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urtware / inc / urt_topic.h @ 5c6cb22f

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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 URTWARE_TOPIC_H
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#define URTWARE_TOPIC_H
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#include <urtware.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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 * @brief  topic
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 */
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typedef struct urt_topic
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{
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  struct urt_topic* next;
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  urt_topicid_t id;
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  urt_osMutex_t lock;
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  urt_osEventSource_t evtSource;
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  unsigned int numHrtSubscribers;
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  urt_osCondvar_t hrtReleased;
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  urt_message_t mandatoryMessage;
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  urt_message_t* latestMessage;
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  #if (URT_CFG_PUBSUB_QOS_RATECHECKS)
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    struct urt_hrtsubscriber* hrtSubscribers;
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    urt_osTimer_t qosRateTimer;
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  #endif /* URT_CFG_PUBSUB_QOS_RATECHECKS */
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  #if (URT_CFG_PUBSUB_PROFILING)
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    uint64_t numMessagesPublished;
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    uint64_t numMessagesDiscarded;
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    unsigned int numSubscribers;
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  #endif /* URT_CFG_PUBSUB_PROFILING */
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}urt_topic_t;
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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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  urt_status_t urtTopicInit(urt_topic_t* topic, urt_topicid_t id);
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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 /* URTWARE_TOPIC_H */