AMiRo-OS

/*

µRtWare is a lightweight publish/subscribe middleware for real-time

applications. It was developed as part of the software habitat for the

Autonomous Mini Robot [1] (AMiRo) but can be used for other purposes as well.

Copyright (C) 2018..2020  Thomas Schöpping et al.

This program is free software: you can redistribute it and/or modify

it under the terms of the GNU General Public License as published by

the Free Software Foundation, either version 3 of the License, or

(at your option) any later version.

This program is distributed in the hope that it will be useful,

but WITHOUT ANY WARRANTY; without even the implied warranty of

MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the

GNU General Public License for more details.

You should have received a copy of the GNU General Public License

along with this program.  If not, see <http://www.gnu.org/licenses/>.

*/

#ifndef URT_PRIMITIVES_H

#define URT_PRIMITIVES_H

#include <urtware.h>

#include <stdint.h>

/*============================================================================*/

/* CONSTANTS                                                                  */

/*============================================================================*/

/**

 * @brief Special constant value for immediate (nonexistent) delays.

 */

#define URT_DELAY_IMMEDIATE                     (urt_delay_t)0

/**

 * @brief Special constant value for infinite delays.

 */

#define URT_DELAY_INFINITE                      (urt_delay_t)~0

/*============================================================================*/

/* SETTINGS                                                                   */

/*============================================================================*/

/*============================================================================*/

/* CHECKS                                                                     */

/*============================================================================*/

/*============================================================================*/

/* DATA STRUCTURES AND TYPES                                                  */

/*============================================================================*/

/**

 * @brief   Type for temporal delays (in microseconds).

 */

#if (URT_CFG_DELAY_WIDTH == 32)

  typedef uint32_t urt_delay_t;

#elif (URT_CFG_DELAY_WIDTH == 64)

  typedef uint64_t urt_delay_t;

#else

# error "URT_CFG_DELAY_WIDTH must be set to 32 or 64."

#endif

/**

 * @brief   Type to use for the node stage value.

 * @details Use wide types only if you need to synchronize the system very often.

 */

#if (URT_CFG_NODESTAGE_WIDTH == 8)

  typedef uint8_t urt_nodestage_t;

#elif (URT_CFG_NODESTAGE_WIDTH == 16)

  typedef uint16_t urt_nodestage_t;

#elif (URT_CFG_NODESTAGE_WIDTH == 32)

  typedef uint32_t urt_nodestage_t;

#elif (URT_CFG_NODESTAGE_WIDTH == 64)

  typedef uint64_t urt_nodestage_t;

#else

# error "URT_CFG_NODESTAGE_WIDTH must be set to 8, 16, 32 or 64."

#endif

/**

 * @brief   General status type used throughout µRtWare and its interfaces.

 */

typedef enum {

  URT_STATUS_OK = 0,              /**< Status indicating success. */

  URT_STATUS_DEADLINEVIOLATION,   /**< Status indicating a violated deadline. */

  URT_STATUS_JITTERVIOLATION,     /**< Status indicating a violated jitter requirement. */

  URT_STATUS_RATEVIOLATION,       /**< Status indicating a violated rate requirement. */

  URT_STATUS_SYNC_PENDING,        /**< Status indicating a synchronization barrier. */

  URT_STATUS_SYNC_ERROR,          /**< Status indicating a failed synchronization. */

  URT_STATUS_NODE_INVALEVTMASK,   /**< Status indicating an invalid event mask. */

#if (URT_CFG_PUBSUB_ENABLED == true) || defined(__DOXYGEN__)

  URT_STATUS_TOPIC_DUPLICATE,     /**< Status indicating multiple use of the same topic ID. */

  URT_STATUS_PUBLISH_TIMEOUT,     /**< Status indicating a timeout when publishinh a message. */

  URT_STATUS_SUBSCRIBE_TOPICSET,  /**< Status indicating that the subscriber is already associated to a topic. */

  URT_STATUS_FETCH_NOTOPIC,       /**< Status indicating that the subscriber is not associated to any topic. */

  URT_STATUS_FETCH_NOMESSAGE,     /**< Status indicating that no message could be fetched. */

  URT_STATUS_UNSUBSCRIBE_NOTOPIC, /**< Status indicating that the subscriber is not associated to an topic. */

#endif /* URT_CFG_PUBSUB_ENABLED == true */

#if (URT_CFG_RPC_ENABLED == true) || defined(__DOXYGEN__)

  URT_STATUS_SERVICE_DUPLICATE,   /**< Status indicating multiple use of the same service ID. */

  URT_STATUS_REQUEST_BADOWNER,    /**< Status indicating that a request is currently owned by another component. */

  URT_STATUS_REQUEST_LOCKED,      /**< Status indicating a currently locked request. */

#endif /* URT_CFG_RPC_ENABLED == true */

} urt_status_t;

#if (URT_CFG_PUBSUB_ENABLED == true) || defined(__DOXYGEN__)

# if (URT_CFG_PUBSUB_TOPICID_WIDTH == 8)

    typedef uint8_t urt_topicid_t;

# elif (URT_CFG_PUBSUB_TOPICID_WIDTH == 16)

    typedef uint16_t urt_topicid_t;

# elif (URT_CFG_PUBSUB_TOPICID_WIDTH == 32)

    typedef uint32_t urt_topicid_t;

# elif (URT_CFG_PUBSUB_TOPICID_WIDTH == 64)

    typedef uint64_t urt_topicid_t;

# else

#   error "URT_CFG_PUBSUB_TOPICID_WIDTH must be set to 8, 16, 32 or 64."

# endif

#endif /* URT_CFG_PUBSUB_ENABLED == true */

#if (URT_CFG_RPC_ENABLED == true) || defined(__DOXYGEN__)

# if (URT_CFG_RPC_SERVICEID_WIDTH == 8)

    typedef uint8_t urt_serviced_t;

# elif (URT_CFG_RPC_SERVICEID_WIDTH == 16)

    typedef uint16_t urt_serviced_t;

# elif (URT_CFG_RPC_SERVICEID_WIDTH == 32)

    typedef uint32_t urt_serviced_t;

# elif (URT_CFG_RPC_SERVICEID_WIDTH == 64)

    typedef uint64_t urt_serviced_t;

# else

#   error "URT_CFG_RPC_SERVICEID_WIDTH must be set to 8, 16, 32 or 64."

# endif

#endif /* URT_CFG_RPC_ENABLED == true */

/**

 * @brief   Usefulness calculation function type.

 *

 * @param[in] dt  Delay to calculate the usefulness for.

 * @param[in] param Pointer to optional parameters (may be NULL).

 *

 * return   The usefulness (of some data) after the specified delay as value in range [0, 1].

 */

typedef float (*urt_usefulness_f)(urt_delay_t dt, void* params);

/*============================================================================*/

/* MACROS                                                                     */

/*============================================================================*/

/*============================================================================*/

/* EXTERN DECLARATIONS                                                        */

/*============================================================================*/

/*============================================================================*/

/* INLINE FUNCTIONS                                                           */

/*============================================================================*/

#endif /* URT_PRIMITIVES_H */