urtware / src / urt_subscriber.c @ 5c6cb22f
History | View | Annotate | Download (18.687 KB)
1 |
/*
|
---|---|
2 |
µRtWare is a lightweight publish/subscribe middleware for real-time
|
3 |
applications. It was developed as part of the software habitat for the
|
4 |
Autonomous Mini Robot [1] (AMiRo) but can be used for other purposes as well.
|
5 |
|
6 |
Copyright (C) 2018..2020 Thomas Schöpping et al.
|
7 |
|
8 |
This program is free software: you can redistribute it and/or modify
|
9 |
it under the terms of the GNU General Public License as published by
|
10 |
the Free Software Foundation, either version 3 of the License, or
|
11 |
(at your option) any later version.
|
12 |
|
13 |
This program is distributed in the hope that it will be useful,
|
14 |
but WITHOUT ANY WARRANTY; without even the implied warranty of
|
15 |
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
16 |
GNU General Public License for more details.
|
17 |
|
18 |
You should have received a copy of the GNU General Public License
|
19 |
along with this program. If not, see <http://www.gnu.org/licenses/>.
|
20 |
*/
|
21 |
|
22 |
#include <urtware.h> |
23 |
|
24 |
/******************************************************************************/
|
25 |
/* LOCAL DEFINITIONS */
|
26 |
/******************************************************************************/
|
27 |
|
28 |
/******************************************************************************/
|
29 |
/* EXPORTED VARIABLES */
|
30 |
/******************************************************************************/
|
31 |
|
32 |
/******************************************************************************/
|
33 |
/* LOCAL TYPES */
|
34 |
/******************************************************************************/
|
35 |
|
36 |
/******************************************************************************/
|
37 |
/* LOCAL VARIABLES */
|
38 |
/******************************************************************************/
|
39 |
|
40 |
/******************************************************************************/
|
41 |
/* LOCAL FUNCTIONS */
|
42 |
/******************************************************************************/
|
43 |
|
44 |
/******************************************************************************/
|
45 |
/* EXPORTED FUNCTIONS */
|
46 |
/******************************************************************************/
|
47 |
|
48 |
/**
|
49 |
* @brief Initialize the nrt Subscriber.
|
50 |
*
|
51 |
* @param[in] subscriber The NRT subscriber to initialize. Must not be NULL.
|
52 |
*/
|
53 |
void urtNrtSubscriberInit (urt_nrtsubscriber_t* subscriber)
|
54 |
{ |
55 |
subscriber->base.topic = NULL;
|
56 |
urtEventListenerInit(subscriber->base.evtListener); |
57 |
subscriber->base.lastMessage = NULL;
|
58 |
subscriber->base.lastMessageTime = 0;
|
59 |
#if (URT_CFG_PUBSUB_PROFILING)
|
60 |
subscriber->minLatency = URT_DELAY_INFINITE; |
61 |
subscriber->maxLatency = URT_DELAY_IMMEDIATE; |
62 |
#endif /* URT_CFG_PUBSUB_PROFILING */ |
63 |
return;
|
64 |
} |
65 |
|
66 |
/**
|
67 |
* @brief Subscribes the subscriber to a topic.
|
68 |
*
|
69 |
* @param[in] subscriber The NRT subscriber which shall subscribe to a topic. Must not be NULL.
|
70 |
* @param[in] topic The topic to subscribe to. Must not be NULL.
|
71 |
* @param[in] messages NULL terminated list of messages to contribute to the topic.
|
72 |
* Messages must not be associated to another topic.
|
73 |
* Once a message has been contributed, it cannot be removed later.
|
74 |
* May be NULL(no messages to contribute).
|
75 |
*
|
76 |
* @return Returns URT_STATUS_OK on success.
|
77 |
* Returns URT_STATUS_SUBSCRIBE_TOPICSET if the subscriber is already associated to a topic.
|
78 |
*/
|
79 |
urt_status_t urtNrtSubscriberSubscribe (urt_nrtsubscriber_t* subscriber, urt_topic_t* topic, urt_message_t* messages) { |
80 |
return URT_STATUS_OK;
|
81 |
} |
82 |
|
83 |
/**
|
84 |
* @brief Fetches the next message.
|
85 |
*
|
86 |
* @param[in] subscriber The NRT subscriber that shall fetch the message. Must not be NULL.
|
87 |
* @param[in] payload Pointer where to copy the payload to. May be NULL for messages without payload.
|
88 |
* @param[in] bytes Payload size in bytes.
|
89 |
* @param[in] latency The latency can be returned by reference. May be NULL.
|
90 |
*
|
91 |
* @return Returns URT_STATUS_OK on success.
|
92 |
* Returns URT_STATUS_FETCH_NOTOPIC if the subscriber is not associated to a topic.
|
93 |
* Retruns URT_STATUS_FETCH_NOMESSAGE if there is no new message to fetch.
|
94 |
*/
|
95 |
urt_status_t urtNrtSubscriberFetchNextMessage (urt_nrtsubscriber_t* subscriber, void* payload, size_t bytes, urt_delay_t* latency) {
|
96 |
return URT_STATUS_OK;
|
97 |
} |
98 |
|
99 |
/**
|
100 |
* @brief Fetches the lates message.
|
101 |
*
|
102 |
* @param[in] subscriber The NRT subscriber that shall fetch the message. Must not be NULL.
|
103 |
* @param[in] payload Pointer where to copy the payload to. May be NULL for messages without payload.
|
104 |
* @param[in] bytes Payload size in bytes.
|
105 |
* @param[in] latency The latency can be returned by reference. May be NULL.
|
106 |
*
|
107 |
* @return Returns URT_STATUS_OK on success.
|
108 |
* Returns URT_STATUS_FETCH_NOTOPIC if the subscriber is not associated to a topic.
|
109 |
* Returns URT_STATUS_FETCH_NOMESSAGE if there is no new message to fetch.
|
110 |
*/
|
111 |
urt_status_t urtNrtSubscriberFetchLatestMessage (urt_nrtsubscriber_t* subscriber, void* payload, size_t bytes, urt_delay_t* latency) {
|
112 |
return URT_STATUS_OK;
|
113 |
} |
114 |
|
115 |
/**
|
116 |
* @brief Unsubscribes from a subscriber.
|
117 |
*
|
118 |
* @param[in] subscriber The NRT subscriber to be unsubscribed. Must not be NULL.
|
119 |
*
|
120 |
* @return Returns URT_STATUS_OK on sucess.
|
121 |
* Returns URT_STATUS_UNSUBSCRIBE_NOTOPIC if the subscriber is not associated to a topic.
|
122 |
*/
|
123 |
urt_status_t urtNrtSubscriberUnsubscribe (urt_nrtsubscriber_t* subscriber) { |
124 |
return URT_STATUS_OK;
|
125 |
} |
126 |
|
127 |
|
128 |
/**
|
129 |
* @brief Initialize the srt Subscriber.
|
130 |
*
|
131 |
* @param[in] subscriber The SRT subscriber to initialize. Must not be NULL.
|
132 |
*/
|
133 |
void urtSrtSubscriberInit(urt_srtsubscriber_t* subscriber)
|
134 |
{ |
135 |
subscriber->base.topic = NULL;
|
136 |
urtEventListenerInit(subscriber->base.evtListener); |
137 |
subscriber->base.lastMessage = NULL;
|
138 |
subscriber->base.lastMessageTime = 0;
|
139 |
#if (URT_CFG_PUBSUB_PROFILING)
|
140 |
subscriber->base.sumLatencies = 0;
|
141 |
subscriber->base.numMessagesReceived = 0;
|
142 |
subscriber->usefulnesscb = NULL;
|
143 |
subscriber->cbparams = NULL;
|
144 |
subscriber->minLatency = URT_DELAY_INFINITE; |
145 |
subscriber->maxLatency = URT_DELAY_IMMEDIATE; |
146 |
#endif /* URT_CFG_PUBSUB_PROFILING */ |
147 |
return;
|
148 |
} |
149 |
|
150 |
/**
|
151 |
* @brief Subscribes the subscriber to a topic.
|
152 |
*
|
153 |
* @param[in] subscriber The SRT subscriber which shall subscribe to a topic. Must not be NULL.
|
154 |
* @param[in] topic The topic to subscribe to. Must not be NULL.
|
155 |
* @param[in] message NULL terminated list of messages to contribute to the topic.
|
156 |
* Messages must not be associated to another topic.
|
157 |
* Once a message has been contributed, it cannot be removed later.
|
158 |
* May be NULL (no messages to contribute)
|
159 |
* @param[in] usefulnesscb Pointer to a function to calculate usefulness of a message. Must not be NULL.
|
160 |
* @param[in] cbparams Optional parameters for the usefulness callback.
|
161 |
* May be NULL if the callback expects no parameters.
|
162 |
*
|
163 |
* @return Returns URT_STATUS_OK on success.
|
164 |
* Returns URT_STATUS_SUBSCRIBE_TOPICSET if the subscriber is already associated to a topic.
|
165 |
*/
|
166 |
urt_status_t urtSrtSubscriberSubscribe(urt_srtsubscriber_t* subscriber, urt_topic_t* topic, |
167 |
urt_message_t* message, urt_srtusefulnessfunc_t* usefulnesscb, void* cbparams) {return URT_STATUS_OK;} |
168 |
|
169 |
/**
|
170 |
* @brief Fetches the next message.
|
171 |
*
|
172 |
* @param[in] subscriber The SRT subscriber that shall fetch the message. Must not be NULL.
|
173 |
* @param[in] payload Pointer where to copy the payload to. May be NULL for messages without payload.
|
174 |
* @param[in] bytes Payload size in bytes.
|
175 |
* @param[in] latency The latency can be returned by reference. May be NULL.
|
176 |
*
|
177 |
* @return Returns URT_STATUS_OK on success.
|
178 |
* Returns URT_STATUS_FETCH_NOTOPIC if the subscriber is not associated to a topic.
|
179 |
* Returns URT_STATUS_FETCH_NOMESSAGE if there is no new message to fetch.
|
180 |
*/
|
181 |
urt_status_t urtSrtSubscriberFetchNextMessage(urt_srtsubscriber_t* subscriber, void* payload,
|
182 |
size_t bytes, urt_delay_t* latency){return URT_STATUS_OK;}
|
183 |
|
184 |
/**
|
185 |
* @brief Fetches the latest message.
|
186 |
*
|
187 |
* @param[in] subscriber The SRT subscriber that shall fetch the message. Must not be NULL.
|
188 |
* @param[in] payload Pointer where to copy the payload to. May be NULL for messages without payload.
|
189 |
* @param[in] bytes Payload size in bytes.
|
190 |
* @param[in] latency The latency can be returned by reference. May be NULL.
|
191 |
*
|
192 |
* @return Returns URT_STATUS_OK on success.
|
193 |
* Returns URT_STATUS_FETCH_NOTOPIC if the subscriber is not associated to a topic.
|
194 |
* Returns URT_STATUS_FETCH_NOMESSAGE if there is no new message to fetch.
|
195 |
*/
|
196 |
urt_status_t urtSrtSubscriberFetchLatestMessage(urt_srtsubscriber_t* subscriber, void* payload,
|
197 |
size_t bytes, urt_delay_t* latency){return URT_STATUS_OK;}
|
198 |
|
199 |
/**
|
200 |
* @brief Calculates the usefulness of the subscriber.
|
201 |
*
|
202 |
* @param[in] subscriber The SRT subscriber that shall fetch the message. Must not be NULL.
|
203 |
* @param[in] latency Latency (of a message) as argument to calculate usefulness.
|
204 |
*
|
205 |
* @return Returns the usefulness as a value within [0,1].
|
206 |
*/
|
207 |
float urtSrtSubscriberCalculateUsefulness(urt_srtsubscriber_t* subscriber, urt_delay_t latency){return 0;} |
208 |
|
209 |
/**
|
210 |
* @brief Unsubscribes from a subscriber.
|
211 |
*
|
212 |
* @param[in] subscriber The NRT subscriber to be unsubscribed. Must not be NULL.
|
213 |
*
|
214 |
* @return Returns URT_STATUS_OK on sucess.
|
215 |
* Returns URT_STATUS_UNSUBSCRIBE_NOTOPIC if the subscriber is not associated to a topic.
|
216 |
*/
|
217 |
urt_status_t urtSrtSubscriberUnsubscribe(urt_srtsubscriber_t* subscriber){return URT_STATUS_OK;}
|
218 |
|
219 |
|
220 |
/**
|
221 |
* @brief Initialize the FRT Subscriber.
|
222 |
*
|
223 |
* @param[in] subscriber The SRT subscriber to initialize. Must not be NULL.
|
224 |
*/
|
225 |
void urtFrtSubscriberInit(urt_frtsubscriber_t* subscriber)
|
226 |
{ |
227 |
subscriber->base.topic = NULL;
|
228 |
urtEventListenerInit(subscriber->base.evtListener); |
229 |
subscriber->base.lastMessage = NULL;
|
230 |
subscriber->base.lastMessageTime = 0;
|
231 |
|
232 |
#if (URT_CFG_PUBSUB_PROFILING)
|
233 |
subscriber->base.sumLatencies = 0;
|
234 |
subscriber->base.numMessagesReceived = 0;
|
235 |
#endif /* URT_CFG_PUBSUB_PROFILING */ |
236 |
|
237 |
#if (URT_CFG_PUBSUB_QOS_DEADLINECHECKS)
|
238 |
subscriber->deadlineOffset = 0;
|
239 |
#endif /* URT_CFG_PUBSUB_QOS_DEADLINECHECKS */ |
240 |
|
241 |
#if (URT_CFG_PUBSUB_QOS_JITTERCHECKS)
|
242 |
subscriber->maxJitter = 0;
|
243 |
#endif /* URT_CFG_PUBSUB_QOS_JITTERCHECKS */ |
244 |
|
245 |
#if (URT_CFG_PUBSUB_QOS_JITTERCHECKS || URT_CFG_PUBSUB_PROFILING)
|
246 |
subscriber->minLatency = URT_DELAY_INFINITE; |
247 |
subscriber->maxLatency = URT_DELAY_IMMEDIATE; |
248 |
#endif /* URT_CFG_PUBSUB_QOS_JITTERCHECKS || URT_CFG_PUBSUB_PROFILING */ |
249 |
return;
|
250 |
} |
251 |
|
252 |
|
253 |
/**
|
254 |
* @brief Subscribes the subscriber to a topic.
|
255 |
*
|
256 |
* @param[in] subscriber The NRT subscriber which shall subscribe to a topic. Must not be NULL.
|
257 |
* @param[in] topic The topic to subscribe to. Must not be NULL.
|
258 |
* @param[in] messages NULL terminated list of messages to contribute to the topic.
|
259 |
* Messages must not be associated to another topic.
|
260 |
* Once a message has been contributed, it cannot be removed later.
|
261 |
* May be NULL(no messages to contribute).
|
262 |
* @param[in] deadline Maximum latency to consume messages. A value of 0 indicates that latency is of no concern.
|
263 |
* @param[in] jitter Maximum allowed jitter (difference between maximum and minimum latency) when consuming messages.
|
264 |
* A value of 0 indicates that jitter is of no concern.
|
265 |
*
|
266 |
* @return Returns URT_STATUS_OK on success.
|
267 |
* Returns URT_STATUS_SUBSCRIBE_TOPICSET if the subscriber is already associated to a topic.
|
268 |
*/
|
269 |
urt_status_t urtFrtSubscriberSubscribe(urt_frtsubscriber_t* subscriber, urt_topic_t* topic, |
270 |
urt_message_t* messages, urt_delay_t deadline, urt_delay_t jitter){return URT_STATUS_OK;}
|
271 |
|
272 |
/**
|
273 |
* @brief Fetches the next message.
|
274 |
*
|
275 |
* @param[in] subscriber The SRT subscriber that shall fetch the message. Must not be NULL.
|
276 |
* @param[in] payload Pointer where to copy the payload to. May be NULL for messages without payload.
|
277 |
* @param[in] bytes Payload size in bytes.
|
278 |
* @param[in] latency The latency can be returned by reference. May be NULL.
|
279 |
*
|
280 |
* @return Returns URT_STATUS_OK on success.
|
281 |
* Returns URT_STATUS_FETCH_NOTOPIC if the subscriber is not associated to a topic.
|
282 |
* Returns URT_STATUS_FETCH_NOMESSAGE if there is no new message to fetch.
|
283 |
*/
|
284 |
urt_status_t urtFrtSubscriberFetchNextMessage(urt_frtsubscriber_t* subscriber, void* payload,
|
285 |
size_t bytes, urt_delay_t* latency){return URT_STATUS_OK;}
|
286 |
|
287 |
/**
|
288 |
* @brief Fetches the latest message.
|
289 |
*
|
290 |
* @param[in] subscriber The SRT subscriber that shall fetch the message. Must not be NULL.
|
291 |
* @param[in] payload Pointer where to copy the payload to. May be NULL for messages without payload.
|
292 |
* @param[in] bytes Payload size in bytes.
|
293 |
* @param[in] latency The latency can be returned by reference. May be NULL.
|
294 |
*
|
295 |
* @return Returns URT_STATUS_OK on success.
|
296 |
* Returns URT_STATUS_FETCH_NOTOPIC if the subscriber is not associated to a topic.
|
297 |
* Returns URT_STATUS_FETCH_NOMESSAGE if there is no new message to fetch.
|
298 |
*/
|
299 |
urt_status_t urtFrtSubscriberFetchLatestMessage(urt_frtsubscriber_t* subscriber, void* payload,
|
300 |
size_t bytes, urt_delay_t* latency){return URT_STATUS_OK;}
|
301 |
|
302 |
/**
|
303 |
* @brief Calculates the validity from the subscriber.
|
304 |
*
|
305 |
* @param[in] subscriber The FRT subscriber to calculate a validity for. Must not be NULL.
|
306 |
* @param[in] latency Latency (of a message) as argument to calculate validity.
|
307 |
*
|
308 |
* @return Returns a boolean indicator whether the latency is fine.
|
309 |
*/
|
310 |
bool urtFrtSubscriberCalculateValidity(urt_frtsubscriber_t* subscriber, urt_delay_t latency){return true;} |
311 |
|
312 |
/**
|
313 |
* @brief Unsubscribes from a subscriber.
|
314 |
*
|
315 |
* @param[in] subscriber The FRT subscriber to be unsubscribed. Must not be NULL.
|
316 |
*
|
317 |
* @return Returns URT_STATUS_OK on sucess.
|
318 |
* Returns URT_STATUS_UNSUBSCRIBE_NOTOPIC if the subscriber is not associated to a topic.
|
319 |
*/
|
320 |
urt_status_t urtFrtSubscriberUnsubscribe(urt_frtsubscriber_t* subscriber){return URT_STATUS_OK;}
|
321 |
|
322 |
|
323 |
/**
|
324 |
* @brief Initialize the HRT Subscriber.
|
325 |
*
|
326 |
* @param[in] subscriber The HRT subscriber to initialize. Must not be NULL.
|
327 |
*/
|
328 |
void urtHrtSubscriberInit(urt_hrtsubscriber_t* subscriber)
|
329 |
{ |
330 |
subscriber->base.topic = NULL;
|
331 |
urtEventListenerInit(subscriber->base.evtListener); |
332 |
subscriber->base.lastMessage = NULL;
|
333 |
subscriber->base.lastMessageTime = 0;
|
334 |
|
335 |
#if (URT_CFG_PUBSUB_PROFILING)
|
336 |
subscriber->base.sumLatencies = 0;
|
337 |
subscriber->base.numMessagesReceived = 0;
|
338 |
#endif /* URT_CFG_PUBSUB_PROFILING */ |
339 |
|
340 |
subscriber->next = NULL;
|
341 |
|
342 |
#if (URT_CFG_PUBSUB_QOS_DEADLINECHECKS)
|
343 |
subscriber->deadlineOffset = 0;
|
344 |
urtTimerInit(subscriber->qodDeadlineTimer); |
345 |
#endif /* URT_CFG_PUBSUB_QOS_DEADLINECHECKS */ |
346 |
|
347 |
#if (URT_CFG_PUBSUB_QOS_RATECHECKS)
|
348 |
subscriber->expectedRate = 0;
|
349 |
#endif /* URT_CFG_PUBSUB_QOS_RATECHECKS */ |
350 |
|
351 |
#if (URT_CFG_PUBSUB_QOS_JITTERCHECKS)
|
352 |
subscriber->maxJitter = 0;
|
353 |
#endif /* URT_CFG_PUBSUB_QOS_JITTERCHECKS */ |
354 |
|
355 |
#if (URT_CFG_PUBSUB_QOS_JITTERCHECKS || URT_CFG_PUBSUB_PROFILING)
|
356 |
subscriber->minLatency = URT_DELAY_INFINITE; |
357 |
subscriber->maxLatency = URT_DELAY_IMMEDIATE; |
358 |
#endif /* URT_CFG_PUBSUB_QOS_JITTERCHECKS || URT_CFG_PUBSUB_PROFILING */ |
359 |
return;
|
360 |
} |
361 |
|
362 |
|
363 |
/**
|
364 |
* @brief Subscribes the subscriber to a topic.
|
365 |
*
|
366 |
* @param[in] subscriber The HRT subscriber which shall subscribe to a topic. Must not be NULL.
|
367 |
* @param[in] topic The topic to subscribe to. Must not be NULL.
|
368 |
* @param[in] messages NULL terminated list of messages to contribute to the topic.
|
369 |
* Messages must not be associated to another topic.
|
370 |
* Once a message has been contributed, it cannot be removed later.
|
371 |
* May be NULL(no messages to contribute).
|
372 |
* @param[in] deadline Maximum latency to consume messages. A value of 0 indicates that latency is of no concern.
|
373 |
* @param[in] rate Expected minimum rate of new messages (= maximum time between consecutive messages).
|
374 |
* A value of 0 indicates, that rate is of no concern.
|
375 |
* @param[in] jitter Maximum allowed jitter (difference between maximum and minimum latency) when consuming messages.
|
376 |
* A value of 0 indicates that jitter is of no concern.
|
377 |
*
|
378 |
* @return Returns URT_STATUS_OK on success.
|
379 |
* Returns URT_STATUS_SUBSCRIBE_TOPICSET if the subscriber is already associated to a topic.
|
380 |
*/
|
381 |
urt_status_t urtHrtSubscriberSubscribe(urt_hrtsubscriber_t* subscriber, urt_topic_t* topic, |
382 |
urt_message_t* message, urt_delay_t deadline, urt_delay_t rate, urt_delay_t jitter){return URT_STATUS_OK;}
|
383 |
|
384 |
|
385 |
/**
|
386 |
* @brief Fetches the next message.
|
387 |
*
|
388 |
* @param[in] subscriber The SRT subscriber that shall fetch the message. Must not be NULL.
|
389 |
* @param[in] payload Pointer where to copy the payload to. May be NULL for messages without payload.
|
390 |
* @param[in] bytes Payload size in bytes.
|
391 |
* @param[in] latency The latency can be returned by reference. May be NULL.
|
392 |
*
|
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;}
|