/ - Diff - AMiRo-OS - Research for Cognitive Interaction

Revision 5b7188aa

       urt_status_t urtFrtSubscriberUnsubscribe(urt_frtsubscriber_t* subscriber);
       void urtHrtSubscriberInit(urt_hrtsubscriber_t* subscriber);
       urt_status_t urtHrtSubscriberSubscribe(urt_hrtsubscriber_t* subscriber, urt_topic_t* topic, urt_message_t* message, urt_delay_t deadline, urt_delay_t rate, urt_delay_t jitter);
       urt_status_t urtHrtSubscriberSubscribe(urt_hrtsubscriber_t* subscriber, urt_topic_t* topic, urt_message_t* messages, urt_delay_t deadline, urt_delay_t rate, urt_delay_t jitter);
       urt_status_t urtHrtSubscriberFetchNextMessage(urt_hrtsubscriber_t* subscriber, void* payload, size_t bytes, urt_delay_t* latency);
       urt_status_t urtHrtSubscriberFetchLatestMessage(urt_hrtsubscriber_t* subscriber, void* payload, size_t bytes, urt_delay_t* latency);
       urt_status_t urtHrtSubscriberUnsubscribe(urt_hrtsubscriber_t* subscriber);

     urt_status_t urtNrtSubscriberFetchNextMessage (urt_nrtsubscriber_t* subscriber, void* payload, size_t bytes, urt_delay_t* latency)
+    {
       urtDebugAssert(subscriber);
       urt_message_t youngestMessage;
       if (subscriber->base.topic)
+      {
         //TODO: Lock Topic
         urt_osTime_t localCopy; //TODO: replace with local copy
         if (subscriber->base.lastMessageTime == localCopy)
+        {
           if(subscriber->base.lastMessage->next->originTime < localCopy)
+          {
             youngestMessage = subscriber->base.lastMessage->next;
+          }
           else
+          {
             //TODO: Unlock Topic
             return URT_STATUS_FETCH_NOMESSAGE;
+          }
+        }
         else
+        {
           youngestMessage = subscriber->base.lastMessage->next;
           while (youngestMessage.originTime < localCopy)
+          {
             youngestMessage = youngestMessage.next;
+          }
+        }
+      }
       else
+      {
         return URT_STATUS_FETCH_NOTOPIC;
+      }
       latency = subscriber->base.lastMessageTime - youngestMessage.originTime;
       //TODO: Other cases
       //TODO: Unlock topic
       return URT_STATUS_OK;
+    }
-...
      * @return  Returns URT_STATUS_OK on sucess.
      *          Returns URT_STATUS_UNSUBSCRIBE_NOTOPIC if the subscriber is not associated to a topic.
      */
     urt_status_t urtNrtSubscriberUnsubscribe (urt_nrtsubscriber_t* subscriber) {
     urt_status_t urtNrtSubscriberUnsubscribe (urt_nrtsubscriber_t* subscriber)
+    {
       if (subscriber->base.topic)
+      {
     # if(URT_CFG_PUBSUB_PROFILING == true)
           //TODO: LOCK TOPIC
           subscriber->base.topic->numHrtSubscribers--;
           subscriber->base.topic->numSubscribers--;
     # endif /* URT_CFG_PUBSUB_PROFILING */
         urtEventUnregister(subscriber->base.topic->evtSource, subscriber->base.evtListener);
     # if(URT_CFG_PUBSUB_PROFILING == true)
-...
     #endif /* URT_CFG_PUBSUB_PROFILING */
         return URT_STATUS_OK;
+      }
       else
           return URT_STATUS_UNSUBSCRIBE_NOTOPIC;
       return URT_STATUS_UNSUBSCRIBE_NOTOPIC;
+    }
-...
+      {
         return URT_STATUS_SUBSCRIBE_TOPICSET;
+      }
       else
+      {
         subscriber->base.topic = topic;
         subscriber->usefulnesscb = usefulnesscb;
         subscriber->cbparams = cbparams;
       subscriber->base.topic = topic;
       subscriber->usefulnesscb = usefulnesscb;
       subscriber->cbparams = cbparams;
     # if (URT_CFG_PUBSUB_PROFILING == true)
           subscriber->base.sumLatencies = 0;
           subscriber->base.numMessagesReceived = 0;
           subscriber->minLatency = URT_DELAY_INFINITE;
           subscriber->maxLatency = URT_DELAY_IMMEDIATE;
       subscriber->base.sumLatencies = 0;
       subscriber->base.numMessagesReceived = 0;
       subscriber->minLatency = URT_DELAY_INFINITE;
       subscriber->maxLatency = URT_DELAY_IMMEDIATE;
     # endif  /* URT_CFG_PUBSUB_PROFILING */
+      }
       //TODO: Lock topic
       if (messages)
-...
       if (subscriber->base.topic)
+      {
         if (URT_CFG_PUBSUB_PROFILING == true)
+        {
           //TODO: lock topic
           subscriber->base.topic->numHrtSubscribers--;
+        }
     # if (URT_CFG_PUBSUB_PROFILING == true)
         //TODO: lock topic
         subscriber->base.topic->numSubscribers--;
     # endif /* URT_CFG_PUBSUB_PROFILING */
         urtEventUnregister(subscriber->base.topic->evtSource, subscriber->base.evtListener);
     # if (URT_CFG_PUBSUB_PROFILING == true)
           //TODO: unlock topic
-...
       urtDebugAssert(subscriber);
       urtDebugAssert(topic);
         if (subscriber->base.topic)
+        {
           return URT_STATUS_SUBSCRIBE_TOPICSET;
+        }
         else
+        {
           subscriber->base.topic = topic;
       if (subscriber->base.topic)
+      {
         return URT_STATUS_SUBSCRIBE_TOPICSET;
+      }
       subscriber->base.topic = topic;
     # if (URT_CFG_PUBSUB_PROFILING == true)
             subscriber->base.sumLatencies = 0;
             subscriber->base.numMessagesReceived = 0;
       subscriber->base.sumLatencies = 0;
       subscriber->base.numMessagesReceived = 0;
     # endif /* URT_CFG_PUBSUB_PROFILING */
     # if (URT_CFG_PUBSUB_QOS_DEADLINECHECKS == true)
             subscriber->deadlineOffset = deadline;
       subscriber->deadlineOffset = deadline;
     # endif /* URT_CFG_PUBSUB_QOS_DEADLINECHECKS */
     # if (URT_CFG_PUBSUB_QOS_JITTERCHECKS == true)
             subscriber->maxJitter =jitter;
       subscriber->maxJitter =jitter;
     # endif /* URT_CFG_PUBSUB_QOS_JITTERCHECKS */
     # if (URT_CFG_PUBSUB_QOS_JITTERCHECKS == true || URT_CFG_PUBSUB_PROFILING == true)
             subscriber->minLatency = URT_DELAY_INFINITE;
             subscriber->maxLatency = URT_DELAY_IMMEDIATE;
       subscriber->minLatency = URT_DELAY_INFINITE;
       subscriber->maxLatency = URT_DELAY_IMMEDIATE;
     # endif /* URT_CFG_PUBSUB_QOS_JITTERCHECKS || URT_CFG_PUBSUB_PROFILING */
+        }
         //TODO: Lock topic
         if (messages)
       //TODO: Lock topic
       if (messages)
+      {
         urt_message_t* lastMessageContribute = messages;
         while (lastMessageContribute->next)
+        {
           urt_message_t* lastMessageContribute = messages;
           while (lastMessageContribute->next)
+          {
               lastMessageContribute = lastMessageContribute->next;
+          }
           lastMessageContribute->next = topic->latestMessage->next;
           topic->latestMessage->next = messages;
           lastMessageContribute = lastMessageContribute->next;
+        }
         lastMessageContribute->next = topic->latestMessage->next;
         topic->latestMessage->next = messages;
+      }
         subscriber->base.lastMessage = topic->latestMessage;
         subscriber->base.lastMessageTime = topic->latestMessage->originTime;
       subscriber->base.lastMessage = topic->latestMessage;
       subscriber->base.lastMessageTime = topic->latestMessage->originTime;
         urtEventRegister(topic->evtSource, subscriber->base.evtListener, URT_EVENTMASK_MAXPRIO, URT_EVENTFLAG_PROCEED); //TODO: Correct mask, flag?
       urtEventRegister(topic->evtSource, subscriber->base.evtListener, URT_EVENTMASK_MAXPRIO, URT_EVENTFLAG_PROCEED); //TODO: Correct mask, flag?
     # if (URT_CFG_PUBSUB_PROFILING == true)
           topic->numHrtSubscribers--;
       topic->numHrtSubscribers--;
     # endif /* URT_CFG_PUBSUB_PROFILING */
         //TODO: Unlock topic
         return URT_STATUS_OK;
       //TODO: Unlock topic
       return URT_STATUS_OK;
+    }
     /**
-...
     bool urtFrtSubscriberCalculateValidity(urt_frtsubscriber_t* subscriber, urt_delay_t latency)
+    {
     # if (URT_CFG_PUBSUB_QOS_DEADLINECHECKS == true && URT_CFG_PUBSUB_QOS_JITTERCHECKS == true)
         if (latency < subscriber->deadlineOffset && latency < subscriber->maxJitter)
             return true;
       if (latency < subscriber->deadlineOffset && latency < subscriber->maxJitter)
         return true;
     # endif /* URT_CFG_PUBSUB_QOS_DEADLINECHECKS && URT_CFG_PUBSUB_QOS_JITTERCHECKS */
       return false;
+    }
-...
      * @return  Returns URT_STATUS_OK on sucess.
      *          Returns URT_STATUS_UNSUBSCRIBE_NOTOPIC if the subscriber is not associated to a topic.
      */
     urt_status_t urtFrtSubscriberUnsubscribe(urt_frtsubscriber_t* subscriber){return URT_STATUS_OK;}
     urt_status_t urtFrtSubscriberUnsubscribe(urt_frtsubscriber_t* subscriber)
+    {
       urtDebugAssert(subscriber);
       if (subscriber->base.topic)
+      {
         //TODO: lock topic
         urtEventUnregister(subscriber->base.topic->evtSource, subscriber->base.evtListener);
         //TODO: decrement topic's HRT counter
     # if (URT_CFG_PUBSUB_PROFILING == true)
         subscriber->base.topic->numSubscribers--;
     # endif /* URT_CFG_PUBSUB_PROFILING */
     //Hier weiter
     # if (URT_CFG_PUBSUB_PROFILING == true)
         //TODO: unlock topic
     # endif /* URT_CFG_PUBSUB_PROFILING */
         subscriber->base.topic = NULL;
         subscriber->base.lastMessage = NULL;
         subscriber->base.lastMessageTime = 0;
         return URT_STATUS_OK;
+      }
       return URT_STATUS_UNSUBSCRIBE_NOTOPIC;
+    }
     /**
-...
      *          Returns URT_STATUS_SUBSCRIBE_TOPICSET if the subscriber is already associated to a topic.
      */
     urt_status_t urtHrtSubscriberSubscribe(urt_hrtsubscriber_t* subscriber, urt_topic_t* topic,
                                            urt_message_t* message, urt_delay_t deadline, urt_delay_t rate, urt_delay_t jitter){return URT_STATUS_OK;}
                                            urt_message_t* messages, urt_delay_t deadline, urt_delay_t rate, urt_delay_t jitter)
+    {
       urtDebugAssert(subscriber);
       urtDebugAssert(topic);
       if (subscriber->base.topic)
+      {
         return URT_STATUS_SUBSCRIBE_TOPICSET;
+      }
       subscriber->base.topic = topic;
     # if (URT_CFG_PUBSUB_PROFILING == true)
       subscriber->base.sumLatencies = 0;
       subscriber->base.numMessagesReceived = 0;
     # endif /* URT_CFG_PUBSUB_PROFILING */
     # if (URT_CFG_PUBSUB_QOS_DEADLINECHECKS == true)
       subscriber->deadlineOffset = deadline;
     # endif /* URT_CFG_PUBSUB_QOS_DEADLINECHECKS */
     # if (URT_CFG_PUBSUB_QOS_JITTERCHECKS == true)
       subscriber->maxJitter =jitter;
     # endif /* URT_CFG_PUBSUB_QOS_JITTERCHECKS */
     # if (URT_CFG_PUBSUB_QOS_JITTERCHECKS == true || URT_CFG_PUBSUB_PROFILING == true)
       subscriber->minLatency = URT_DELAY_INFINITE;
       subscriber->maxLatency = URT_DELAY_IMMEDIATE;
     # endif /* URT_CFG_PUBSUB_QOS_JITTERCHECKS || URT_CFG_PUBSUB_PROFILING */
     # if (URT_CFG_PUBSUB_QOS_RATECHECKS == true)
       subscriber->expectedRate = rate;
     # endif /* URT_CFG_PUBSUB_QOS_RATECHECKS */
       //TODO: Lock topic
       if (messages)
+      {
         urt_message_t* lastMessageContribute = messages;
         while (lastMessageContribute->next)
+        {
           lastMessageContribute = lastMessageContribute->next;
+        }
         lastMessageContribute->next = topic->latestMessage->next;
         topic->latestMessage->next = messages;
+      }
       subscriber->base.lastMessage = topic->latestMessage;
       subscriber->base.lastMessageTime = topic->latestMessage->originTime;
       urtEventRegister(topic->evtSource, subscriber->base.evtListener, URT_EVENTMASK_MAXPRIO, URT_EVENTFLAG_PROCEED); //TODO: Correct mask, flag?
     # if(URT_CFG_PUBSUB_QOS_RATECHECKS == true)
       urt_hrtsubscriber_t* hrtSubscriber = subscriber->base.topic->hrtSubscribers;
       while (!hrtSubscriber /* && expected Rate is lower */)
+      {
           hrtSubscriber = hrtSubscriber->next;
+      }
       if (!hrtSubscriber)
+      {
         //TODO: Append self to topic's list of HRT subscribers
+      }
       else
+      {
         //TOOD: insert self in front of current HRT susbcriber
         subscriber->next = hrtSubscriber;
+      }
     # endif /* URT_CFG_PUBSUB_QOS_RATECHECKS */
       topic->numHrtSubscribers--;
     # if (URT_CFG_PUBSUB_PROFILING == true)
       topic->numSubscribers--;
     # endif /* URT_CFG_PUBSUB_PROFILING */
       //TODO: Unlock topic
       return URT_STATUS_OK;
+    }
     /**
-...
      * @return  Returns URT_STATUS_OK on sucess.
      *          Returns URT_STATUS_UNSUBSCRIBE_NOTOPIC if the subscriber is not associated to a topic.
      */
     urt_status_t urtHrtSubscriberUnsubscribe(urt_hrtsubscriber_t* subscriber){return URT_STATUS_OK;}
     urt_status_t urtHrtSubscriberUnsubscribe(urt_hrtsubscriber_t* subscriber)
+    {
       urtDebugAssert(subscriber);
       if (subscriber->base.topic)
+      {
         //TODO: lock topic
         urtEventUnregister(subscriber->base.topic->evtSource, subscriber->base.evtListener);
         subscriber->base.topic->numHrtSubscribers--;
     # if (URT_CFG_PUBSUB_PROFILING == true)
         subscriber->base.topic->numSubscribers--;
     # endif /* URT_CFG_PUBSUB_PROFILING */
     # if (URT_CFG_PUBSUB_QOS_RATECHECKS == true)
         //TODO: remove self from topics lsit of HRT subscribers
         //TODO: ...
     # endif /* URT_CFG_PUBSUB_QOS_RATECHECKS */
         urt_message_t* messageTemp = subscriber->base.lastMessage;
         while (messageTemp->next->originTime < messageTemp->originTime)
+        {
             messageTemp = messageTemp->next;
             messageTemp->numHrtConsumersLeft--;
     # if(URT_CFG_PUBSUB_PROFILING == true)
             messageTemp->numConsumersLeft--;
     # endif /* URT_CFG_PUBSUB_PROFILING */
+        }
         bool temp = false;
         if (temp /*TODO: HRT counter of any message became 0?*/)
+        {
           //TODO: signal topics condition variable
+        }
         //TODO: unlock topic
         subscriber->base.topic = NULL;
         subscriber->base.lastMessage = NULL;
         subscriber->base.lastMessageTime = 0;
         return URT_STATUS_OK;
+      }
       return URT_STATUS_UNSUBSCRIBE_NOTOPIC;
+    }

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