urtware / src / urt_subscriber.c @ 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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#include <urtware.h> |
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/******************************************************************************/
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/* LOCAL DEFINITIONS */
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/******************************************************************************/
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/******************************************************************************/
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/* EXPORTED VARIABLES */
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/******************************************************************************/
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/******************************************************************************/
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/* LOCAL TYPES */
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/******************************************************************************/
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/******************************************************************************/
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/* LOCAL VARIABLES */
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/******************************************************************************/
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/******************************************************************************/
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/* LOCAL FUNCTIONS */
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/******************************************************************************/
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/******************************************************************************/
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/* EXPORTED FUNCTIONS */
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/******************************************************************************/
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/**
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* @brief Initialize the nrt Subscriber.
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*
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* @param[in] subscriber The NRT subscriber to initialize. Must not be NULL.
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*/
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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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* @brief Subscribes the subscriber to a topic.
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*
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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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*
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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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*/
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urt_status_t urtNrtSubscriberSubscribe (urt_nrtsubscriber_t* subscriber, urt_topic_t* topic, urt_message_t* messages) {
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return URT_STATUS_OK;
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} |
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/**
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* @brief Fetches the next message.
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*
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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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*
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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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*/
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urt_status_t urtNrtSubscriberFetchNextMessage (urt_nrtsubscriber_t* subscriber, void* payload, size_t bytes, urt_delay_t* latency) {
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return URT_STATUS_OK;
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} |
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/**
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* @brief Fetches the lates message.
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*
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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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*
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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.
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*/
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urt_status_t urtNrtSubscriberFetchLatestMessage (urt_nrtsubscriber_t* subscriber, void* payload, size_t bytes, urt_delay_t* latency) {
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return URT_STATUS_OK;
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} |
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/**
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* @brief Unsubscribes from a subscriber.
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*
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* @param[in] subscriber The NRT subscriber to be unsubscribed. Must not be NULL.
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*
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* @return Returns URT_STATUS_OK on sucess.
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* Returns URT_STATUS_UNSUBSCRIBE_NOTOPIC if the subscriber is not associated to a topic.
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*/
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urt_status_t urtNrtSubscriberUnsubscribe (urt_nrtsubscriber_t* subscriber) {
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return URT_STATUS_OK;
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} |
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/**
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* @brief Initialize the srt Subscriber.
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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)
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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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* @brief Subscribes the subscriber to a topic.
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*
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* @param[in] subscriber The SRT 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] 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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* @param[in] usefulnesscb Pointer to a function to calculate usefulness of a message. Must not be NULL.
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* @param[in] cbparams Optional parameters for the usefulness callback.
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* May be NULL if the callback expects no parameters.
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*
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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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*/
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urt_status_t urtSrtSubscriberSubscribe(urt_srtsubscriber_t* subscriber, urt_topic_t* topic, |
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urt_message_t* message, urt_srtusefulnessfunc_t* usefulnesscb, void* cbparams) {return URT_STATUS_OK;} |
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/**
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* @brief Fetches the next message.
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*
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* @param[in] subscriber The SRT 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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*
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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.
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*/
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urt_status_t urtSrtSubscriberFetchNextMessage(urt_srtsubscriber_t* subscriber, void* payload,
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size_t bytes, urt_delay_t* latency){return URT_STATUS_OK;}
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/**
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* @brief Fetches the latest message.
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*
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* @param[in] subscriber The SRT 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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*
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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.
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*/
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urt_status_t urtSrtSubscriberFetchLatestMessage(urt_srtsubscriber_t* subscriber, void* payload,
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size_t bytes, urt_delay_t* latency){return URT_STATUS_OK;}
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/**
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* @brief Calculates the usefulness of the subscriber.
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*
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* @param[in] subscriber The SRT subscriber that shall fetch the message. Must not be NULL.
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* @param[in] latency Latency (of a message) as argument to calculate usefulness.
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*
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* @return Returns the usefulness as a value within [0,1].
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*/
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float urtSrtSubscriberCalculateUsefulness(urt_srtsubscriber_t* subscriber, urt_delay_t latency){return 0;} |
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/**
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* @brief Unsubscribes from a subscriber.
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*
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* @param[in] subscriber The NRT subscriber to be unsubscribed. Must not be NULL.
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*
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* @return Returns URT_STATUS_OK on sucess.
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* Returns URT_STATUS_UNSUBSCRIBE_NOTOPIC if the subscriber is not associated to a topic.
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*/
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urt_status_t urtSrtSubscriberUnsubscribe(urt_srtsubscriber_t* subscriber){return URT_STATUS_OK;}
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/**
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* @brief Initialize the FRT Subscriber.
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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)
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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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#endif /* URT_CFG_PUBSUB_PROFILING */ |
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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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#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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#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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* @brief Subscribes the subscriber to a topic.
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*
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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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* @param[in] deadline Maximum latency to consume messages. A value of 0 indicates that latency is of no concern.
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* @param[in] jitter Maximum allowed jitter (difference between maximum and minimum latency) when consuming messages.
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* A value of 0 indicates that jitter is of no concern.
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*
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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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*/
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urt_status_t urtFrtSubscriberSubscribe(urt_frtsubscriber_t* subscriber, urt_topic_t* topic, |
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urt_message_t* messages, urt_delay_t deadline, urt_delay_t jitter){return URT_STATUS_OK;}
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/**
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* @brief Fetches the next message.
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*
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* @param[in] subscriber The SRT 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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*
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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.
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*/
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urt_status_t urtFrtSubscriberFetchNextMessage(urt_frtsubscriber_t* subscriber, void* payload,
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size_t bytes, urt_delay_t* latency){return URT_STATUS_OK;}
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/**
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* @brief Fetches the latest message.
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*
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* @param[in] subscriber The SRT 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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*
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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.
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*/
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urt_status_t urtFrtSubscriberFetchLatestMessage(urt_frtsubscriber_t* subscriber, void* payload,
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size_t bytes, urt_delay_t* latency){return URT_STATUS_OK;}
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/**
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* @brief Calculates the validity from the subscriber.
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*
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* @param[in] subscriber The FRT subscriber to calculate a validity for. Must not be NULL.
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* @param[in] latency Latency (of a message) as argument to calculate validity.
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*
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* @return Returns a boolean indicator whether the latency is fine.
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*/
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bool urtFrtSubscriberCalculateValidity(urt_frtsubscriber_t* subscriber, urt_delay_t latency){return true;} |
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/**
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* @brief Unsubscribes from a subscriber.
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*
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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.
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* Returns URT_STATUS_UNSUBSCRIBE_NOTOPIC if the subscriber is not associated to a topic.
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*/
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urt_status_t urtFrtSubscriberUnsubscribe(urt_frtsubscriber_t* subscriber){return URT_STATUS_OK;}
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/**
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* @brief Initialize the HRT Subscriber.
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*
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* @param[in] subscriber The HRT subscriber to initialize. Must not be NULL.
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*/
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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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#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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subscriber->next = NULL;
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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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#if (URT_CFG_PUBSUB_QOS_RATECHECKS)
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subscriber->expectedRate = 0;
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#endif /* URT_CFG_PUBSUB_QOS_RATECHECKS */ |
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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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#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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* @brief Subscribes the subscriber to a topic.
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*
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* @param[in] subscriber The HRT 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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* @param[in] deadline Maximum latency to consume messages. A value of 0 indicates that latency is of no concern.
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* @param[in] rate Expected minimum rate of new messages (= maximum time between consecutive messages).
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* A value of 0 indicates, that rate is of no concern.
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* @param[in] jitter Maximum allowed jitter (difference between maximum and minimum latency) when consuming messages.
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* A value of 0 indicates that jitter is of no concern.
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*
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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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*/
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urt_status_t urtHrtSubscriberSubscribe(urt_hrtsubscriber_t* subscriber, urt_topic_t* topic, |
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urt_message_t* message, urt_delay_t deadline, urt_delay_t rate, urt_delay_t jitter){return URT_STATUS_OK;}
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/**
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* @brief Fetches the next message.
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*
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* @param[in] subscriber The SRT 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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*
|
| 393 |
* @return Returns URT_STATUS_OK on success.
|
| 394 |
* Returns URT_STATUS_FETCH_NOTOPIC if the subscriber is not associated to a topic.
|
| 395 |
* Returns URT_STATUS_FETCH_NOMESSAGE if there is no new message to fetch.
|
| 396 |
*/
|
| 397 |
urt_status_t urtHrtSubscriberFetchNextMessage(urt_hrtsubscriber_t* subscriber, void* payload,
|
| 398 |
size_t bytes, urt_delay_t* latency){return URT_STATUS_OK;}
|
| 399 |
|
| 400 |
|
| 401 |
/**
|
| 402 |
* @brief Fetches the latest message.
|
| 403 |
*
|
| 404 |
* @param[in] subscriber The SRT subscriber that shall fetch the message. Must not be NULL.
|
| 405 |
* @param[in] payload Pointer where to copy the payload to. May be NULL for messages without payload.
|
| 406 |
* @param[in] bytes Payload size in bytes.
|
| 407 |
* @param[in] latency The latency can be returned by reference. May be NULL.
|
| 408 |
*
|
| 409 |
* @return Returns URT_STATUS_OK on success.
|
| 410 |
* Returns URT_STATUS_FETCH_NOTOPIC if the subscriber is not associated to a topic.
|
| 411 |
* Returns URT_STATUS_FETCH_NOMESSAGE if there is no new message to fetch.
|
| 412 |
*/
|
| 413 |
urt_status_t urtHrtSubscriberFetchLatestMessage(urt_hrtsubscriber_t* subscriber, void* payload,
|
| 414 |
size_t bytes, urt_delay_t* latency){return URT_STATUS_OK;}
|
| 415 |
|
| 416 |
/**
|
| 417 |
* @brief Unsubscribes from a subscriber.
|
| 418 |
*
|
| 419 |
* @param[in] subscriber The HRT subscriber to be unsubscribed. Must not be NULL.
|
| 420 |
*
|
| 421 |
* @return Returns URT_STATUS_OK on sucess.
|
| 422 |
* Returns URT_STATUS_UNSUBSCRIBE_NOTOPIC if the subscriber is not associated to a topic.
|
| 423 |
*/
|
| 424 |
urt_status_t urtHrtSubscriberUnsubscribe(urt_hrtsubscriber_t* subscriber){return URT_STATUS_OK;}
|