268 |
urt_status_t urtFrtSubscriberUnsubscribe(urt_frtsubscriber_t* subscriber){return URT_STATUS_OK;}
|
| 241 | 269 |
|
| 242 | 270 |
|
| 243 | 271 |
/** |
| 244 |
* @brief .
|
|
| 272 |
* @brief Initialize the HRT Subscriber.
|
|
| 245 | 273 |
* |
| 246 |
* @param[in] subscriber . |
|
| 274 |
* @param[in] subscriber The HRT subscriber to initialize. Must not be NULL.
|
|
| 247 | 275 |
*/ |
| 248 | 276 |
void urtHrtSubscriberInit(urt_hrtsubscriber_t* subscriber){return;}
|
| 249 | 277 |
|
| 250 | 278 |
/** |
| 251 |
* @brief . |
|
| 252 |
* |
|
| 253 |
* @param[in] subscriber . |
|
| 254 |
* @param[in] topic . |
|
| 255 |
* @param[in] message . |
|
| 256 |
* @param[in] deadline . |
|
| 257 |
* @param[in] rate . |
|
| 258 |
* @param[in] jitter . |
|
| 259 |
* |
|
| 260 |
* @return A status value. |
|
| 279 |
* @brief Subscribes the subscriber to a topic. |
|
| 280 |
* |
|
| 281 |
* @param[in] subscriber The NRT subscriber which shall subscribe to a topic. Must not be NULL. |
|
| 282 |
* @param[in] topic The topic to subscribe to. Must not be NULL. |
|
| 283 |
* @param[in] messages NULL terminated list of messages to contribute to the topic. |
|
| 284 |
* Messages must not be associated to another topic. |
|
| 285 |
* Once a message has been contributed, it cannot be removed later. |
|
| 286 |
* May be NULL(no messages to contribute). |
|
| 287 |
* @param[in] deadline Maximum latency to consume messages. A value of 0 indicates that latency is of no concern. |
|
| 288 |
* @param[in] rate Expected minimum rate of new messages (= maximum time between consecutive messages). |
|
| 289 |
* A value of 0 indicates, that rate is of no concern. |
|
| 290 |
* @param[in] jitter Maximum allowed jitter (difference between maximum and minimum latency) when consuming messages. |
|
| 291 |
* A value of 0 indicates that jitter is of no concern. |
|
| 292 |
* |
|
| 293 |
* @return Returns URT_STATUS_OK on success. |
|
| 294 |
* Returns URT_STATUS_SUBSCRIBE_TOPICSET if the subscriber is already associated to a topic. |
|
| 261 | 295 |
*/ |
| 262 | 296 |
urt_status_t urtHrtSubscriberSubscribe(urt_hrtsubscriber_t* subscriber, urt_topic_t* topic, |
| 263 | 297 |
urt_message_t* message, urt_delay_t deadline, urt_delay_t rate, urt_delay_t jitter){return URT_STATUS_OK;}
|
| 264 | 298 |
|
| 265 | 299 |
|
| 266 | 300 |
/** |
| 267 |
* @brief .
|
|
| 301 |
* @brief Fetches the next message.
|
|
| 268 | 302 |
* |
| 269 |
* @param[in] subscriber . |
|
| 270 |
* @param[in] payload . |
|
| 271 |
* @param[in] bytes . |
|
| 272 |
* @param[in] latency . |
|
| 303 |
* @param[in] subscriber The SRT subscriber that shall fetch the message. Must not be NULL.
|
|
| 304 |
* @param[in] payload Pointer where to copy the payload to. May be NULL for messages without payload.
|
|
| 305 |
* @param[in] bytes Payload size in bytes.
|
|
| 306 |
* @param[in] latency The latency can be returned by reference. May be NULL.
|
|
| 273 | 307 |
* |
| 274 |
* @return A status value. |
|
| 308 |
* @return Returns URT_STATUS_OK on success. |
|
| 309 |
* Returns URT_STATUS_FETCH_NOTOPIC if the subscriber is not associated to a topic. |
|
| 310 |
* Returns URT_STATUS_FETCH_NOMESSAGE if there is no new message to fetch. |
|
| 275 | 311 |
*/ |
| 276 | 312 |
urt_status_t urtHrtSubscriberFetchNextMessage(urt_hrtsubscriber_t* subscriber, void* payload, |
| 277 | 313 |
size_t bytes, urt_delay_t* latency){return URT_STATUS_OK;}
|
| 278 | 314 |
|
| 279 | 315 |
|
| 280 | 316 |
/** |
| 281 |
* @brief .
|
|
| 317 |
* @brief Fetches the latest message.
|
|
| 282 | 318 |
* |
| 283 |
* @param[in] subscriber . |
|
| 284 |
* @param[in] payload . |
|
| 285 |
* @param[in] bytes . |
|
| 286 |
* @param[in] latency . |
|
| 319 |
* @param[in] subscriber The SRT subscriber that shall fetch the message. Must not be NULL.
|
|
| 320 |
* @param[in] payload Pointer where to copy the payload to. May be NULL for messages without payload.
|
|
| 321 |
* @param[in] bytes Payload size in bytes.
|
|
| 322 |
* @param[in] latency The latency can be returned by reference. May be NULL.
|
|
| 287 | 323 |
* |
| 288 |
* @return A status value. |
|
| 324 |
* @return Returns URT_STATUS_OK on success. |
|
| 325 |
* Returns URT_STATUS_FETCH_NOTOPIC if the subscriber is not associated to a topic. |
|
| 326 |
* Returns URT_STATUS_FETCH_NOMESSAGE if there is no new message to fetch. |
|
| 289 | 327 |
*/ |
| 290 | 328 |
urt_status_t urtHrtSubscriberFetchLatestMessage(urt_hrtsubscriber_t* subscriber, void* payload, |
| 291 | 329 |
size_t bytes, urt_delay_t* latency){return URT_STATUS_OK;}
|
| 292 | 330 |
|
| 293 | 331 |
/** |
| 294 |
* @brief .
|
|
| 332 |
* @brief Unsubscribes from a subscriber.
|
|
| 295 | 333 |
* |
| 296 |
* @param[in] subscriber . |
|
| 334 |
* @param[in] subscriber The HRT subscriber to be unsubscribed. Must not be NULL.
|
|
| 297 | 335 |
* |
| 298 |
* @return A status value. |
|
| 336 |
* @return Returns URT_STATUS_OK on sucess. |
|
| 337 |
* Returns URT_STATUS_UNSUBSCRIBE_NOTOPIC if the subscriber is not associated to a topic. |
|
| 299 | 338 |
*/ |
| 300 | 339 |
urt_status_t urtHrtSubscriberUnsubscribe(urt_hrtsubscriber_t* subscriber){return URT_STATUS_OK;}
|
| src/urt_topic.c | ||
|---|---|---|
| 48 | 48 |
/** |
| 49 | 49 |
* @brief Initialize the topic. |
| 50 | 50 |
* |
| 51 |
* @param[in] topic Topic to initialize.
|
|
| 52 |
* @param[in] id .
|
|
| 51 |
* @param[in] topic The topic to initialize. Must not be NULL.
|
|
| 52 |
* @param[in] id Unique, numeric identifier of the topic.
|
|
| 53 | 53 |
* |
| 54 |
* @return A status value. |
|
| 54 |
* @return Returns URT_STATUS_OK on success. |
|
| 55 |
* Returns URT_STATUS_TOPIC_DUPLICATE if another topic with the same identifier already exists. |
|
| 55 | 56 |
*/ |
| 56 | 57 |
urt_status_t urtTopicInit(urt_topic_t* topic, urt_topicid_t id) {return URT_STATUS_OK;}
|
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