Revision 5b7188aa src/urt_subscriber.c
| src/urt_subscriber.c | ||
|---|---|---|
| 128 | 128 |
urt_status_t urtNrtSubscriberFetchNextMessage (urt_nrtsubscriber_t* subscriber, void* payload, size_t bytes, urt_delay_t* latency) |
| 129 | 129 |
{
|
| 130 | 130 |
urtDebugAssert(subscriber); |
| 131 |
|
|
| 132 |
urt_message_t youngestMessage; |
|
| 133 |
if (subscriber->base.topic) |
|
| 134 |
{
|
|
| 135 |
//TODO: Lock Topic |
|
| 136 |
urt_osTime_t localCopy; //TODO: replace with local copy |
|
| 137 |
if (subscriber->base.lastMessageTime == localCopy) |
|
| 138 |
{
|
|
| 139 |
if(subscriber->base.lastMessage->next->originTime < localCopy) |
|
| 140 |
{
|
|
| 141 |
youngestMessage = subscriber->base.lastMessage->next; |
|
| 142 |
} |
|
| 143 |
else |
|
| 144 |
{
|
|
| 145 |
//TODO: Unlock Topic |
|
| 146 |
return URT_STATUS_FETCH_NOMESSAGE; |
|
| 147 |
} |
|
| 148 |
} |
|
| 149 |
else |
|
| 150 |
{
|
|
| 151 |
youngestMessage = subscriber->base.lastMessage->next; |
|
| 152 |
while (youngestMessage.originTime < localCopy) |
|
| 153 |
{
|
|
| 154 |
youngestMessage = youngestMessage.next; |
|
| 155 |
} |
|
| 156 |
} |
|
| 157 |
} |
|
| 158 |
else |
|
| 159 |
{
|
|
| 160 |
return URT_STATUS_FETCH_NOTOPIC; |
|
| 161 |
} |
|
| 162 |
|
|
| 163 |
latency = subscriber->base.lastMessageTime - youngestMessage.originTime; |
|
| 164 |
|
|
| 165 |
//TODO: Other cases |
|
| 166 |
//TODO: Unlock topic |
|
| 167 | 131 |
return URT_STATUS_OK; |
| 168 | 132 |
} |
| 169 | 133 |
|
| ... | ... | |
| 191 | 155 |
* @return Returns URT_STATUS_OK on sucess. |
| 192 | 156 |
* Returns URT_STATUS_UNSUBSCRIBE_NOTOPIC if the subscriber is not associated to a topic. |
| 193 | 157 |
*/ |
| 194 |
urt_status_t urtNrtSubscriberUnsubscribe (urt_nrtsubscriber_t* subscriber) {
|
|
| 158 |
urt_status_t urtNrtSubscriberUnsubscribe (urt_nrtsubscriber_t* subscriber) |
|
| 159 |
{
|
|
| 195 | 160 |
if (subscriber->base.topic) |
| 196 | 161 |
{
|
| 197 | 162 |
# if(URT_CFG_PUBSUB_PROFILING == true) |
| 198 | 163 |
//TODO: LOCK TOPIC |
| 199 |
subscriber->base.topic->numHrtSubscribers--;
|
|
| 164 |
subscriber->base.topic->numSubscribers--; |
|
| 200 | 165 |
# endif /* URT_CFG_PUBSUB_PROFILING */ |
| 201 | 166 |
urtEventUnregister(subscriber->base.topic->evtSource, subscriber->base.evtListener); |
| 202 | 167 |
# if(URT_CFG_PUBSUB_PROFILING == true) |
| ... | ... | |
| 207 | 172 |
#endif /* URT_CFG_PUBSUB_PROFILING */ |
| 208 | 173 |
return URT_STATUS_OK; |
| 209 | 174 |
} |
| 210 |
else |
|
| 211 |
return URT_STATUS_UNSUBSCRIBE_NOTOPIC;
|
|
| 175 |
|
|
| 176 |
return URT_STATUS_UNSUBSCRIBE_NOTOPIC; |
|
| 212 | 177 |
} |
| 213 | 178 |
|
| 214 | 179 |
|
| ... | ... | |
| 262 | 227 |
{
|
| 263 | 228 |
return URT_STATUS_SUBSCRIBE_TOPICSET; |
| 264 | 229 |
} |
| 265 |
else |
|
| 266 |
{
|
|
| 267 |
subscriber->base.topic = topic; |
|
| 268 |
subscriber->usefulnesscb = usefulnesscb; |
|
| 269 |
subscriber->cbparams = cbparams; |
|
| 230 |
|
|
| 231 |
subscriber->base.topic = topic; |
|
| 232 |
subscriber->usefulnesscb = usefulnesscb; |
|
| 233 |
subscriber->cbparams = cbparams; |
|
| 270 | 234 |
# if (URT_CFG_PUBSUB_PROFILING == true) |
| 271 |
subscriber->base.sumLatencies = 0;
|
|
| 272 |
subscriber->base.numMessagesReceived = 0;
|
|
| 273 |
subscriber->minLatency = URT_DELAY_INFINITE;
|
|
| 274 |
subscriber->maxLatency = URT_DELAY_IMMEDIATE;
|
|
| 235 |
subscriber->base.sumLatencies = 0; |
|
| 236 |
subscriber->base.numMessagesReceived = 0; |
|
| 237 |
subscriber->minLatency = URT_DELAY_INFINITE; |
|
| 238 |
subscriber->maxLatency = URT_DELAY_IMMEDIATE; |
|
| 275 | 239 |
# endif /* URT_CFG_PUBSUB_PROFILING */ |
| 276 |
} |
|
| 277 | 240 |
|
| 278 | 241 |
//TODO: Lock topic |
| 279 | 242 |
if (messages) |
| ... | ... | |
| 359 | 322 |
|
| 360 | 323 |
if (subscriber->base.topic) |
| 361 | 324 |
{
|
| 362 |
if (URT_CFG_PUBSUB_PROFILING == true) |
|
| 363 |
{
|
|
| 364 |
//TODO: lock topic |
|
| 365 |
subscriber->base.topic->numHrtSubscribers--; |
|
| 366 |
} |
|
| 325 |
# if (URT_CFG_PUBSUB_PROFILING == true) |
|
| 326 |
//TODO: lock topic |
|
| 327 |
subscriber->base.topic->numSubscribers--; |
|
| 328 |
# endif /* URT_CFG_PUBSUB_PROFILING */ |
|
| 367 | 329 |
urtEventUnregister(subscriber->base.topic->evtSource, subscriber->base.evtListener); |
| 368 | 330 |
# if (URT_CFG_PUBSUB_PROFILING == true) |
| 369 | 331 |
//TODO: unlock topic |
| ... | ... | |
| 435 | 397 |
urtDebugAssert(subscriber); |
| 436 | 398 |
urtDebugAssert(topic); |
| 437 | 399 |
|
| 438 |
if (subscriber->base.topic) |
|
| 439 |
{
|
|
| 440 |
return URT_STATUS_SUBSCRIBE_TOPICSET; |
|
| 441 |
} |
|
| 442 |
else |
|
| 443 |
{
|
|
| 444 |
subscriber->base.topic = topic; |
|
| 400 |
if (subscriber->base.topic) |
|
| 401 |
{
|
|
| 402 |
return URT_STATUS_SUBSCRIBE_TOPICSET; |
|
| 403 |
} |
|
| 404 |
|
|
| 405 |
subscriber->base.topic = topic; |
|
| 445 | 406 |
# if (URT_CFG_PUBSUB_PROFILING == true) |
| 446 |
subscriber->base.sumLatencies = 0;
|
|
| 447 |
subscriber->base.numMessagesReceived = 0;
|
|
| 407 |
subscriber->base.sumLatencies = 0; |
|
| 408 |
subscriber->base.numMessagesReceived = 0; |
|
| 448 | 409 |
# endif /* URT_CFG_PUBSUB_PROFILING */ |
| 449 | 410 |
# if (URT_CFG_PUBSUB_QOS_DEADLINECHECKS == true) |
| 450 |
subscriber->deadlineOffset = deadline;
|
|
| 411 |
subscriber->deadlineOffset = deadline; |
|
| 451 | 412 |
# endif /* URT_CFG_PUBSUB_QOS_DEADLINECHECKS */ |
| 452 | 413 |
# if (URT_CFG_PUBSUB_QOS_JITTERCHECKS == true) |
| 453 |
subscriber->maxJitter =jitter;
|
|
| 414 |
subscriber->maxJitter =jitter; |
|
| 454 | 415 |
# endif /* URT_CFG_PUBSUB_QOS_JITTERCHECKS */ |
| 455 | 416 |
# if (URT_CFG_PUBSUB_QOS_JITTERCHECKS == true || URT_CFG_PUBSUB_PROFILING == true) |
| 456 |
subscriber->minLatency = URT_DELAY_INFINITE;
|
|
| 457 |
subscriber->maxLatency = URT_DELAY_IMMEDIATE;
|
|
| 417 |
subscriber->minLatency = URT_DELAY_INFINITE; |
|
| 418 |
subscriber->maxLatency = URT_DELAY_IMMEDIATE; |
|
| 458 | 419 |
# endif /* URT_CFG_PUBSUB_QOS_JITTERCHECKS || URT_CFG_PUBSUB_PROFILING */ |
| 459 |
} |
|
| 460 | 420 |
|
| 461 |
//TODO: Lock topic |
|
| 462 |
if (messages) |
|
| 421 |
//TODO: Lock topic |
|
| 422 |
if (messages) |
|
| 423 |
{
|
|
| 424 |
urt_message_t* lastMessageContribute = messages; |
|
| 425 |
while (lastMessageContribute->next) |
|
| 463 | 426 |
{
|
| 464 |
urt_message_t* lastMessageContribute = messages; |
|
| 465 |
while (lastMessageContribute->next) |
|
| 466 |
{
|
|
| 467 |
lastMessageContribute = lastMessageContribute->next; |
|
| 468 |
} |
|
| 469 |
lastMessageContribute->next = topic->latestMessage->next; |
|
| 470 |
topic->latestMessage->next = messages; |
|
| 427 |
lastMessageContribute = lastMessageContribute->next; |
|
| 471 | 428 |
} |
| 429 |
lastMessageContribute->next = topic->latestMessage->next; |
|
| 430 |
topic->latestMessage->next = messages; |
|
| 431 |
} |
|
| 472 | 432 |
|
| 473 |
subscriber->base.lastMessage = topic->latestMessage;
|
|
| 474 |
subscriber->base.lastMessageTime = topic->latestMessage->originTime;
|
|
| 433 |
subscriber->base.lastMessage = topic->latestMessage; |
|
| 434 |
subscriber->base.lastMessageTime = topic->latestMessage->originTime; |
|
| 475 | 435 |
|
| 476 |
urtEventRegister(topic->evtSource, subscriber->base.evtListener, URT_EVENTMASK_MAXPRIO, URT_EVENTFLAG_PROCEED); //TODO: Correct mask, flag?
|
|
| 436 |
urtEventRegister(topic->evtSource, subscriber->base.evtListener, URT_EVENTMASK_MAXPRIO, URT_EVENTFLAG_PROCEED); //TODO: Correct mask, flag? |
|
| 477 | 437 |
|
| 478 | 438 |
# if (URT_CFG_PUBSUB_PROFILING == true) |
| 479 |
topic->numHrtSubscribers--;
|
|
| 439 |
topic->numHrtSubscribers--; |
|
| 480 | 440 |
# endif /* URT_CFG_PUBSUB_PROFILING */ |
| 481 | 441 |
|
| 482 |
//TODO: Unlock topic
|
|
| 483 |
return URT_STATUS_OK;
|
|
| 442 |
//TODO: Unlock topic |
|
| 443 |
return URT_STATUS_OK; |
|
| 484 | 444 |
} |
| 485 | 445 |
|
| 486 | 446 |
/** |
| ... | ... | |
| 524 | 484 |
bool urtFrtSubscriberCalculateValidity(urt_frtsubscriber_t* subscriber, urt_delay_t latency) |
| 525 | 485 |
{
|
| 526 | 486 |
# if (URT_CFG_PUBSUB_QOS_DEADLINECHECKS == true && URT_CFG_PUBSUB_QOS_JITTERCHECKS == true) |
| 527 |
if (latency < subscriber->deadlineOffset && latency < subscriber->maxJitter)
|
|
| 528 |
return true;
|
|
| 487 |
if (latency < subscriber->deadlineOffset && latency < subscriber->maxJitter) |
|
| 488 |
return true; |
|
| 529 | 489 |
# endif /* URT_CFG_PUBSUB_QOS_DEADLINECHECKS && URT_CFG_PUBSUB_QOS_JITTERCHECKS */ |
| 490 |
|
|
| 530 | 491 |
return false; |
| 531 | 492 |
} |
| 532 | 493 |
|
| ... | ... | |
| 538 | 499 |
* @return Returns URT_STATUS_OK on sucess. |
| 539 | 500 |
* Returns URT_STATUS_UNSUBSCRIBE_NOTOPIC if the subscriber is not associated to a topic. |
| 540 | 501 |
*/ |
| 541 |
urt_status_t urtFrtSubscriberUnsubscribe(urt_frtsubscriber_t* subscriber){return URT_STATUS_OK;}
|
|
| 502 |
urt_status_t urtFrtSubscriberUnsubscribe(urt_frtsubscriber_t* subscriber) |
|
| 503 |
{
|
|
| 504 |
urtDebugAssert(subscriber); |
|
| 505 |
|
|
| 506 |
if (subscriber->base.topic) |
|
| 507 |
{
|
|
| 508 |
//TODO: lock topic |
|
| 509 |
urtEventUnregister(subscriber->base.topic->evtSource, subscriber->base.evtListener); |
|
| 510 |
//TODO: decrement topic's HRT counter |
|
| 511 |
# if (URT_CFG_PUBSUB_PROFILING == true) |
|
| 512 |
subscriber->base.topic->numSubscribers--; |
|
| 513 |
# endif /* URT_CFG_PUBSUB_PROFILING */ |
|
| 514 |
//Hier weiter |
|
| 515 |
|
|
| 516 |
# if (URT_CFG_PUBSUB_PROFILING == true) |
|
| 517 |
//TODO: unlock topic |
|
| 518 |
# endif /* URT_CFG_PUBSUB_PROFILING */ |
|
| 519 |
subscriber->base.topic = NULL; |
|
| 520 |
subscriber->base.lastMessage = NULL; |
|
| 521 |
subscriber->base.lastMessageTime = 0; |
|
| 522 |
return URT_STATUS_OK; |
|
| 523 |
} |
|
| 524 |
|
|
| 525 |
return URT_STATUS_UNSUBSCRIBE_NOTOPIC; |
|
| 526 |
} |
|
| 542 | 527 |
|
| 543 | 528 |
|
| 544 | 529 |
/** |
| ... | ... | |
| 602 | 587 |
* Returns URT_STATUS_SUBSCRIBE_TOPICSET if the subscriber is already associated to a topic. |
| 603 | 588 |
*/ |
| 604 | 589 |
urt_status_t urtHrtSubscriberSubscribe(urt_hrtsubscriber_t* subscriber, urt_topic_t* topic, |
| 605 |
urt_message_t* message, urt_delay_t deadline, urt_delay_t rate, urt_delay_t jitter){return URT_STATUS_OK;}
|
|
| 590 |
urt_message_t* messages, urt_delay_t deadline, urt_delay_t rate, urt_delay_t jitter) |
|
| 591 |
{
|
|
| 592 |
urtDebugAssert(subscriber); |
|
| 593 |
urtDebugAssert(topic); |
|
| 594 |
|
|
| 595 |
if (subscriber->base.topic) |
|
| 596 |
{
|
|
| 597 |
return URT_STATUS_SUBSCRIBE_TOPICSET; |
|
| 598 |
} |
|
| 599 |
|
|
| 600 |
subscriber->base.topic = topic; |
|
| 601 |
# if (URT_CFG_PUBSUB_PROFILING == true) |
|
| 602 |
subscriber->base.sumLatencies = 0; |
|
| 603 |
subscriber->base.numMessagesReceived = 0; |
|
| 604 |
# endif /* URT_CFG_PUBSUB_PROFILING */ |
|
| 605 |
# if (URT_CFG_PUBSUB_QOS_DEADLINECHECKS == true) |
|
| 606 |
subscriber->deadlineOffset = deadline; |
|
| 607 |
# endif /* URT_CFG_PUBSUB_QOS_DEADLINECHECKS */ |
|
| 608 |
# if (URT_CFG_PUBSUB_QOS_JITTERCHECKS == true) |
|
| 609 |
subscriber->maxJitter =jitter; |
|
| 610 |
# endif /* URT_CFG_PUBSUB_QOS_JITTERCHECKS */ |
|
| 611 |
# if (URT_CFG_PUBSUB_QOS_JITTERCHECKS == true || URT_CFG_PUBSUB_PROFILING == true) |
|
| 612 |
subscriber->minLatency = URT_DELAY_INFINITE; |
|
| 613 |
subscriber->maxLatency = URT_DELAY_IMMEDIATE; |
|
| 614 |
# endif /* URT_CFG_PUBSUB_QOS_JITTERCHECKS || URT_CFG_PUBSUB_PROFILING */ |
|
| 615 |
# if (URT_CFG_PUBSUB_QOS_RATECHECKS == true) |
|
| 616 |
subscriber->expectedRate = rate; |
|
| 617 |
# endif /* URT_CFG_PUBSUB_QOS_RATECHECKS */ |
|
| 618 |
|
|
| 619 |
//TODO: Lock topic |
|
| 620 |
if (messages) |
|
| 621 |
{
|
|
| 622 |
urt_message_t* lastMessageContribute = messages; |
|
| 623 |
while (lastMessageContribute->next) |
|
| 624 |
{
|
|
| 625 |
lastMessageContribute = lastMessageContribute->next; |
|
| 626 |
} |
|
| 627 |
lastMessageContribute->next = topic->latestMessage->next; |
|
| 628 |
topic->latestMessage->next = messages; |
|
| 629 |
} |
|
| 630 |
|
|
| 631 |
subscriber->base.lastMessage = topic->latestMessage; |
|
| 632 |
subscriber->base.lastMessageTime = topic->latestMessage->originTime; |
|
| 633 |
|
|
| 634 |
urtEventRegister(topic->evtSource, subscriber->base.evtListener, URT_EVENTMASK_MAXPRIO, URT_EVENTFLAG_PROCEED); //TODO: Correct mask, flag? |
|
| 635 |
|
|
| 636 |
# if(URT_CFG_PUBSUB_QOS_RATECHECKS == true) |
|
| 637 |
urt_hrtsubscriber_t* hrtSubscriber = subscriber->base.topic->hrtSubscribers; |
|
| 638 |
while (!hrtSubscriber /* && expected Rate is lower */) |
|
| 639 |
{
|
|
| 640 |
hrtSubscriber = hrtSubscriber->next; |
|
| 641 |
} |
|
| 642 |
|
|
| 643 |
if (!hrtSubscriber) |
|
| 644 |
{
|
|
| 645 |
//TODO: Append self to topic's list of HRT subscribers |
|
| 646 |
} |
|
| 647 |
else |
|
| 648 |
{
|
|
| 649 |
//TOOD: insert self in front of current HRT susbcriber |
|
| 650 |
subscriber->next = hrtSubscriber; |
|
| 651 |
} |
|
| 652 |
# endif /* URT_CFG_PUBSUB_QOS_RATECHECKS */ |
|
| 653 |
|
|
| 654 |
topic->numHrtSubscribers--; |
|
| 655 |
# if (URT_CFG_PUBSUB_PROFILING == true) |
|
| 656 |
topic->numSubscribers--; |
|
| 657 |
# endif /* URT_CFG_PUBSUB_PROFILING */ |
|
| 658 |
|
|
| 659 |
//TODO: Unlock topic |
|
| 660 |
return URT_STATUS_OK; |
|
| 661 |
} |
|
| 606 | 662 |
|
| 607 | 663 |
|
| 608 | 664 |
/** |
| ... | ... | |
| 644 | 700 |
* @return Returns URT_STATUS_OK on sucess. |
| 645 | 701 |
* Returns URT_STATUS_UNSUBSCRIBE_NOTOPIC if the subscriber is not associated to a topic. |
| 646 | 702 |
*/ |
| 647 |
urt_status_t urtHrtSubscriberUnsubscribe(urt_hrtsubscriber_t* subscriber){return URT_STATUS_OK;}
|
|
| 703 |
urt_status_t urtHrtSubscriberUnsubscribe(urt_hrtsubscriber_t* subscriber) |
|
| 704 |
{
|
|
| 705 |
urtDebugAssert(subscriber); |
|
| 706 |
|
|
| 707 |
if (subscriber->base.topic) |
|
| 708 |
{
|
|
| 709 |
//TODO: lock topic |
|
| 710 |
urtEventUnregister(subscriber->base.topic->evtSource, subscriber->base.evtListener); |
|
| 711 |
subscriber->base.topic->numHrtSubscribers--; |
|
| 712 |
# if (URT_CFG_PUBSUB_PROFILING == true) |
|
| 713 |
subscriber->base.topic->numSubscribers--; |
|
| 714 |
# endif /* URT_CFG_PUBSUB_PROFILING */ |
|
| 715 |
# if (URT_CFG_PUBSUB_QOS_RATECHECKS == true) |
|
| 716 |
//TODO: remove self from topics lsit of HRT subscribers |
|
| 717 |
//TODO: ... |
|
| 718 |
# endif /* URT_CFG_PUBSUB_QOS_RATECHECKS */ |
|
| 719 |
|
|
| 720 |
urt_message_t* messageTemp = subscriber->base.lastMessage; |
|
| 721 |
while (messageTemp->next->originTime < messageTemp->originTime) |
|
| 722 |
{
|
|
| 723 |
messageTemp = messageTemp->next; |
|
| 724 |
messageTemp->numHrtConsumersLeft--; |
|
| 725 |
# if(URT_CFG_PUBSUB_PROFILING == true) |
|
| 726 |
messageTemp->numConsumersLeft--; |
|
| 727 |
# endif /* URT_CFG_PUBSUB_PROFILING */ |
|
| 728 |
} |
|
| 729 |
bool temp = false; |
|
| 730 |
if (temp /*TODO: HRT counter of any message became 0?*/) |
|
| 731 |
{
|
|
| 732 |
//TODO: signal topics condition variable |
|
| 733 |
} |
|
| 734 |
|
|
| 735 |
//TODO: unlock topic |
|
| 736 |
subscriber->base.topic = NULL; |
|
| 737 |
subscriber->base.lastMessage = NULL; |
|
| 738 |
subscriber->base.lastMessageTime = 0; |
|
| 739 |
return URT_STATUS_OK; |
|
| 740 |
} |
|
| 741 |
|
|
| 742 |
return URT_STATUS_UNSUBSCRIBE_NOTOPIC; |
|
| 743 |
} |
|
| 744 |
|
|
| 745 |
|
|
| 746 |
|
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