urtware / src / urt_subscriber.c @ 65dc89cb
History | View | Annotate | Download (38.5 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 |
void urtFetchMessage ()
|
45 |
{ |
46 |
//TODO: Update message pointer
|
47 |
//TODO: Copy message origin time
|
48 |
//TODO: Copy message payload
|
49 |
} |
50 |
|
51 |
urt_message_t* urtFindOldestMessage(urt_message_t* oldestMessage) |
52 |
{ |
53 |
while (oldestMessage->next->originTime < oldestMessage->originTime)
|
54 |
{ |
55 |
oldestMessage = oldestMessage->next; |
56 |
} |
57 |
return oldestMessage;
|
58 |
} |
59 |
|
60 |
urt_message_t* urtFindLatestMessage(urt_message_t* latestMessage) |
61 |
{ |
62 |
urt_message_t* lastMessage = subscriber->base.lastMessage; |
63 |
while (lastMessage->next->originTime < lastMessage->originTime)
|
64 |
{ |
65 |
lastMessage = lastMessage->next; |
66 |
#if (URT_CFG_PUBSUB_PROFILING == true) |
67 |
subscriber->base.lastMessage->numConsumersLeft--; |
68 |
subscriber->base->numMessagesReceived++; |
69 |
#endif /* URT_CFG_PUBSUB_PROFILING */ |
70 |
} |
71 |
} |
72 |
|
73 |
/******************************************************************************/
|
74 |
/* EXPORTED FUNCTIONS */
|
75 |
/******************************************************************************/
|
76 |
|
77 |
/**
|
78 |
* @brief Initialize the nrt Subscriber.
|
79 |
*
|
80 |
* @param[in] subscriber The NRT subscriber to initialize. Must not be NULL.
|
81 |
*/
|
82 |
void urtNrtSubscriberInit (urt_nrtsubscriber_t* subscriber)
|
83 |
{ |
84 |
urtDebugAssert(subscriber); |
85 |
|
86 |
subscriber->base.topic = NULL;
|
87 |
urtEventListenerInit(subscriber->base.evtListener); |
88 |
subscriber->base.lastMessage = NULL;
|
89 |
subscriber->base.lastMessageTime = 0;
|
90 |
#if (URT_CFG_PUBSUB_PROFILING == true) |
91 |
subscriber->minLatency = URT_DELAY_INFINITE; |
92 |
subscriber->maxLatency = URT_DELAY_IMMEDIATE; |
93 |
#endif /* URT_CFG_PUBSUB_PROFILING */ |
94 |
return;
|
95 |
} |
96 |
|
97 |
/**
|
98 |
* @brief Subscribes the subscriber to a topic.
|
99 |
*
|
100 |
* @param[in] subscriber The NRT subscriber which shall subscribe to a topic. Must not be NULL.
|
101 |
* @param[in] topic The topic to subscribe to. Must not be NULL.
|
102 |
* @param[in] messages NULL terminated list of messages to contribute to the topic.
|
103 |
* Messages must not be associated to another topic.
|
104 |
* Once a message has been contributed, it cannot be removed later.
|
105 |
* May be NULL(no messages to contribute).
|
106 |
*
|
107 |
* @return Returns URT_STATUS_OK on success.
|
108 |
* Returns URT_STATUS_SUBSCRIBE_TOPICSET if the subscriber is already associated to a topic.
|
109 |
*/
|
110 |
urt_status_t urtNrtSubscriberSubscribe (urt_nrtsubscriber_t* subscriber, urt_topic_t* topic, urt_message_t* messages) |
111 |
{ |
112 |
urtDebugAssert(subscriber); |
113 |
urtDebugAssert(topic); |
114 |
|
115 |
if (!subscriber->base.topic)
|
116 |
return URT_STATUS_SUBSCRIBE_TOPICSET;
|
117 |
|
118 |
subscriber->base.topic = topic; |
119 |
urtMutexLock(topic->lock); |
120 |
|
121 |
if (messages)
|
122 |
{ |
123 |
urt_message_t* lastMessageContribute = messages; |
124 |
while (lastMessageContribute->next)
|
125 |
{ |
126 |
lastMessageContribute = lastMessageContribute->next; |
127 |
} |
128 |
lastMessageContribute->next = topic->latestMessage->next; |
129 |
topic->latestMessage->next = messages; |
130 |
} |
131 |
|
132 |
subscriber->base.lastMessage = topic->latestMessage; |
133 |
subscriber->base.lastMessageTime = topic->latestMessage->originTime; |
134 |
|
135 |
urtEventRegister(topic->evtSource, subscriber->base.evtListener, subscriber->base.evtListener.events, subscriber->base.evtListener.flags); |
136 |
|
137 |
#if (URT_CFG_PUBSUB_PROFILING == true) |
138 |
topic->numHrtSubscribers--; |
139 |
#endif /* URT_CFG_PUBSUB_PROFILING */ |
140 |
|
141 |
urtMutexUnlock(topic->lock); |
142 |
return URT_STATUS_OK;
|
143 |
} |
144 |
|
145 |
/**
|
146 |
* @brief Fetches the next message.
|
147 |
*
|
148 |
* @param[in] subscriber The NRT subscriber that shall fetch the message. Must not be NULL.
|
149 |
* @param[in] payload Pointer where to copy the payload to. May be NULL for messages without payload.
|
150 |
* @param[in] bytes Payload size in bytes.
|
151 |
* @param[in] latency The latency can be returned by reference. May be NULL.
|
152 |
*
|
153 |
* @return Returns URT_STATUS_OK on success.
|
154 |
* Returns URT_STATUS_FETCH_NOTOPIC if the subscriber is not associated to a topic.
|
155 |
* Retruns URT_STATUS_FETCH_NOMESSAGE if there is no new message to fetch.
|
156 |
*/
|
157 |
urt_status_t urtNrtSubscriberFetchNextMessage (urt_nrtsubscriber_t* subscriber, void* payload, size_t bytes, urt_delay_t* latency)
|
158 |
{ |
159 |
urtDebugAssert(subscriber); |
160 |
|
161 |
if (!subscriber->base.topic)
|
162 |
return URT_STATUS_FETCH_NOTOPIC;
|
163 |
|
164 |
urtMutexLock(subscriber->base.topic->lock); |
165 |
|
166 |
urt_message_t* messageTemp = subscriber->base.lastMessage; |
167 |
if(messageTemp->originTime == subscriber->base.lastMessageTime)
|
168 |
{ |
169 |
if (subscriber->base.lastMessage->next->originTime > subscriber->base.lastMessageTime)
|
170 |
{ |
171 |
urtMutexUnlock(subscriber->base.topic->lock); |
172 |
return URT_STATUS_FETCH_NOMESSAGE;
|
173 |
} |
174 |
messageTemp = messageTemp->next; |
175 |
} |
176 |
else
|
177 |
{ |
178 |
messageTemp = urtFindOldestMessage(messageTemp->next); |
179 |
} |
180 |
|
181 |
urtFetchMessage(); |
182 |
|
183 |
uint64_t calculatedLatency = NULL; //TODO: Calculate message latency |
184 |
#if(URT_CFG_PUBSUB_PROFILING == true) |
185 |
subscriber->base.sumLatencies += calculatedLatency; |
186 |
|
187 |
if (calculatedLatency < subscriber->minLatency)
|
188 |
{ |
189 |
subscriber->minLatency = calculatedLatency; |
190 |
} |
191 |
else if (calculatedLatency > subscriber->maxLatency) |
192 |
{ |
193 |
subscriber->maxLatency = calculatedLatency; |
194 |
} |
195 |
#endif /* URT_CFG_PUBSUB_PROFILING */ |
196 |
bool temp = false; |
197 |
if (temp/*optional latency output argument given*/) |
198 |
{ |
199 |
latency = calculatedLatency; |
200 |
} |
201 |
|
202 |
#if (URT_CFG_PUBSUB_PROFILING == true) |
203 |
subscriber->base.lastMessage->numConsumersLeft--; |
204 |
subscriber->base->numMessagesReceived++; |
205 |
#endif /* URT_CFG_PUBSUB_PROFILING */ |
206 |
|
207 |
urtMutexUnlock(subscriber->base.topic->lock); |
208 |
return URT_STATUS_OK;
|
209 |
} |
210 |
|
211 |
/**
|
212 |
* @brief Fetches the latest message.
|
213 |
*
|
214 |
* @param[in] subscriber The NRT subscriber that shall fetch the message. Must not be NULL.
|
215 |
* @param[in] payload Pointer where to copy the payload to. May be NULL for messages without payload.
|
216 |
* @param[in] bytes Payload size in bytes.
|
217 |
* @param[in] latency The latency can be returned by reference. May be NULL.
|
218 |
*
|
219 |
* @return Returns URT_STATUS_OK on success.
|
220 |
* Returns URT_STATUS_FETCH_NOTOPIC if the subscriber is not associated to a topic.
|
221 |
* Returns URT_STATUS_FETCH_NOMESSAGE if there is no new message to fetch.
|
222 |
*/
|
223 |
urt_status_t urtNrtSubscriberFetchLatestMessage (urt_nrtsubscriber_t* subscriber, void* payload, size_t bytes, urt_delay_t* latency) {
|
224 |
urtDebugAssert(subscriber); |
225 |
|
226 |
if (!subscriber->base.topic)
|
227 |
return URT_STATUS_FETCH_NOTOPIC;
|
228 |
|
229 |
urtMutexLock(subscriber->base.topic->lock); |
230 |
urt_message_t* lastMessage = urtFindLatestMessage(subscriber->base.lastMessage); |
231 |
|
232 |
if (lastMessage->originTime == subscriber->base.lastMessageTime)
|
233 |
{ |
234 |
urtMutexUnlock(subscriber->base.topic->lock); |
235 |
return URT_STATUS_FETCH_NOMESSAGE;
|
236 |
} |
237 |
|
238 |
urtFetchMessage(); |
239 |
|
240 |
uint64_t calculatedLatency = NULL; //TODO: Calculate message latency |
241 |
#if(URT_CFG_PUBSUB_PROFILING == true) |
242 |
subscriber->base.sumLatencies += calculatedLatency; |
243 |
|
244 |
if (calculatedLatency < subscriber->minLatency)
|
245 |
{ |
246 |
subscriber->minLatency = calculatedLatency; |
247 |
} |
248 |
else if (calculatedLatency > subscriber->maxLatency) |
249 |
{ |
250 |
subscriber->maxLatency = calculatedLatency; |
251 |
} |
252 |
#endif /* URT_CFG_PUBSUB_PROFILING */ |
253 |
bool temp = false; |
254 |
if (temp/*optional latency output argument given*/) |
255 |
{ |
256 |
latency = calculatedLatency; |
257 |
} |
258 |
|
259 |
urtMutexUnlock(subscriber->base.topic->lock); |
260 |
return URT_STATUS_OK;
|
261 |
} |
262 |
|
263 |
/**
|
264 |
* @brief Unsubscribes from a subscriber.
|
265 |
*
|
266 |
* @param[in] subscriber The NRT subscriber to be unsubscribed. Must not be NULL.
|
267 |
*
|
268 |
* @return Returns URT_STATUS_OK on sucess.
|
269 |
* Returns URT_STATUS_UNSUBSCRIBE_NOTOPIC if the subscriber is not associated to a topic.
|
270 |
*/
|
271 |
urt_status_t urtNrtSubscriberUnsubscribe (urt_nrtsubscriber_t* subscriber) |
272 |
{ |
273 |
if (subscriber->base.topic)
|
274 |
{ |
275 |
# if(URT_CFG_PUBSUB_PROFILING == true) |
276 |
urtMutexLock(topic->lock); |
277 |
subscriber->base.topic->numSubscribers--; |
278 |
# endif /* URT_CFG_PUBSUB_PROFILING */ |
279 |
urtEventUnregister(subscriber->base.topic->evtSource, subscriber->base.evtListener); |
280 |
# if(URT_CFG_PUBSUB_PROFILING == true) |
281 |
urtMutexUnlock(topic->lock); |
282 |
subscriber->base.topic = NULL;
|
283 |
subscriber->base.lastMessage = NULL;
|
284 |
subscriber->base.lastMessageTime = 0;
|
285 |
#endif /* URT_CFG_PUBSUB_PROFILING */ |
286 |
return URT_STATUS_OK;
|
287 |
} |
288 |
|
289 |
return URT_STATUS_UNSUBSCRIBE_NOTOPIC;
|
290 |
} |
291 |
|
292 |
|
293 |
/**
|
294 |
* @brief Initialize the srt Subscriber.
|
295 |
*
|
296 |
* @param[in] subscriber The SRT subscriber to initialize. Must not be NULL.
|
297 |
*/
|
298 |
void urtSrtSubscriberInit(urt_srtsubscriber_t* subscriber)
|
299 |
{ |
300 |
urtDebugAssert(subscriber); |
301 |
|
302 |
subscriber->base.topic = NULL;
|
303 |
urtEventListenerInit(subscriber->base.evtListener); |
304 |
subscriber->base.lastMessage = NULL;
|
305 |
subscriber->base.lastMessageTime = 0;
|
306 |
#if (URT_CFG_PUBSUB_PROFILING)
|
307 |
subscriber->base.sumLatencies = 0;
|
308 |
subscriber->base.numMessagesReceived = 0;
|
309 |
subscriber->usefulnesscb = NULL;
|
310 |
subscriber->cbparams = NULL;
|
311 |
subscriber->minLatency = URT_DELAY_INFINITE; |
312 |
subscriber->maxLatency = URT_DELAY_IMMEDIATE; |
313 |
#endif /* URT_CFG_PUBSUB_PROFILING */ |
314 |
return;
|
315 |
} |
316 |
|
317 |
/**
|
318 |
* @brief Subscribes the subscriber to a topic.
|
319 |
*
|
320 |
* @param[in] subscriber The SRT subscriber which shall subscribe to a topic. Must not be NULL.
|
321 |
* @param[in] topic The topic to subscribe to. Must not be NULL.
|
322 |
* @param[in] message NULL terminated list of messages to contribute to the topic.
|
323 |
* Messages must not be associated to another topic.
|
324 |
* Once a message has been contributed, it cannot be removed later.
|
325 |
* May be NULL (no messages to contribute)
|
326 |
* @param[in] usefulnesscb Pointer to a function to calculate usefulness of a message. Must not be NULL.
|
327 |
* @param[in] cbparams Optional parameters for the usefulness callback.
|
328 |
* May be NULL if the callback expects no parameters.
|
329 |
*
|
330 |
* @return Returns URT_STATUS_OK on success.
|
331 |
* Returns URT_STATUS_SUBSCRIBE_TOPICSET if the subscriber is already associated to a topic.
|
332 |
*/
|
333 |
urt_status_t urtSrtSubscriberSubscribe(urt_srtsubscriber_t* subscriber, urt_topic_t* topic, |
334 |
urt_message_t* messages, urt_srtusefulnessfunc_t* usefulnesscb, void* cbparams)
|
335 |
{ |
336 |
urtDebugAssert(subscriber); |
337 |
urtDebugAssert(topic); |
338 |
|
339 |
if (subscriber->base.topic)
|
340 |
{ |
341 |
return URT_STATUS_SUBSCRIBE_TOPICSET;
|
342 |
} |
343 |
|
344 |
subscriber->base.topic = topic; |
345 |
subscriber->usefulnesscb = usefulnesscb; |
346 |
subscriber->cbparams = cbparams; |
347 |
# if (URT_CFG_PUBSUB_PROFILING == true) |
348 |
subscriber->base.sumLatencies = 0;
|
349 |
subscriber->base.numMessagesReceived = 0;
|
350 |
subscriber->minLatency = URT_DELAY_INFINITE; |
351 |
subscriber->maxLatency = URT_DELAY_IMMEDIATE; |
352 |
# endif /* URT_CFG_PUBSUB_PROFILING */ |
353 |
|
354 |
urtMutexLock(topic->lock); |
355 |
if (messages)
|
356 |
{ |
357 |
urt_message_t* lastMessageContribute = messages; |
358 |
while (lastMessageContribute->next)
|
359 |
{ |
360 |
lastMessageContribute = lastMessageContribute->next; |
361 |
} |
362 |
lastMessageContribute->next = topic->latestMessage->next; |
363 |
topic->latestMessage->next = messages; |
364 |
} |
365 |
|
366 |
subscriber->base.lastMessage = topic->latestMessage; |
367 |
subscriber->base.lastMessageTime = topic->latestMessage->originTime; |
368 |
|
369 |
urtEventRegister(topic->evtSource, subscriber->base.evtListener, subscriber->base.evtListener.events, subscriber->base.evtListener.flags); |
370 |
|
371 |
# if (URT_CFG_PUBSUB_PROFILING == true) |
372 |
topic->numHrtSubscribers--; |
373 |
# endif /* URT_CFG_PUBSUB_PROFILING */ |
374 |
|
375 |
urtMutexUnlock(topic->lock); |
376 |
return URT_STATUS_OK;
|
377 |
} |
378 |
|
379 |
/**
|
380 |
* @brief Fetches the next message.
|
381 |
*
|
382 |
* @param[in] subscriber The SRT subscriber that shall fetch the message. Must not be NULL.
|
383 |
* @param[in] payload Pointer where to copy the payload to. May be NULL for messages without payload.
|
384 |
* @param[in] bytes Payload size in bytes.
|
385 |
* @param[in] latency The latency can be returned by reference. May be NULL.
|
386 |
*
|
387 |
* @return Returns URT_STATUS_OK on success.
|
388 |
* Returns URT_STATUS_FETCH_NOTOPIC if the subscriber is not associated to a topic.
|
389 |
* Returns URT_STATUS_FETCH_NOMESSAGE if there is no new message to fetch.
|
390 |
*/
|
391 |
urt_status_t urtSrtSubscriberFetchNextMessage(urt_srtsubscriber_t* subscriber, void* payload,
|
392 |
size_t bytes, urt_delay_t* latency) |
393 |
{ |
394 |
urtDebugAssert(subscriber); |
395 |
|
396 |
if (!subscriber->base.topic)
|
397 |
return URT_STATUS_FETCH_NOTOPIC;
|
398 |
|
399 |
urtMutexLock(subscriber->base.topic->lock); |
400 |
|
401 |
urt_message_t* messageTemp = subscriber->base.lastMessage; |
402 |
if(messageTemp->originTime == subscriber->base.lastMessageTime)
|
403 |
{ |
404 |
if (subscriber->base.lastMessage->next->originTime > subscriber->base.lastMessageTime)
|
405 |
{ |
406 |
urtMutexUnlock(subscriber->base.topic->lock); |
407 |
return URT_STATUS_FETCH_NOMESSAGE;
|
408 |
} |
409 |
messageTemp = messageTemp->next; |
410 |
} |
411 |
else
|
412 |
{ |
413 |
messageTemp = urtFindOldestMessage(messageTemp->next); |
414 |
} |
415 |
|
416 |
urtFetchMessage(); |
417 |
|
418 |
uint64_t calculatedLatency = NULL; //TODO: Calculate message latency |
419 |
#if(URT_CFG_PUBSUB_PROFILING == true) |
420 |
subscriber->base.sumLatencies += calculatedLatency; |
421 |
|
422 |
if (calculatedLatency < subscriber->minLatency)
|
423 |
{ |
424 |
subscriber->minLatency = calculatedLatency; |
425 |
} |
426 |
else if (calculatedLatency > subscriber->maxLatency) |
427 |
{ |
428 |
subscriber->maxLatency = calculatedLatency; |
429 |
} |
430 |
#endif /* URT_CFG_PUBSUB_PROFILING */ |
431 |
bool temp = false; |
432 |
if (temp/*optional latency output argument given*/) |
433 |
{ |
434 |
latency = calculatedLatency; |
435 |
} |
436 |
|
437 |
#if (URT_CFG_PUBSUB_PROFILING == true) |
438 |
subscriber->base.lastMessage->numConsumersLeft--; |
439 |
subscriber->base->numMessagesReceived++; |
440 |
#endif /* URT_CFG_PUBSUB_PROFILING */ |
441 |
|
442 |
urtMutexUnlock(subscriber->base.topic->lock); |
443 |
return URT_STATUS_OK;
|
444 |
} |
445 |
|
446 |
/**
|
447 |
* @brief Fetches the latest message.
|
448 |
*
|
449 |
* @param[in] subscriber The SRT subscriber that shall fetch the message. Must not be NULL.
|
450 |
* @param[in] payload Pointer where to copy the payload to. May be NULL for messages without payload.
|
451 |
* @param[in] bytes Payload size in bytes.
|
452 |
* @param[in] latency The latency can be returned by reference. May be NULL.
|
453 |
*
|
454 |
* @return Returns URT_STATUS_OK on success.
|
455 |
* Returns URT_STATUS_FETCH_NOTOPIC if the subscriber is not associated to a topic.
|
456 |
* Returns URT_STATUS_FETCH_NOMESSAGE if there is no new message to fetch.
|
457 |
*/
|
458 |
urt_status_t urtSrtSubscriberFetchLatestMessage(urt_srtsubscriber_t* subscriber, void* payload,
|
459 |
size_t bytes, urt_delay_t* latency) |
460 |
{ |
461 |
urtDebugAssert(subscriber); |
462 |
|
463 |
if (!subscriber->base.topic)
|
464 |
return URT_STATUS_FETCH_NOTOPIC;
|
465 |
|
466 |
urtMutexLock(subscriber->base.topic->lock); |
467 |
urt_message_t* lastMessage = urtFindLatestMessage(subscriber->base.lastMessage); |
468 |
|
469 |
if (lastMessage->originTime == subscriber->base.lastMessageTime)
|
470 |
{ |
471 |
urtMutexUnlock(subscriber->base.topic->lock); |
472 |
return URT_STATUS_FETCH_NOMESSAGE;
|
473 |
} |
474 |
|
475 |
urtFetchMessage(); |
476 |
|
477 |
uint64_t calculatedLatency = NULL; //TODO: Calculate message latency |
478 |
#if(URT_CFG_PUBSUB_PROFILING == true) |
479 |
subscriber->base.sumLatencies += calculatedLatency; |
480 |
|
481 |
if (calculatedLatency < subscriber->minLatency)
|
482 |
{ |
483 |
subscriber->minLatency = calculatedLatency; |
484 |
} |
485 |
else if (calculatedLatency > subscriber->maxLatency) |
486 |
{ |
487 |
subscriber->maxLatency = calculatedLatency; |
488 |
} |
489 |
#endif /* URT_CFG_PUBSUB_PROFILING */ |
490 |
bool temp = false; |
491 |
if (temp/*optional latency output argument given*/) |
492 |
{ |
493 |
latency = calculatedLatency; |
494 |
} |
495 |
|
496 |
urtMutexUnlock(subscriber->base.topic->lock); |
497 |
return URT_STATUS_OK;
|
498 |
} |
499 |
|
500 |
/**
|
501 |
* @brief Calculates the usefulness of the subscriber.
|
502 |
*
|
503 |
* @param[in] subscriber The SRT subscriber that shall fetch the message. Must not be NULL.
|
504 |
* @param[in] latency Latency (of a message) as argument to calculate usefulness.
|
505 |
*
|
506 |
* @return Returns the usefulness as a value within [0,1].
|
507 |
*/
|
508 |
float urtSrtSubscriberCalculateUsefulness(urt_srtsubscriber_t* subscriber, urt_delay_t latency)
|
509 |
{ |
510 |
urtDebugAssert(subscriber); |
511 |
|
512 |
return subscriber->usefulnesscb(latency);
|
513 |
} |
514 |
|
515 |
/**
|
516 |
* @brief Unsubscribes from a subscriber.
|
517 |
*
|
518 |
* @param[in] subscriber The NRT subscriber to be unsubscribed. Must not be NULL.
|
519 |
*
|
520 |
* @return Returns URT_STATUS_OK on sucess.
|
521 |
* Returns URT_STATUS_UNSUBSCRIBE_NOTOPIC if the subscriber is not associated to a topic.
|
522 |
*/
|
523 |
urt_status_t urtSrtSubscriberUnsubscribe(urt_srtsubscriber_t* subscriber) |
524 |
{ |
525 |
urtDebugAssert(subscriber); |
526 |
|
527 |
if (subscriber->base.topic)
|
528 |
{ |
529 |
# if (URT_CFG_PUBSUB_PROFILING == true) |
530 |
urtMutexLock(topic->lock); |
531 |
subscriber->base.topic->numSubscribers--; |
532 |
# endif /* URT_CFG_PUBSUB_PROFILING */ |
533 |
urtEventUnregister(subscriber->base.topic->evtSource, subscriber->base.evtListener); |
534 |
# if (URT_CFG_PUBSUB_PROFILING == true) |
535 |
urtMutexUnlock(topic->lock); |
536 |
# endif /* URT_CFG_PUBSUB_PROFILING */ |
537 |
subscriber->base.topic = NULL;
|
538 |
subscriber->base.lastMessage = NULL;
|
539 |
subscriber->base.lastMessageTime = 0;
|
540 |
return URT_STATUS_OK;
|
541 |
} |
542 |
|
543 |
return URT_STATUS_UNSUBSCRIBE_NOTOPIC;
|
544 |
} |
545 |
|
546 |
|
547 |
/**
|
548 |
* @brief Initialize the FRT Subscriber.
|
549 |
*
|
550 |
* @param[in] subscriber The SRT subscriber to initialize. Must not be NULL.
|
551 |
*/
|
552 |
void urtFrtSubscriberInit(urt_frtsubscriber_t* subscriber)
|
553 |
{ |
554 |
urtDebugAssert(subscriber); |
555 |
|
556 |
subscriber->base.topic = NULL;
|
557 |
urtEventListenerInit(subscriber->base.evtListener); |
558 |
subscriber->base.lastMessage = NULL;
|
559 |
subscriber->base.lastMessageTime = 0;
|
560 |
|
561 |
#if (URT_CFG_PUBSUB_PROFILING)
|
562 |
subscriber->base.sumLatencies = 0;
|
563 |
subscriber->base.numMessagesReceived = 0;
|
564 |
#endif /* URT_CFG_PUBSUB_PROFILING */ |
565 |
|
566 |
#if (URT_CFG_PUBSUB_QOS_DEADLINECHECKS)
|
567 |
subscriber->deadlineOffset = 0;
|
568 |
#endif /* URT_CFG_PUBSUB_QOS_DEADLINECHECKS */ |
569 |
|
570 |
#if (URT_CFG_PUBSUB_QOS_JITTERCHECKS)
|
571 |
subscriber->maxJitter = 0;
|
572 |
#endif /* URT_CFG_PUBSUB_QOS_JITTERCHECKS */ |
573 |
|
574 |
#if (URT_CFG_PUBSUB_QOS_JITTERCHECKS || URT_CFG_PUBSUB_PROFILING)
|
575 |
subscriber->minLatency = URT_DELAY_INFINITE; |
576 |
subscriber->maxLatency = URT_DELAY_IMMEDIATE; |
577 |
#endif /* URT_CFG_PUBSUB_QOS_JITTERCHECKS || URT_CFG_PUBSUB_PROFILING */ |
578 |
return;
|
579 |
} |
580 |
|
581 |
|
582 |
/**
|
583 |
* @brief Subscribes the subscriber to a topic.
|
584 |
*
|
585 |
* @param[in] subscriber The NRT subscriber which shall subscribe to a topic. Must not be NULL.
|
586 |
* @param[in] topic The topic to subscribe to. Must not be NULL.
|
587 |
* @param[in] messages NULL terminated list of messages to contribute to the topic.
|
588 |
* Messages must not be associated to another topic.
|
589 |
* Once a message has been contributed, it cannot be removed later.
|
590 |
* May be NULL(no messages to contribute).
|
591 |
* @param[in] deadline Maximum latency to consume messages. A value of 0 indicates that latency is of no concern.
|
592 |
* @param[in] jitter Maximum allowed jitter (difference between maximum and minimum latency) when consuming messages.
|
593 |
* A value of 0 indicates that jitter is of no concern.
|
594 |
*
|
595 |
* @return Returns URT_STATUS_OK on success.
|
596 |
* Returns URT_STATUS_SUBSCRIBE_TOPICSET if the subscriber is already associated to a topic.
|
597 |
*/
|
598 |
urt_status_t urtFrtSubscriberSubscribe(urt_frtsubscriber_t* subscriber, urt_topic_t* topic, |
599 |
urt_message_t* messages, urt_delay_t deadline, urt_delay_t jitter) |
600 |
{ |
601 |
urtDebugAssert(subscriber); |
602 |
urtDebugAssert(topic); |
603 |
|
604 |
if (subscriber->base.topic)
|
605 |
{ |
606 |
return URT_STATUS_SUBSCRIBE_TOPICSET;
|
607 |
} |
608 |
|
609 |
subscriber->base.topic = topic; |
610 |
# if (URT_CFG_PUBSUB_PROFILING == true) |
611 |
subscriber->base.sumLatencies = 0;
|
612 |
subscriber->base.numMessagesReceived = 0;
|
613 |
# endif /* URT_CFG_PUBSUB_PROFILING */ |
614 |
# if (URT_CFG_PUBSUB_QOS_DEADLINECHECKS == true) |
615 |
subscriber->deadlineOffset = deadline; |
616 |
# endif /* URT_CFG_PUBSUB_QOS_DEADLINECHECKS */ |
617 |
# if (URT_CFG_PUBSUB_QOS_JITTERCHECKS == true) |
618 |
subscriber->maxJitter =jitter; |
619 |
# endif /* URT_CFG_PUBSUB_QOS_JITTERCHECKS */ |
620 |
# if (URT_CFG_PUBSUB_QOS_JITTERCHECKS == true || URT_CFG_PUBSUB_PROFILING == true) |
621 |
subscriber->minLatency = URT_DELAY_INFINITE; |
622 |
subscriber->maxLatency = URT_DELAY_IMMEDIATE; |
623 |
# endif /* URT_CFG_PUBSUB_QOS_JITTERCHECKS || URT_CFG_PUBSUB_PROFILING */ |
624 |
|
625 |
urtMutexLock(topic->lock); |
626 |
if (messages)
|
627 |
{ |
628 |
urt_message_t* lastMessageContribute = messages; |
629 |
while (lastMessageContribute->next)
|
630 |
{ |
631 |
lastMessageContribute = lastMessageContribute->next; |
632 |
} |
633 |
lastMessageContribute->next = topic->latestMessage->next; |
634 |
topic->latestMessage->next = messages; |
635 |
} |
636 |
|
637 |
subscriber->base.lastMessage = topic->latestMessage; |
638 |
subscriber->base.lastMessageTime = topic->latestMessage->originTime; |
639 |
|
640 |
urtEventRegister(topic->evtSource, subscriber->base.evtListener, subscriber->base.evtListener.events, subscriber->base.evtListener.flags); |
641 |
|
642 |
# if (URT_CFG_PUBSUB_PROFILING == true) |
643 |
topic->numHrtSubscribers--; |
644 |
# endif /* URT_CFG_PUBSUB_PROFILING */ |
645 |
|
646 |
urtMutexUnlock(topic->lock); |
647 |
return URT_STATUS_OK;
|
648 |
} |
649 |
|
650 |
/**
|
651 |
* @brief Fetches the next message.
|
652 |
*
|
653 |
* @param[in] subscriber The SRT subscriber that shall fetch the message. Must not be NULL.
|
654 |
* @param[in] payload Pointer where to copy the payload to. May be NULL for messages without payload.
|
655 |
* @param[in] bytes Payload size in bytes.
|
656 |
* @param[in] latency The latency can be returned by reference. May be NULL.
|
657 |
*
|
658 |
* @return Returns URT_STATUS_OK on success.
|
659 |
* Returns URT_STATUS_FETCH_NOTOPIC if the subscriber is not associated to a topic.
|
660 |
* Returns URT_STATUS_FETCH_NOMESSAGE if there is no new message to fetch.
|
661 |
*/
|
662 |
urt_status_t urtFrtSubscriberFetchNextMessage(urt_frtsubscriber_t* subscriber, void* payload,
|
663 |
size_t bytes, urt_delay_t* latency) |
664 |
{ |
665 |
urtDebugAssert(subscriber); |
666 |
|
667 |
if (!subscriber->base.topic)
|
668 |
return URT_STATUS_FETCH_NOTOPIC;
|
669 |
|
670 |
urtMutexLock(subscriber->base.topic->lock); |
671 |
|
672 |
urt_message_t* messageTemp = subscriber->base.lastMessage; |
673 |
if(messageTemp->originTime == subscriber->base.lastMessageTime)
|
674 |
{ |
675 |
if (subscriber->base.lastMessage->next->originTime > subscriber->base.lastMessageTime)
|
676 |
{ |
677 |
urtMutexUnlock(subscriber->base.topic->lock); |
678 |
return URT_STATUS_FETCH_NOMESSAGE;
|
679 |
} |
680 |
messageTemp = messageTemp->next; |
681 |
} |
682 |
else
|
683 |
{ |
684 |
messageTemp = urtFindOldestMessage(messageTemp->next); |
685 |
} |
686 |
|
687 |
urtFetchMessage(); |
688 |
|
689 |
uint64_t calculatedLatency = NULL; //TODO: Calculate message latency |
690 |
#if(URT_CFG_PUBSUB_PROFILING == true) |
691 |
subscriber->base.sumLatencies += calculatedLatency; |
692 |
#endif /* URT_CFG_PUBSUB_PROFILING */ |
693 |
|
694 |
#if (URT_CFG_PUBSUB_PROFILING == true && URT_CFG_PUBSUB_QOS_JITTERCHECKS == true) //TODO: Both must be true? otherwise jitter does not exist |
695 |
if (calculatedLatency < subscriber->minLatency && calculatedLatency > subscriber->minLatency-subscriber->maxJitter)
|
696 |
{ |
697 |
subscriber->minLatency = calculatedLatency; |
698 |
} |
699 |
else if (calculatedLatency > subscriber->maxLatency && calculatedLatency < subscriber->maxLatency+subscriber->maxJitter) |
700 |
{ |
701 |
subscriber->maxLatency = calculatedLatency; |
702 |
} |
703 |
#endif /* URT_CFG_PUBSUB_PROFILING && URT_CFG_PUBSUB_QOS_JITTERCHECKS */ |
704 |
|
705 |
bool temp = false; |
706 |
if (temp/*optional latency output argument given*/) |
707 |
{ |
708 |
latency = calculatedLatency; |
709 |
} |
710 |
|
711 |
#if (URT_CFG_PUBSUB_PROFILING == true) |
712 |
subscriber->base.lastMessage->numConsumersLeft--; |
713 |
subscriber->base->numMessagesReceived++; |
714 |
#endif /* URT_CFG_PUBSUB_PROFILING */ |
715 |
|
716 |
urtMutexUnlock(subscriber->base.topic->lock); |
717 |
return URT_STATUS_OK; //TODO: or urt_status_jitterviolation |
718 |
} |
719 |
|
720 |
/**
|
721 |
* @brief Fetches the latest message.
|
722 |
*
|
723 |
* @param[in] subscriber The SRT subscriber that shall fetch the message. Must not be NULL.
|
724 |
* @param[in] payload Pointer where to copy the payload to. May be NULL for messages without payload.
|
725 |
* @param[in] bytes Payload size in bytes.
|
726 |
* @param[in] latency The latency can be returned by reference. May be NULL.
|
727 |
*
|
728 |
* @return Returns URT_STATUS_OK on success.
|
729 |
* Returns URT_STATUS_FETCH_NOTOPIC if the subscriber is not associated to a topic.
|
730 |
* Returns URT_STATUS_FETCH_NOMESSAGE if there is no new message to fetch.
|
731 |
*/
|
732 |
urt_status_t urtFrtSubscriberFetchLatestMessage(urt_frtsubscriber_t* subscriber, void* payload,
|
733 |
size_t bytes, urt_delay_t* latency) |
734 |
{ |
735 |
urtDebugAssert(subscriber); |
736 |
|
737 |
if (!subscriber->base.topic)
|
738 |
return URT_STATUS_FETCH_NOTOPIC;
|
739 |
|
740 |
urtMutexLock(subscriber->base.topic->lock); |
741 |
urt_message_t* lastMessage = urtFindLatestMessage(subscriber->base.lastMessage); |
742 |
|
743 |
if (lastMessage->originTime == subscriber->base.lastMessageTime)
|
744 |
{ |
745 |
urtMutexUnlock(subscriber->base.topic->lock); |
746 |
return URT_STATUS_FETCH_NOMESSAGE;
|
747 |
} |
748 |
|
749 |
urtFetchMessage(); |
750 |
|
751 |
uint64_t calculatedLatency = NULL; //TODO: Calculate message latency |
752 |
#if(URT_CFG_PUBSUB_PROFILING == true) |
753 |
subscriber->base.sumLatencies += calculatedLatency; |
754 |
#endif /* URT_CFG_PUBSUB_PROFILING */ |
755 |
|
756 |
#if (URT_CFG_PUBSUB_PROFILING == true && URT_CFG_PUBSUB_QOS_JITTERCHECKS == true) //TODO: Both must be true? otherwise jitter does not exist |
757 |
if (calculatedLatency < subscriber->minLatency && calculatedLatency > subscriber->minLatency-subscriber->maxJitter)
|
758 |
{ |
759 |
subscriber->minLatency = calculatedLatency; |
760 |
} |
761 |
else if (calculatedLatency > subscriber->maxLatency && calculatedLatency < subscriber->maxLatency+subscriber->maxJitter) |
762 |
{ |
763 |
subscriber->maxLatency = calculatedLatency; |
764 |
} |
765 |
#endif /* URT_CFG_PUBSUB_PROFILING && URT_CFG_PUBSUB_QOS_JITTERCHECKS */ |
766 |
|
767 |
bool temp = false; |
768 |
if (temp/*optional latency output argument given*/) |
769 |
{ |
770 |
latency = calculatedLatency; |
771 |
} |
772 |
|
773 |
urtMutexUnlock(subscriber->base.topic->lock); |
774 |
return URT_STATUS_OK;
|
775 |
} |
776 |
|
777 |
/**
|
778 |
* @brief Calculates the validity from the subscriber.
|
779 |
*
|
780 |
* @param[in] subscriber The FRT subscriber to calculate a validity for. Must not be NULL.
|
781 |
* @param[in] latency Latency (of a message) as argument to calculate validity.
|
782 |
*
|
783 |
* @return Returns a boolean indicator whether the latency is fine.
|
784 |
*/
|
785 |
bool urtFrtSubscriberCalculateValidity(urt_frtsubscriber_t* subscriber, urt_delay_t latency)
|
786 |
{ |
787 |
#if (URT_CFG_PUBSUB_QOS_JITTERCHECKS == true || URT_CFG_PUBSUB_PROFILING == true) |
788 |
if (latency > subscriber->minLatency && latency < subscriber->maxLatency)
|
789 |
return true; |
790 |
#endif /* URT_CFG_PUBSUB_QOS_JITTERCHECKS || URT_CFG_PUBSUB_PROFILING */ |
791 |
|
792 |
# if (URT_CFG_PUBSUB_QOS_JITTERCHECKS == true) |
793 |
if (latency < subscriber->minLatency && subscriber->maxLatency-subscriber->maxJitter < latency)
|
794 |
return true; |
795 |
|
796 |
if (latency > subscriber->maxLatency && subscriber->minLatency+subscriber->maxJitter > latency)
|
797 |
return true; |
798 |
# endif /* URT_CFG_PUBSUB_QOS_DEADLINECHECKS && URT_CFG_PUBSUB_QOS_JITTERCHECKS */ |
799 |
|
800 |
return false; |
801 |
} |
802 |
|
803 |
/**
|
804 |
* @brief Unsubscribes from a subscriber.
|
805 |
*
|
806 |
* @param[in] subscriber The FRT subscriber to be unsubscribed. Must not be NULL.
|
807 |
*
|
808 |
* @return Returns URT_STATUS_OK on sucess.
|
809 |
* Returns URT_STATUS_UNSUBSCRIBE_NOTOPIC if the subscriber is not associated to a topic.
|
810 |
*/
|
811 |
urt_status_t urtFrtSubscriberUnsubscribe(urt_frtsubscriber_t* subscriber) |
812 |
{ |
813 |
urtDebugAssert(subscriber); |
814 |
|
815 |
if (subscriber->base.topic)
|
816 |
{ |
817 |
urtMutexLock(topic->lock); |
818 |
urtEventUnregister(subscriber->base.topic->evtSource, subscriber->base.evtListener); |
819 |
//TODO: decrement topic's HRT counter
|
820 |
# if (URT_CFG_PUBSUB_PROFILING == true) |
821 |
subscriber->base.topic->numSubscribers--; |
822 |
# endif /* URT_CFG_PUBSUB_PROFILING */ |
823 |
//Hier weiter
|
824 |
|
825 |
# if (URT_CFG_PUBSUB_PROFILING == true) |
826 |
urtMutexUnlock(topic->lock); |
827 |
# endif /* URT_CFG_PUBSUB_PROFILING */ |
828 |
subscriber->base.topic = NULL;
|
829 |
subscriber->base.lastMessage = NULL;
|
830 |
subscriber->base.lastMessageTime = 0;
|
831 |
return URT_STATUS_OK;
|
832 |
} |
833 |
|
834 |
return URT_STATUS_UNSUBSCRIBE_NOTOPIC;
|
835 |
} |
836 |
|
837 |
|
838 |
/**
|
839 |
* @brief Initialize the HRT Subscriber.
|
840 |
*
|
841 |
* @param[in] subscriber The HRT subscriber to initialize. Must not be NULL.
|
842 |
*/
|
843 |
void urtHrtSubscriberInit(urt_hrtsubscriber_t* subscriber)
|
844 |
{ |
845 |
urtDebugAssert(subscriber); |
846 |
|
847 |
subscriber->base.topic = NULL;
|
848 |
urtEventListenerInit(subscriber->base.evtListener); |
849 |
subscriber->base.lastMessage = NULL;
|
850 |
subscriber->base.lastMessageTime = 0;
|
851 |
|
852 |
# if (URT_CFG_PUBSUB_PROFILING)
|
853 |
subscriber->base.sumLatencies = 0;
|
854 |
subscriber->base.numMessagesReceived = 0;
|
855 |
# endif /* URT_CFG_PUBSUB_PROFILING */ |
856 |
|
857 |
subscriber->next = NULL;
|
858 |
|
859 |
# if (URT_CFG_PUBSUB_QOS_DEADLINECHECKS)
|
860 |
subscriber->deadlineOffset = 0;
|
861 |
urtTimerInit(subscriber->qodDeadlineTimer); |
862 |
# endif /* URT_CFG_PUBSUB_QOS_DEADLINECHECKS */ |
863 |
|
864 |
# if (URT_CFG_PUBSUB_QOS_RATECHECKS)
|
865 |
subscriber->expectedRate = 0;
|
866 |
# endif /* URT_CFG_PUBSUB_QOS_RATECHECKS */ |
867 |
|
868 |
# if (URT_CFG_PUBSUB_QOS_JITTERCHECKS)
|
869 |
subscriber->maxJitter = 0;
|
870 |
# endif /* URT_CFG_PUBSUB_QOS_JITTERCHECKS */ |
871 |
|
872 |
# if (URT_CFG_PUBSUB_QOS_JITTERCHECKS || URT_CFG_PUBSUB_PROFILING)
|
873 |
subscriber->minLatency = URT_DELAY_INFINITE; |
874 |
subscriber->maxLatency = URT_DELAY_IMMEDIATE; |
875 |
# endif /* URT_CFG_PUBSUB_QOS_JITTERCHECKS || URT_CFG_PUBSUB_PROFILING */ |
876 |
return;
|
877 |
} |
878 |
|
879 |
|
880 |
/**
|
881 |
* @brief Subscribes the subscriber to a topic.
|
882 |
*
|
883 |
* @param[in] subscriber The HRT subscriber which shall subscribe to a topic. Must not be NULL.
|
884 |
* @param[in] topic The topic to subscribe to. Must not be NULL.
|
885 |
* @param[in] messages NULL terminated list of messages to contribute to the topic.
|
886 |
* Messages must not be associated to another topic.
|
887 |
* Once a message has been contributed, it cannot be removed later.
|
888 |
* May be NULL(no messages to contribute).
|
889 |
* @param[in] deadline Maximum latency to consume messages. A value of 0 indicates that latency is of no concern.
|
890 |
* @param[in] rate Expected minimum rate of new messages (= maximum time between consecutive messages).
|
891 |
* A value of 0 indicates, that rate is of no concern.
|
892 |
* @param[in] jitter Maximum allowed jitter (difference between maximum and minimum latency) when consuming messages.
|
893 |
* A value of 0 indicates that jitter is of no concern.
|
894 |
*
|
895 |
* @return Returns URT_STATUS_OK on success.
|
896 |
* Returns URT_STATUS_SUBSCRIBE_TOPICSET if the subscriber is already associated to a topic.
|
897 |
*/
|
898 |
urt_status_t urtHrtSubscriberSubscribe(urt_hrtsubscriber_t* subscriber, urt_topic_t* topic, |
899 |
urt_message_t* messages, urt_delay_t deadline, urt_delay_t rate, urt_delay_t jitter) |
900 |
{ |
901 |
urtDebugAssert(subscriber); |
902 |
urtDebugAssert(topic); |
903 |
|
904 |
if (subscriber->base.topic)
|
905 |
{ |
906 |
return URT_STATUS_SUBSCRIBE_TOPICSET;
|
907 |
} |
908 |
|
909 |
subscriber->base.topic = topic; |
910 |
# if (URT_CFG_PUBSUB_PROFILING == true) |
911 |
subscriber->base.sumLatencies = 0;
|
912 |
subscriber->base.numMessagesReceived = 0;
|
913 |
# endif /* URT_CFG_PUBSUB_PROFILING */ |
914 |
# if (URT_CFG_PUBSUB_QOS_DEADLINECHECKS == true) |
915 |
subscriber->deadlineOffset = deadline; |
916 |
# endif /* URT_CFG_PUBSUB_QOS_DEADLINECHECKS */ |
917 |
# if (URT_CFG_PUBSUB_QOS_JITTERCHECKS == true) |
918 |
subscriber->maxJitter =jitter; |
919 |
# endif /* URT_CFG_PUBSUB_QOS_JITTERCHECKS */ |
920 |
# if (URT_CFG_PUBSUB_QOS_JITTERCHECKS == true || URT_CFG_PUBSUB_PROFILING == true) |
921 |
subscriber->minLatency = URT_DELAY_INFINITE; |
922 |
subscriber->maxLatency = URT_DELAY_IMMEDIATE; |
923 |
# endif /* URT_CFG_PUBSUB_QOS_JITTERCHECKS || URT_CFG_PUBSUB_PROFILING */ |
924 |
# if (URT_CFG_PUBSUB_QOS_RATECHECKS == true) |
925 |
subscriber->expectedRate = rate; |
926 |
# endif /* URT_CFG_PUBSUB_QOS_RATECHECKS */ |
927 |
|
928 |
urtMutexLock(topic->lock); |
929 |
if (messages)
|
930 |
{ |
931 |
urt_message_t* lastMessageContribute = messages; |
932 |
while (lastMessageContribute->next)
|
933 |
{ |
934 |
lastMessageContribute = lastMessageContribute->next; |
935 |
} |
936 |
lastMessageContribute->next = topic->latestMessage->next; |
937 |
topic->latestMessage->next = messages; |
938 |
} |
939 |
|
940 |
subscriber->base.lastMessage = topic->latestMessage; |
941 |
subscriber->base.lastMessageTime = topic->latestMessage->originTime; |
942 |
|
943 |
urtEventRegister(topic->evtSource, subscriber->base.evtListener, subscriber->base.evtListener.events, subscriber->base.evtListener.flags); |
944 |
|
945 |
# if(URT_CFG_PUBSUB_QOS_RATECHECKS == true) |
946 |
//TODO: Implement
|
947 |
# endif /* URT_CFG_PUBSUB_QOS_RATECHECKS */ |
948 |
|
949 |
topic->numHrtSubscribers--; |
950 |
# if (URT_CFG_PUBSUB_PROFILING == true) |
951 |
topic->numSubscribers--; |
952 |
# endif /* URT_CFG_PUBSUB_PROFILING */ |
953 |
|
954 |
urtMutexUnlock(topic->lock); |
955 |
return URT_STATUS_OK;
|
956 |
} |
957 |
|
958 |
|
959 |
/**
|
960 |
* @brief Fetches the next message.
|
961 |
*
|
962 |
* @param[in] subscriber The SRT subscriber that shall fetch the message. Must not be NULL.
|
963 |
* @param[in] payload Pointer where to copy the payload to. May be NULL for messages without payload.
|
964 |
* @param[in] bytes Payload size in bytes.
|
965 |
* @param[in] latency The latency can be returned by reference. May be NULL.
|
966 |
*
|
967 |
* @return Returns URT_STATUS_OK on success.
|
968 |
* Returns URT_STATUS_FETCH_NOTOPIC if the subscriber is not associated to a topic.
|
969 |
* Returns URT_STATUS_FETCH_NOMESSAGE if there is no new message to fetch.
|
970 |
*/
|
971 |
urt_status_t urtHrtSubscriberFetchNextMessage(urt_hrtsubscriber_t* subscriber, void* payload,
|
972 |
size_t bytes, urt_delay_t* latency) |
973 |
{ |
974 |
urtDebugAssert(subscriber); |
975 |
|
976 |
if (!subscriber->base.topic)
|
977 |
return URT_STATUS_FETCH_NOTOPIC;
|
978 |
|
979 |
urtMutexLock(subscriber->base.topic->lock); |
980 |
urt_message_t* messageTemp = subscriber->base.lastMessage; |
981 |
if (messageTemp->next->originTime > messageTemp.originTime)
|
982 |
{ |
983 |
urtMutexUnlock(subscriber->base.topic->lock); |
984 |
return URT_STATUS_FETCH_NOMESSAGE;
|
985 |
} |
986 |
messageTemp = messageTemp->next; |
987 |
|
988 |
uint64_t calculatedLatency = NULL; //TODO: Calculate message latency |
989 |
#if (URT_CFG_PUBSUB_PROFILING == true) |
990 |
subscriber->base.sumLatencies += calculatedLatency; |
991 |
#endif /* URT_CFG_PUBSUB_PROFILING */ |
992 |
bool temp = false; |
993 |
if (temp /* optional latency output argument given */) |
994 |
{ |
995 |
latency = calculatedLatency |
996 |
} |
997 |
|
998 |
subscriber->base.lastMessage->numHrtConsumersLeft--; |
999 |
if (subscriber->base.lastMessage->numHrtConsumersLeft != 0) |
1000 |
{ |
1001 |
urtCondvarSignal(subscriber->base.topic->hrtReleased); |
1002 |
} |
1003 |
|
1004 |
#if (URT_CFG_PUBSUB_PROFILING == true) |
1005 |
subscriber->base.lastMessage->numConsumersLeft--; |
1006 |
subscriber->base->numMessagesReceived++; |
1007 |
#endif /* URT_CFG_PUBSUB_PROFILING */ |
1008 |
|
1009 |
#if (URT_CFG_PUBSUB_QOS_JITTERCHECKS == true || URT_CFG_PUBSUB_PROFILING == true) |
1010 |
if (temp /*latency is within allowed jitter range*/) |
1011 |
{ |
1012 |
if (calculatedLatency < subscriber->minLatency)
|
1013 |
{ |
1014 |
subscriber->minLatency = calculatedLatency; |
1015 |
} |
1016 |
else if (calculatedLatency > subscriber->maxLatency) |
1017 |
{ |
1018 |
subscriber->maxLatency = calculatedLatency; |
1019 |
} |
1020 |
} |
1021 |
else
|
1022 |
{ |
1023 |
#if (URT_CFG_PUBSUB_QOS_JITTERCHECKS == true) |
1024 |
urtMutexUnlock(subscriber->base.topic->lock); |
1025 |
urtCoreStopNodes(URT_STATUS_JITTERVIOLATION); |
1026 |
return URT_STATUS_JITTERVIOLATION;
|
1027 |
#endif /* URT_CFG_PUBSUB_QOS_JITTERCHECKS */ |
1028 |
} |
1029 |
#endif /* URT_CFG_PUBSUB_QOS_JITTERCHECKS || URT_CFG_PUBSUB_PROFILING */ |
1030 |
|
1031 |
urtFetchMessage(); |
1032 |
|
1033 |
#if (URT_CFG_PUBSUB_QOS_DEADLINECHECKS == true) |
1034 |
if (messageTemp->next->originTime < messageTemp->originTime)
|
1035 |
{ |
1036 |
//TODO: update qos deadliner timer wrt. next message
|
1037 |
} |
1038 |
else
|
1039 |
{ |
1040 |
//TODO: reset qos deadline timer
|
1041 |
} |
1042 |
#endif /* URT_CFG_PUBSUB_QOS_DEADLINECHECKS */ |
1043 |
|
1044 |
urtMutexUnlock(subscriber->base.topic->lock); |
1045 |
return URT_STATUS_OK;
|
1046 |
} |
1047 |
|
1048 |
|
1049 |
/**
|
1050 |
* @brief Fetches the latest message.
|
1051 |
*
|
1052 |
* @param[in] subscriber The SRT subscriber that shall fetch the message. Must not be NULL.
|
1053 |
* @param[in] payload Pointer where to copy the payload to. May be NULL for messages without payload.
|
1054 |
* @param[in] bytes Payload size in bytes.
|
1055 |
* @param[in] latency The latency can be returned by reference. May be NULL.
|
1056 |
*
|
1057 |
* @return Returns URT_STATUS_OK on success.
|
1058 |
* Returns URT_STATUS_FETCH_NOTOPIC if the subscriber is not associated to a topic.
|
1059 |
* Returns URT_STATUS_FETCH_NOMESSAGE if there is no new message to fetch.
|
1060 |
*/
|
1061 |
urt_status_t urtHrtSubscriberFetchLatestMessage(urt_hrtsubscriber_t* subscriber, void* payload,
|
1062 |
size_t bytes, urt_delay_t* latency){return URT_STATUS_OK;}
|
1063 |
|
1064 |
/**
|
1065 |
* @brief Unsubscribes from a subscriber.
|
1066 |
*
|
1067 |
* @param[in] subscriber The HRT subscriber to be unsubscribed. Must not be NULL.
|
1068 |
*
|
1069 |
* @return Returns URT_STATUS_OK on sucess.
|
1070 |
* Returns URT_STATUS_UNSUBSCRIBE_NOTOPIC if the subscriber is not associated to a topic.
|
1071 |
*/
|
1072 |
urt_status_t urtHrtSubscriberUnsubscribe(urt_hrtsubscriber_t* subscriber) |
1073 |
{ |
1074 |
urtDebugAssert(subscriber); |
1075 |
|
1076 |
if (subscriber->base.topic)
|
1077 |
{ |
1078 |
urtMutexLock(topic->lock); |
1079 |
urtEventUnregister(subscriber->base.topic->evtSource, subscriber->base.evtListener); |
1080 |
subscriber->base.topic->numHrtSubscribers--; |
1081 |
# if (URT_CFG_PUBSUB_PROFILING == true) |
1082 |
subscriber->base.topic->numSubscribers--; |
1083 |
# endif /* URT_CFG_PUBSUB_PROFILING */ |
1084 |
# if (URT_CFG_PUBSUB_QOS_RATECHECKS == true) |
1085 |
//TODO: remove self from topics lsit of HRT subscribers
|
1086 |
//TODO: ...
|
1087 |
# endif /* URT_CFG_PUBSUB_QOS_RATECHECKS */ |
1088 |
|
1089 |
urt_message_t* messageTemp = subscriber->base.lastMessage; |
1090 |
bool hrtZero = false; |
1091 |
while (messageTemp->next->originTime < messageTemp->originTime)
|
1092 |
{ |
1093 |
messageTemp = messageTemp->next; |
1094 |
messageTemp->numHrtConsumersLeft--; |
1095 |
if (messageTemp->numHrtConsumersLeft == 0) |
1096 |
{ |
1097 |
hrtZero = true;
|
1098 |
} |
1099 |
# if(URT_CFG_PUBSUB_PROFILING == true) |
1100 |
messageTemp->numConsumersLeft--; |
1101 |
# endif /* URT_CFG_PUBSUB_PROFILING */ |
1102 |
} |
1103 |
if (hrtZero)
|
1104 |
{ |
1105 |
urtCondvarSignal(subscriber->base.topic->hrtReleased); |
1106 |
} |
1107 |
|
1108 |
urtMutexUnlock(topic->lock); |
1109 |
subscriber->base.topic = NULL;
|
1110 |
subscriber->base.lastMessage = NULL;
|
1111 |
subscriber->base.lastMessageTime = 0;
|
1112 |
return URT_STATUS_OK;
|
1113 |
} |
1114 |
|
1115 |
return URT_STATUS_UNSUBSCRIBE_NOTOPIC;
|
1116 |
} |
1117 |
|
1118 |
|
1119 |
|