Revision 5c6cb22f
| inc/urt_message.h | ||
|---|---|---|
| 45 | 45 |
*/ |
| 46 | 46 |
typedef struct urt_message |
| 47 | 47 |
{
|
| 48 |
urt_message_t* next;
|
|
| 48 |
struct urt_message* next;
|
|
| 49 | 49 |
void* payload; |
| 50 | 50 |
urt_osTime_t originTime; |
| 51 | 51 |
unsigned int numHrtConsumersLeft; |
| inc/urt_subscriber.h | ||
|---|---|---|
| 22 | 22 |
#ifndef URTWARE_SUBSCRIBER_H |
| 23 | 23 |
#define URTWARE_SUBSCRIBER_H |
| 24 | 24 |
|
| 25 |
#include <urt_types.h> |
|
| 26 | 25 |
#include <urtware.h> |
| 27 | 26 |
|
| 28 | 27 |
/******************************************************************************/ |
| ... | ... | |
| 70 | 69 |
}urt_nrtsubscriber_t; |
| 71 | 70 |
|
| 72 | 71 |
/** |
| 73 |
* @brief nrt subscriber
|
|
| 72 |
* @brief srt subscriber
|
|
| 74 | 73 |
*/ |
| 75 | 74 |
typedef struct urt_srtsubscriber |
| 76 | 75 |
{
|
| 77 | 76 |
urt_basesubscriber_t base; |
| 78 |
urt_srtusefulnessfunc_t* usefulnesscb; |
|
| 77 |
void* cbparams; |
|
| 78 |
urt_usefulness_f* usefulnesscb; |
|
| 79 | 79 |
#if (URT_CFG_PUBSUB_PROFILING) |
| 80 | 80 |
urt_delay_t minLatency; |
| 81 | 81 |
urt_delay_t maxLatency; |
| ... | ... | |
| 83 | 83 |
}urt_srtsubscriber_t; |
| 84 | 84 |
|
| 85 | 85 |
/** |
| 86 |
* @brief nrt subscriber
|
|
| 86 |
* @brief frt subscriber
|
|
| 87 | 87 |
*/ |
| 88 | 88 |
typedef struct urt_frtsubscriber |
| 89 | 89 |
{
|
| ... | ... | |
| 106 | 106 |
typedef struct urt_hrtsubscriber |
| 107 | 107 |
{
|
| 108 | 108 |
urt_basesubscriber_t base; |
| 109 |
urt_hrtsubscriber_t* next;
|
|
| 109 |
struct urt_hrtsubscriber* next;
|
|
| 110 | 110 |
#if (URT_CFG_PUBSUB_QOS_DEADLINECHECKS) |
| 111 | 111 |
urt_delay_t deadlineOffset; |
| 112 | 112 |
urt_osTimer_t qosDeadlineTimer; |
| ... | ... | |
| 142 | 142 |
urt_status_t urtNrtSubscriberUnsubscribe(urt_nrtsubscriber_t* subscriber); |
| 143 | 143 |
|
| 144 | 144 |
void urtSrtSubscriberInit(urt_srtsubscriber_t* subscriber); |
| 145 |
urt_status_t urtSrtSubscriberSubscribe(urt_srtsubscriber_t* subscriber, urt_topic_t* topic, urt_message_t* message, urt_srtusefulnessfunc_t* usefulnesscb, void* cbparams);
|
|
| 145 |
urt_status_t urtSrtSubscriberSubscribe(urt_srtsubscriber_t* subscriber, urt_topic_t* topic, urt_message_t* message, urt_usefulness_f* 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 | 148 |
float urtSrtSubscriberCalculateUsefulness(urt_srtsubscriber_t* subscriber, urt_delay_t latency); |
| ... | ... | |
| 160 | 160 |
urt_status_t urtHrtSubscriberFetchNextMessage(urt_hrtsubscriber_t* subscriber, void* payload, size_t bytes, urt_delay_t* latency); |
| 161 | 161 |
urt_status_t urtHrtSubscriberFetchLatestMessage(urt_hrtsubscriber_t* subscriber, void* payload, size_t bytes, urt_delay_t* latency); |
| 162 | 162 |
urt_status_t urtHrtSubscriberUnsubscribe(urt_hrtsubscriber_t* subscriber); |
| 163 |
|
|
| 164 |
float urt_srtusefulnessfunc_t (urt_delay_t dt, void* params); |
|
| 165 | 163 |
#if defined(__cplusplus) |
| 166 | 164 |
} |
| 167 | 165 |
#endif /* defined(__cplusplus) */ |
| inc/urt_topic.h | ||
|---|---|---|
| 22 | 22 |
#ifndef URTWARE_TOPIC_H |
| 23 | 23 |
#define URTWARE_TOPIC_H |
| 24 | 24 |
|
| 25 |
#include <urt_types.h> |
|
| 26 | 25 |
#include <urtware.h> |
| 27 | 26 |
|
| 28 | 27 |
/******************************************************************************/ |
| ... | ... | |
| 46 | 45 |
*/ |
| 47 | 46 |
typedef struct urt_topic |
| 48 | 47 |
{
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urt_topic_t* next;
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struct urt_topic* next;
|
|
| 50 | 49 |
urt_topicid_t id; |
| 51 | 50 |
urt_osMutex_t lock; |
| 52 | 51 |
urt_osEventSource_t evtSource; |
| ... | ... | |
| 55 | 54 |
urt_message_t mandatoryMessage; |
| 56 | 55 |
urt_message_t* latestMessage; |
| 57 | 56 |
#if (URT_CFG_PUBSUB_QOS_RATECHECKS) |
| 58 |
urt_hrtsubscriber_t* hrtSubscribers;
|
|
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struct urt_hrtsubscriber* hrtSubscribers;
|
|
| 59 | 58 |
urt_osTimer_t qosRateTimer; |
| 60 | 59 |
#endif /* URT_CFG_PUBSUB_QOS_RATECHECKS */ |
| 61 | 60 |
#if (URT_CFG_PUBSUB_PROFILING) |
| src/urt_core.c | ||
|---|---|---|
| 244 | 244 |
* @return Returns a pointer to the requested service. Returns NULL if no service matches the given ID. |
| 245 | 245 |
*/ |
| 246 | 246 |
#if (URT_CFG_PUBSUB_ENABLED) |
| 247 |
urt_topic_t* urtCoreGetTopic(urt_topicid_t id) {return urt_topic_t;}
|
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urt_topic_t* urtCoreGetTopic(urt_topicid_t id) |
|
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{
|
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urtMutexLock(&core._lock); |
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urt_topic_t* topic = core._topics; |
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while (topic != NULL && topic->id < id) |
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topic = topic->next; |
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urtMutexUnlock(&core._lock); |
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if (topic != NULL && topic->id == id) |
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return topic; |
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else |
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return NULL; |
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} |
|
| 248 | 259 |
#endif /* URT_CFG_PUBSUB_ENABLED */ |
| 249 | 260 |
|
| 250 | 261 |
|
| src/urt_subscriber.c | ||
|---|---|---|
| 50 | 50 |
* |
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* @param[in] subscriber The NRT subscriber to initialize. Must not be NULL. |
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*/ |
| 53 |
void urtNrtSubscriberInit (urt_nrtsubscriber_t* subscriber) {return;}
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void urtNrtSubscriberInit (urt_nrtsubscriber_t* subscriber) |
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{
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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->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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/** |
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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 to initialize. Must not be NULL. |
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*/ |
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void urtSrtSubscriberInit(urt_srtsubscriber_t* subscriber) {return;}
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void urtSrtSubscriberInit(urt_srtsubscriber_t* subscriber) |
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{
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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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/** |
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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 to initialize. Must not be NULL. |
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*/ |
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void urtFrtSubscriberInit(urt_frtsubscriber_t* subscriber){return URT_STATUS_OK;}
|
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void urtFrtSubscriberInit(urt_frtsubscriber_t* subscriber) |
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{
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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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|
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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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|
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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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|
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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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|
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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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|
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/** |
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* @brief Subscribes the subscriber to a topic. |
| ... | ... | |
| 260 | 312 |
/** |
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* @brief Unsubscribes from a subscriber. |
| 262 | 314 |
* |
| 263 |
* @param[in] subscriber The NRT subscriber to be unsubscribed. Must not be NULL.
|
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* @param[in] subscriber The FRT subscriber to be unsubscribed. Must not be NULL.
|
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* |
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* @return Returns URT_STATUS_OK on sucess. |
| 266 | 318 |
* Returns URT_STATUS_UNSUBSCRIBE_NOTOPIC if the subscriber is not associated to a topic. |
| ... | ... | |
| 273 | 325 |
* |
| 274 | 326 |
* @param[in] subscriber The HRT subscriber to initialize. Must not be NULL. |
| 275 | 327 |
*/ |
| 276 |
void urtHrtSubscriberInit(urt_hrtsubscriber_t* subscriber){return;}
|
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void urtHrtSubscriberInit(urt_hrtsubscriber_t* subscriber) |
|
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{
|
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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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|
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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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| 339 |
|
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subscriber->next = NULL; |
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|
|
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#if (URT_CFG_PUBSUB_QOS_DEADLINECHECKS) |
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subscriber->deadlineOffset = 0; |
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urtTimerInit(subscriber->qodDeadlineTimer); |
|
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#endif /* URT_CFG_PUBSUB_QOS_DEADLINECHECKS */ |
|
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|
|
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#if (URT_CFG_PUBSUB_QOS_RATECHECKS) |
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subscriber->expectedRate = 0; |
|
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#endif /* URT_CFG_PUBSUB_QOS_RATECHECKS */ |
|
| 350 |
|
|
| 351 |
#if (URT_CFG_PUBSUB_QOS_JITTERCHECKS) |
|
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subscriber->maxJitter = 0; |
|
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#endif /* URT_CFG_PUBSUB_QOS_JITTERCHECKS */ |
|
| 354 |
|
|
| 355 |
#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; |
|
| 358 |
#endif /* URT_CFG_PUBSUB_QOS_JITTERCHECKS || URT_CFG_PUBSUB_PROFILING */ |
|
| 359 |
return; |
|
| 360 |
} |
|
| 361 |
|
|
| 277 | 362 |
|
| 278 | 363 |
/** |
| 279 | 364 |
* @brief Subscribes the subscriber to a topic. |
| 280 | 365 |
* |
| 281 |
* @param[in] subscriber The NRT subscriber which shall subscribe to a topic. Must not be NULL.
|
|
| 366 |
* @param[in] subscriber The HRT subscriber which shall subscribe to a topic. Must not be NULL.
|
|
| 282 | 367 |
* @param[in] topic The topic to subscribe to. Must not be NULL. |
| 283 | 368 |
* @param[in] messages NULL terminated list of messages to contribute to the topic. |
| 284 | 369 |
* Messages must not be associated to another topic. |
| src/urt_topic.c | ||
|---|---|---|
| 58 | 58 |
{
|
| 59 | 59 |
urt_topic_t.next = NULL; |
| 60 | 60 |
urt_topic_t.id = id; |
| 61 |
//add later: urtmutexinit, urteventsourceinit |
|
| 61 |
urtMutexInit(topic->lock); |
|
| 62 |
urtEventSourceInit(topic->evtSource); |
|
| 62 | 63 |
urt_topic_t.numHrtSubscribers = 0; |
| 63 |
//add later: condvar, message init, latest message |
|
| 64 |
urtCondvarInit(topic->hrtReleased); |
|
| 65 |
void* payload = NULL; //TODO: Replace |
|
| 66 |
urtMessageInit(topic->mandatoryMessage, payload); |
|
| 67 |
topic->latestMessage = &topic->mandatoryMessage; |
|
| 64 | 68 |
#if (URT_CFG_PUBSUB_QOS_RATECHECKS) |
| 65 | 69 |
urt_topic_t.hrtSubscribers = nullptr; |
| 66 | 70 |
//add later: timer init; |
| ... | ... | |
| 70 | 74 |
urt_topic_t.numMessagesDiscarded = 0; |
| 71 | 75 |
urt_topic_t.numSubscribers = 0; |
| 72 | 76 |
#endif /* URT_CFG_PUBSUB_PROFILING */ |
| 73 |
//add later: close circular message buffer,... |
|
| 74 |
return URT_STATUS_OK; |
|
| 77 |
topic->latestMessage->next = topic->latestMessage; |
|
| 78 |
urtMutexLock(topic->lock); |
|
| 79 |
urt_topic_t* topicTemp = topic; |
|
| 80 |
while (topicTemp != NULL && topicTemp->id < id) |
|
| 81 |
topicTemp = topicTemp->next; |
|
| 82 |
|
|
| 83 |
if (topicTemp == NULL) |
|
| 84 |
{
|
|
| 85 |
//TODO: Append self to core's list of topic |
|
| 86 |
urtMutexUnlock(topic->lock); |
|
| 87 |
return URT_STATUS_OK; |
|
| 88 |
} |
|
| 89 |
else if (topicTemp->id > id) |
|
| 90 |
{
|
|
| 91 |
topicTemp->next = topic; |
|
| 92 |
urtMutexUnlock(topic->lock); |
|
| 93 |
return URT_STATUS_OK; |
|
| 94 |
} |
|
| 95 |
else |
|
| 96 |
{
|
|
| 97 |
urtMutexUnlock(topic->lock); |
|
| 98 |
return URT_STATUS_TOPIC_DUPLICATE; |
|
| 99 |
} |
|
| 75 | 100 |
} |
| urtware.h | ||
|---|---|---|
| 96 | 96 |
* TODO: Add further µRtWare includes here (e.g. urt_core.h). |
| 97 | 97 |
*/ |
| 98 | 98 |
#include <apps_urtosal.h> |
| 99 |
#include <urt_message.h> |
|
| 100 |
#include <urt_topic.h> |
|
| 101 |
#include <urt_subscriber.h> |
|
| 99 | 102 |
#include <urt_node.h> |
| 100 | 103 |
#include <urt_core.h> |
| 101 | 104 |
|
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