urtware / src / urt_subscriber.c @ 6882b76c
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| 1 | 1fb06240 | skenneweg | /*
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| 2 | µRtWare is a lightweight publish/subscribe middleware for real-time
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| 3 | applications. It was developed as part of the software habitat for the
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| 4 | Autonomous Mini Robot [1] (AMiRo) but can be used for other purposes as well.
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| 5 | |||
| 6 | Copyright (C) 2018..2020 Thomas Schöpping et al.
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| 7 | |||
| 8 | This program is free software: you can redistribute it and/or modify
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| 9 | it under the terms of the GNU General Public License as published by
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| 10 | the Free Software Foundation, either version 3 of the License, or
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| 11 | (at your option) any later version.
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| 12 | |||
| 13 | This program is distributed in the hope that it will be useful,
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| 14 | but WITHOUT ANY WARRANTY; without even the implied warranty of
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| 15 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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| 16 | GNU General Public License for more details.
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| 17 | |||
| 18 | You should have received a copy of the GNU General Public License
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| 19 | along with this program. If not, see <http://www.gnu.org/licenses/>.
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| 20 | */
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| 21 | |||
| 22 | 7d9678db | skenneweg | #include <urtware.h> |
| 23 | |||
| 24 | 1fb06240 | skenneweg | /******************************************************************************/
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| 25 | /* LOCAL DEFINITIONS */
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| 26 | /******************************************************************************/
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| 27 | |||
| 28 | /******************************************************************************/
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| 29 | /* EXPORTED VARIABLES */
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| 30 | /******************************************************************************/
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| 31 | |||
| 32 | /******************************************************************************/
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| 33 | /* LOCAL TYPES */
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| 34 | /******************************************************************************/
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| 35 | |||
| 36 | /******************************************************************************/
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| 37 | /* LOCAL VARIABLES */
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| 38 | /******************************************************************************/
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| 39 | |||
| 40 | /******************************************************************************/
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| 41 | /* LOCAL FUNCTIONS */
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| 42 | /******************************************************************************/
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| 43 | |||
| 44 | /******************************************************************************/
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| 45 | /* EXPORTED FUNCTIONS */
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| 46 | /******************************************************************************/
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| 47 | |||
| 48 | 7d9678db | skenneweg | /**
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| 49 | * @brief Initialize the nrt Subscriber.
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| 50 | *
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| 51 | 5198dfae | skenneweg | * @param[in] subscriber The NRT subscriber to initialize. Must not be NULL.
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| 52 | 7d9678db | skenneweg | */
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| 53 | void urtNrtSubscriberInit (urt_nrtsubscriber_t* subscriber) {return;} |
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| 54 | 1fb06240 | skenneweg | |
| 55 | 7d9678db | skenneweg | /**
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| 56 | 5198dfae | skenneweg | * @brief Subscribes the subscriber to a topic.
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| 57 | 7d9678db | skenneweg | *
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| 58 | 5198dfae | skenneweg | * @param[in] subscriber The NRT subscriber which shall subscribe to a topic. Must not be NULL.
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| 59 | * @param[in] topic The topic to subscribe to. Must not be NULL.
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| 60 | * @param[in] messages NULL terminated list of messages to contribute to the topic.
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| 61 | * Messages must not be associated to another topic.
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| 62 | * Once a message has been contributed, it cannot be removed later.
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| 63 | * May be NULL(no messages to contribute).
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| 64 | 7d9678db | skenneweg | *
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| 65 | 5198dfae | skenneweg | * @return Returns URT_STATUS_OK on success.
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| 66 | * Returns URT_STATUS_SUBSCRIBE_TOPICSET if the subscriber is already associated to a topic.
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| 67 | 7d9678db | skenneweg | */
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| 68 | 1fb06240 | skenneweg | urt_status_t urtNrtSubscriberSubscribe (urt_nrtsubscriber_t* subscriber, urt_topic_t* topic, urt_message_t* messages) {
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| 69 | 7d9678db | skenneweg | return URT_STATUS_OK;
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| 70 | 1fb06240 | skenneweg | } |
| 71 | |||
| 72 | 7d9678db | skenneweg | /**
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| 73 | 5198dfae | skenneweg | * @brief Fetches the next message.
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| 74 | 7d9678db | skenneweg | *
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| 75 | 5198dfae | skenneweg | * @param[in] subscriber The NRT subscriber that shall fetch the message. Must not be NULL.
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| 76 | * @param[in] payload Pointer where to copy the payload to. May be NULL for messages without payload.
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| 77 | * @param[in] bytes Payload size in bytes.
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| 78 | * @param[in] latency The latency can be returned by reference. May be NULL.
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| 79 | 7d9678db | skenneweg | *
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| 80 | 5198dfae | skenneweg | * @return Returns URT_STATUS_OK on success.
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| 81 | * Returns URT_STATUS_FETCH_NOTOPIC if the subscriber is not associated to a topic.
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| 82 | * Retruns URT_STATUS_FETCH_NOMESSAGE if there is no new message to fetch.
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| 83 | 7d9678db | skenneweg | */
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| 84 | 1fb06240 | skenneweg | urt_status_t urtNrtSubscriberFetchNextMessage (urt_nrtsubscriber_t* subscriber, void* payload, size_t bytes, urt_delay_t* latency) {
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| 85 | 7d9678db | skenneweg | return URT_STATUS_OK;
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| 86 | 1fb06240 | skenneweg | } |
| 87 | |||
| 88 | 7d9678db | skenneweg | /**
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| 89 | 5198dfae | skenneweg | * @brief Fetches the lates message.
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| 90 | 7d9678db | skenneweg | *
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| 91 | 5198dfae | skenneweg | * @param[in] subscriber The NRT subscriber that shall fetch the message. Must not be NULL.
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| 92 | * @param[in] payload Pointer where to copy the payload to. May be NULL for messages without payload.
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| 93 | * @param[in] bytes Payload size in bytes.
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| 94 | * @param[in] latency The latency can be returned by reference. May be NULL.
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| 95 | 7d9678db | skenneweg | *
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| 96 | 5198dfae | skenneweg | * @return Returns URT_STATUS_OK on success.
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| 97 | * Returns URT_STATUS_FETCH_NOTOPIC if the subscriber is not associated to a topic.
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| 98 | * Returns URT_STATUS_FETCH_NOMESSAGE if there is no new message to fetch.
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| 99 | 7d9678db | skenneweg | */
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| 100 | 1fb06240 | skenneweg | urt_status_t urtNrtSubscriberFetchLatestMessage (urt_nrtsubscriber_t* subscriber, void* payload, size_t bytes, urt_delay_t* latency) {
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| 101 | 7d9678db | skenneweg | return URT_STATUS_OK;
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| 102 | 1fb06240 | skenneweg | } |
| 103 | |||
| 104 | 7d9678db | skenneweg | /**
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| 105 | 5198dfae | skenneweg | * @brief Unsubscribes from a subscriber.
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| 106 | 7d9678db | skenneweg | *
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| 107 | 5198dfae | skenneweg | * @param[in] subscriber The NRT subscriber to be unsubscribed. Must not be NULL.
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| 108 | 7d9678db | skenneweg | *
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| 109 | 5198dfae | skenneweg | * @return Returns URT_STATUS_OK on sucess.
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| 110 | * Returns URT_STATUS_UNSUBSCRIBE_NOTOPIC if the subscriber is not associated to a topic.
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| 111 | 7d9678db | skenneweg | */
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| 112 | 1fb06240 | skenneweg | urt_status_t urtNrtSubscriberUnsubscribe (urt_nrtsubscriber_t* subscriber) {
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| 113 | 7d9678db | skenneweg | return URT_STATUS_OK;
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| 114 | 1fb06240 | skenneweg | } |
| 115 | |||
| 116 | 7d9678db | skenneweg | |
| 117 | /**
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| 118 | 5198dfae | skenneweg | * @brief Initialize the srt Subscriber.
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| 119 | 7d9678db | skenneweg | *
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| 120 | 5198dfae | skenneweg | * @param[in] subscriber The SRT subscriber to initialize. Must not be NULL.
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| 121 | 7d9678db | skenneweg | */
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| 122 | void urtSrtSubscriberInit(urt_srtsubscriber_t* subscriber) {return;} |
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| 123 | |||
| 124 | /**
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| 125 | 5198dfae | skenneweg | * @brief Subscribes the subscriber to a topic.
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| 126 | *
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| 127 | * @param[in] subscriber The SRT subscriber which shall subscribe to a topic. Must not be NULL.
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| 128 | * @param[in] topic The topic to subscribe to. Must not be NULL.
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| 129 | * @param[in] message NULL terminated list of messages to contribute to the topic.
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| 130 | * Messages must not be associated to another topic.
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| 131 | * Once a message has been contributed, it cannot be removed later.
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| 132 | * May be NULL (no messages to contribute)
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| 133 | * @param[in] usefulnesscb Pointer to a function to calculate usefulness of a message. Must not be NULL.
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| 134 | * @param[in] cbparams Optional parameters for the usefulness callback.
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| 135 | * May be NULL if the callback expects no parameters.
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| 136 | *
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| 137 | * @return Returns URT_STATUS_OK on success.
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| 138 | * Returns URT_STATUS_SUBSCRIBE_TOPICSET if the subscriber is already associated to a topic.
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| 139 | 7d9678db | skenneweg | */
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| 140 | urt_status_t urtSrtSubscriberSubscribe(urt_srtsubscriber_t* subscriber, urt_topic_t* topic, |
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| 141 | urt_message_t* message, urt_srtusefulnessfunc_t* usefulnesscb, void* cbparams) {return URT_STATUS_OK;} |
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| 142 | |||
| 143 | /**
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| 144 | 5198dfae | skenneweg | * @brief Fetches the next message.
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| 145 | 7d9678db | skenneweg | *
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| 146 | 5198dfae | skenneweg | * @param[in] subscriber The SRT subscriber that shall fetch the message. Must not be NULL.
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| 147 | * @param[in] payload Pointer where to copy the payload to. May be NULL for messages without payload.
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| 148 | * @param[in] bytes Payload size in bytes.
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| 149 | * @param[in] latency The latency can be returned by reference. May be NULL.
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| 150 | 7d9678db | skenneweg | *
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| 151 | 5198dfae | skenneweg | * @return Returns URT_STATUS_OK on success.
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| 152 | * Returns URT_STATUS_FETCH_NOTOPIC if the subscriber is not associated to a topic.
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| 153 | * Returns URT_STATUS_FETCH_NOMESSAGE if there is no new message to fetch.
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| 154 | 7d9678db | skenneweg | */
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| 155 | urt_status_t urtSrtSubscriberFetchNextMessage(urt_srtsubscriber_t* subscriber, void* payload,
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| 156 | size_t bytes, urt_delay_t* latency){return URT_STATUS_OK;}
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| 157 | |||
| 158 | /**
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| 159 | 5198dfae | skenneweg | * @brief Fetches the latest message.
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| 160 | 7d9678db | skenneweg | *
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| 161 | 5198dfae | skenneweg | * @param[in] subscriber The SRT subscriber that shall fetch the message. Must not be NULL.
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| 162 | * @param[in] payload Pointer where to copy the payload to. May be NULL for messages without payload.
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| 163 | * @param[in] bytes Payload size in bytes.
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| 164 | * @param[in] latency The latency can be returned by reference. May be NULL.
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| 165 | 7d9678db | skenneweg | *
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| 166 | 5198dfae | skenneweg | * @return Returns URT_STATUS_OK on success.
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| 167 | * Returns URT_STATUS_FETCH_NOTOPIC if the subscriber is not associated to a topic.
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| 168 | * Returns URT_STATUS_FETCH_NOMESSAGE if there is no new message to fetch.
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| 169 | 7d9678db | skenneweg | */
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| 170 | urt_status_t urtSrtSubscriberFetchLatestMessage(urt_srtsubscriber_t* subscriber, void* payload,
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| 171 | size_t bytes, urt_delay_t* latency){return URT_STATUS_OK;}
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| 172 | |||
| 173 | /**
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| 174 | 5198dfae | skenneweg | * @brief Calculates the usefulness of the subscriber.
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| 175 | 7d9678db | skenneweg | *
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| 176 | 5198dfae | skenneweg | * @param[in] subscriber The SRT subscriber that shall fetch the message. Must not be NULL.
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| 177 | * @param[in] latency Latency (of a message) as argument to calculate usefulness.
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| 178 | 7d9678db | skenneweg | *
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| 179 | 5198dfae | skenneweg | * @return Returns the usefulness as a value within [0,1].
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| 180 | 7d9678db | skenneweg | */
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| 181 | 5198dfae | skenneweg | float urtSrtSubscriberCalculateUsefulness(urt_srtsubscriber_t* subscriber, urt_delay_t latency){return 0;} |
| 182 | 7d9678db | skenneweg | |
| 183 | /**
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| 184 | 5198dfae | skenneweg | * @brief Unsubscribes from a subscriber.
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| 185 | 7d9678db | skenneweg | *
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| 186 | 5198dfae | skenneweg | * @param[in] subscriber The NRT subscriber to be unsubscribed. Must not be NULL.
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| 187 | 7d9678db | skenneweg | *
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| 188 | 5198dfae | skenneweg | * @return Returns URT_STATUS_OK on sucess.
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| 189 | * Returns URT_STATUS_UNSUBSCRIBE_NOTOPIC if the subscriber is not associated to a topic.
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| 190 | 7d9678db | skenneweg | */
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| 191 | urt_status_t urtSrtSubscriberUnsubscribe(urt_srtsubscriber_t* subscriber){return URT_STATUS_OK;}
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| 192 | |||
| 193 | |||
| 194 | /**
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| 195 | 5198dfae | skenneweg | * @brief Initialize the FRT Subscriber.
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| 196 | 7d9678db | skenneweg | *
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| 197 | 5198dfae | skenneweg | * @param[in] subscriber The SRT subscriber to initialize. Must not be NULL.
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| 198 | 7d9678db | skenneweg | */
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| 199 | void urtFrtSubscriberInit(urt_frtsubscriber_t* subscriber){return URT_STATUS_OK;} |
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| 200 | |||
| 201 | /**
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| 202 | 5198dfae | skenneweg | * @brief Subscribes the subscriber to a topic.
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| 203 | *
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| 204 | * @param[in] subscriber The NRT subscriber which shall subscribe to a topic. Must not be NULL.
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| 205 | * @param[in] topic The topic to subscribe to. Must not be NULL.
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| 206 | * @param[in] messages NULL terminated list of messages to contribute to the topic.
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| 207 | * Messages must not be associated to another topic.
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| 208 | * Once a message has been contributed, it cannot be removed later.
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| 209 | * May be NULL(no messages to contribute).
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| 210 | * @param[in] deadline Maximum latency to consume messages. A value of 0 indicates that latency is of no concern.
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| 211 | * @param[in] jitter Maximum allowed jitter (difference between maximum and minimum latency) when consuming messages.
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| 212 | * A value of 0 indicates that jitter is of no concern.
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| 213 | *
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| 214 | * @return Returns URT_STATUS_OK on success.
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| 215 | * Returns URT_STATUS_SUBSCRIBE_TOPICSET if the subscriber is already associated to a topic.
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| 216 | 7d9678db | skenneweg | */
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| 217 | urt_status_t urtFrtSubscriberSubscribe(urt_frtsubscriber_t* subscriber, urt_topic_t* topic, |
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| 218 | urt_message_t* messages, urt_delay_t deadline, urt_delay_t jitter){return URT_STATUS_OK;}
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| 219 | |||
| 220 | /**
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| 221 | 5198dfae | skenneweg | * @brief Fetches the next message.
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| 222 | 7d9678db | skenneweg | *
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| 223 | 5198dfae | skenneweg | * @param[in] subscriber The SRT subscriber that shall fetch the message. Must not be NULL.
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| 224 | * @param[in] payload Pointer where to copy the payload to. May be NULL for messages without payload.
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| 225 | * @param[in] bytes Payload size in bytes.
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| 226 | * @param[in] latency The latency can be returned by reference. May be NULL.
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| 227 | 7d9678db | skenneweg | *
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| 228 | 5198dfae | skenneweg | * @return Returns URT_STATUS_OK on success.
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| 229 | * Returns URT_STATUS_FETCH_NOTOPIC if the subscriber is not associated to a topic.
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| 230 | * Returns URT_STATUS_FETCH_NOMESSAGE if there is no new message to fetch.
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| 231 | 7d9678db | skenneweg | */
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| 232 | urt_status_t urtFrtSubscriberFetchNextMessage(urt_frtsubscriber_t* subscriber, void* payload,
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| 233 | size_t bytes, urt_delay_t* latency){return URT_STATUS_OK;}
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| 234 | |||
| 235 | /**
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| 236 | 5198dfae | skenneweg | * @brief Fetches the latest message.
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| 237 | 7d9678db | skenneweg | *
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| 238 | 5198dfae | skenneweg | * @param[in] subscriber The SRT subscriber that shall fetch the message. Must not be NULL.
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| 239 | * @param[in] payload Pointer where to copy the payload to. May be NULL for messages without payload.
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| 240 | * @param[in] bytes Payload size in bytes.
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| 241 | * @param[in] latency The latency can be returned by reference. May be NULL.
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| 242 | 7d9678db | skenneweg | *
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| 243 | 5198dfae | skenneweg | * @return Returns URT_STATUS_OK on success.
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| 244 | * Returns URT_STATUS_FETCH_NOTOPIC if the subscriber is not associated to a topic.
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| 245 | * Returns URT_STATUS_FETCH_NOMESSAGE if there is no new message to fetch.
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| 246 | 7d9678db | skenneweg | */
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| 247 | urt_status_t urtFrtSubscriberFetchLatestMessage(urt_frtsubscriber_t* subscriber, void* payload,
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| 248 | size_t bytes, urt_delay_t* latency){return URT_STATUS_OK;}
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| 249 | |||
| 250 | /**
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| 251 | 5198dfae | skenneweg | * @brief Calculates the validity from the subscriber.
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| 252 | 7d9678db | skenneweg | *
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| 253 | 5198dfae | skenneweg | * @param[in] subscriber The FRT subscriber to calculate a validity for. Must not be NULL.
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| 254 | * @param[in] latency Latency (of a message) as argument to calculate validity.
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| 255 | 7d9678db | skenneweg | *
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| 256 | 5198dfae | skenneweg | * @return Returns a boolean indicator whether the latency is fine.
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| 257 | 7d9678db | skenneweg | */
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| 258 | bool urtFrtSubscriberCalculateValidity(urt_frtsubscriber_t* subscriber, urt_delay_t latency){return true;} |
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| 259 | |||
| 260 | /**
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| 261 | 5198dfae | skenneweg | * @brief Unsubscribes from a subscriber.
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| 262 | 7d9678db | skenneweg | *
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| 263 | 5198dfae | skenneweg | * @param[in] subscriber The NRT subscriber to be unsubscribed. Must not be NULL.
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| 264 | 7d9678db | skenneweg | *
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| 265 | 5198dfae | skenneweg | * @return Returns URT_STATUS_OK on sucess.
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| 266 | * Returns URT_STATUS_UNSUBSCRIBE_NOTOPIC if the subscriber is not associated to a topic.
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| 267 | 7d9678db | skenneweg | */
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| 268 | urt_status_t urtFrtSubscriberUnsubscribe(urt_frtsubscriber_t* subscriber){return URT_STATUS_OK;}
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| 269 | |||
| 270 | |||
| 271 | /**
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| 272 | 5198dfae | skenneweg | * @brief Initialize the HRT Subscriber.
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| 273 | 7d9678db | skenneweg | *
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| 274 | 5198dfae | skenneweg | * @param[in] subscriber The HRT subscriber to initialize. Must not be NULL.
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| 275 | 7d9678db | skenneweg | */
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| 276 | void urtHrtSubscriberInit(urt_hrtsubscriber_t* subscriber){return;} |
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| 277 | |||
| 278 | /**
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| 279 | 5198dfae | skenneweg | * @brief Subscribes the subscriber to a topic.
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| 280 | *
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| 281 | * @param[in] subscriber The NRT subscriber which shall subscribe to a topic. Must not be NULL.
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| 282 | * @param[in] topic The topic to subscribe to. Must not be NULL.
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| 283 | * @param[in] messages NULL terminated list of messages to contribute to the topic.
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| 284 | * Messages must not be associated to another topic.
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| 285 | * Once a message has been contributed, it cannot be removed later.
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| 286 | * May be NULL(no messages to contribute).
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| 287 | * @param[in] deadline Maximum latency to consume messages. A value of 0 indicates that latency is of no concern.
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| 288 | * @param[in] rate Expected minimum rate of new messages (= maximum time between consecutive messages).
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| 289 | * A value of 0 indicates, that rate is of no concern.
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| 290 | * @param[in] jitter Maximum allowed jitter (difference between maximum and minimum latency) when consuming messages.
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| 291 | * A value of 0 indicates that jitter is of no concern.
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| 292 | *
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| 293 | * @return Returns URT_STATUS_OK on success.
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| 294 | * Returns URT_STATUS_SUBSCRIBE_TOPICSET if the subscriber is already associated to a topic.
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| 295 | 7d9678db | skenneweg | */
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| 296 | urt_status_t urtHrtSubscriberSubscribe(urt_hrtsubscriber_t* subscriber, urt_topic_t* topic, |
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| 297 | urt_message_t* message, urt_delay_t deadline, urt_delay_t rate, urt_delay_t jitter){return URT_STATUS_OK;}
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| 298 | |||
| 299 | |||
| 300 | /**
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| 301 | 5198dfae | skenneweg | * @brief Fetches the next message.
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| 302 | 7d9678db | skenneweg | *
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| 303 | 5198dfae | skenneweg | * @param[in] subscriber The SRT subscriber that shall fetch the message. Must not be NULL.
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| 304 | * @param[in] payload Pointer where to copy the payload to. May be NULL for messages without payload.
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| 305 | * @param[in] bytes Payload size in bytes.
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| 306 | * @param[in] latency The latency can be returned by reference. May be NULL.
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| 307 | 7d9678db | skenneweg | *
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| 308 | 5198dfae | skenneweg | * @return Returns URT_STATUS_OK on success.
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| 309 | * Returns URT_STATUS_FETCH_NOTOPIC if the subscriber is not associated to a topic.
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| 310 | * Returns URT_STATUS_FETCH_NOMESSAGE if there is no new message to fetch.
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| 311 | 7d9678db | skenneweg | */
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| 312 | urt_status_t urtHrtSubscriberFetchNextMessage(urt_hrtsubscriber_t* subscriber, void* payload,
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| 313 | size_t bytes, urt_delay_t* latency){return URT_STATUS_OK;}
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| 314 | |||
| 315 | |||
| 316 | /**
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| 317 | 5198dfae | skenneweg | * @brief Fetches the latest message.
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| 318 | 7d9678db | skenneweg | *
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| 319 | 5198dfae | skenneweg | * @param[in] subscriber The SRT subscriber that shall fetch the message. Must not be NULL.
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| 320 | * @param[in] payload Pointer where to copy the payload to. May be NULL for messages without payload.
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| 321 | * @param[in] bytes Payload size in bytes.
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| 322 | * @param[in] latency The latency can be returned by reference. May be NULL.
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| 323 | 7d9678db | skenneweg | *
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| 324 | 5198dfae | skenneweg | * @return Returns URT_STATUS_OK on success.
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| 325 | * Returns URT_STATUS_FETCH_NOTOPIC if the subscriber is not associated to a topic.
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| 326 | * Returns URT_STATUS_FETCH_NOMESSAGE if there is no new message to fetch.
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| 327 | 7d9678db | skenneweg | */
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| 328 | urt_status_t urtHrtSubscriberFetchLatestMessage(urt_hrtsubscriber_t* subscriber, void* payload,
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| 329 | size_t bytes, urt_delay_t* latency){return URT_STATUS_OK;}
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| 330 | |||
| 331 | /**
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| 332 | 5198dfae | skenneweg | * @brief Unsubscribes from a subscriber.
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| 333 | 7d9678db | skenneweg | *
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| 334 | 5198dfae | skenneweg | * @param[in] subscriber The HRT subscriber to be unsubscribed. Must not be NULL.
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| 335 | 7d9678db | skenneweg | *
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| 336 | 5198dfae | skenneweg | * @return Returns URT_STATUS_OK on sucess.
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| 337 | * Returns URT_STATUS_UNSUBSCRIBE_NOTOPIC if the subscriber is not associated to a topic.
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| 338 | 7d9678db | skenneweg | */
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| 339 | urt_status_t urtHrtSubscriberUnsubscribe(urt_hrtsubscriber_t* subscriber){return URT_STATUS_OK;} |