Revision 7d9678db
| inc/urt_core.h | ||
|---|---|---|
| 22 | 22 |
#ifndef URTWARE_CORE_H |
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#define URTWARE_CORE_H |
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#include <urt_types.h> |
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#include <urtware.h> |
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|
|
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/******************************************************************************/ |
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/* CONSTANTS */ |
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/******************************************************************************/ |
| ... | ... | |
| 38 | 41 |
/* DATA STRUCTURES AND TYPES */ |
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/******************************************************************************/ |
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/** |
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* @brief core |
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*/ |
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typedef struct urt_core |
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{
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urt_node_t* _nodes; |
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urt_osEventSource_t* _evtSource; |
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urt_osMutex_t _lock; |
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urt_status_t _status; |
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#if (URT_CFG_PUBSUB_ENABLED) |
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urt_topic_t* _topics; |
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#endif /* URT_CFG_PUBSUB_ENABLED */ |
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#if (URT_CFG_RPC_ENABLED) |
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urt_service_t* _services; |
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#endif /* URT_CFG_RPC_ENABLED */ |
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}urt_core_t; |
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|
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/******************************************************************************/ |
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/* MACROS */ |
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/******************************************************************************/ |
| ... | ... | |
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/* EXTERN DECLARATIONS */ |
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/******************************************************************************/ |
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#if defined(__cplusplus) |
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extern "C" {
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#endif /* defined(__cplusplus) */ |
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void urtCoreInit(void); |
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urt_status_t urtCoreGetStatus(void); |
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void urtCoreStartNodes(void); |
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urt_status_t urtCoreSynchronize(urt_node_t* node); |
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urt_status_t urtCoreStopNodes(urt_status_t reason); |
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|
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#if (URT_CFG_PUBSUB_ENABLED) |
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urt_topic_t* urtCoreGetTopic(urt_topicid_t id); |
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#endif /* URT_CFG_PUBSUB_ENABLED */ |
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|
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#if (URT_CFG_RPC_ENABLED) |
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urt_service_t urtCoreGetService(urt_serviceid_t id); |
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#endif /* URT_CFG_RPC_ENABLED */ |
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#if defined(__cplusplus) |
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} |
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#endif /* defined(__cplusplus) */ |
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/******************************************************************************/ |
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/* INLINE FUNCTIONS */ |
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/******************************************************************************/ |
| inc/urt_message.h | ||
|---|---|---|
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#ifndef URTWARE_MESSAGE_H |
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#define URTWARE_MESSAGE_H |
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#include <urtware.h> |
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|
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/******************************************************************************/ |
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/* CONSTANTS */ |
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/******************************************************************************/ |
| ... | ... | |
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/* DATA STRUCTURES AND TYPES */ |
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/******************************************************************************/ |
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/** |
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* @brief message |
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*/ |
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typedef struct urt_message |
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{
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urt_message_t* next; |
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void* payload; |
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urt_osTime_t originTime; |
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unsigned int numHrtConsumersLeft; |
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#if (URT_CFG_PUBSUB_PROFILING) |
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unsigned int numConsumersLeft; |
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#endif /* URT_CFG_PUBSUB_PROFILING */ |
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}urt_message_t; |
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|
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/******************************************************************************/ |
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/* MACROS */ |
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/******************************************************************************/ |
| ... | ... | |
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/* EXTERN DECLARATIONS */ |
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/******************************************************************************/ |
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#if defined(__cplusplus) |
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extern "C" {
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#endif /* defined(__cplusplus) */ |
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void urtMessageInit(urt_message_t* message, void* payload); |
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#if defined(__cplusplus) |
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} |
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#endif /* defined(__cplusplus) */ |
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|
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/******************************************************************************/ |
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/* INLINE FUNCTIONS */ |
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/******************************************************************************/ |
| inc/urt_node.h | ||
|---|---|---|
| 22 | 22 |
#ifndef URTWARE_NODE_H |
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#define URTWARE_NODE_H |
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#include <urt_types.h> |
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#include <urtware.h> |
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|
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/******************************************************************************/ |
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/* CONSTANTS */ |
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/******************************************************************************/ |
| ... | ... | |
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/* DATA STRUCTURES AND TYPES */ |
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/******************************************************************************/ |
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/** |
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* @brief node |
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*/ |
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typedef struct urt_node |
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{
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urt_node_t* next; |
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urt_osThread_t* thread; |
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urt_nodeSetupCallback_t* setupcallback; |
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void* setupparams; |
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urt_nodeLoopCallback_t* loopcallback; |
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void* loopparams; |
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urt_nodeShutdownCallback_t* shutdowncallback; |
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void* shutdownparams; |
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urt_nodestage_t stage; |
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urt_osEventListener_t listener; |
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#if (URT_CFG_PUBSUB_PROFILING || URT_CFG_RPC_PROFILING) |
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uint64_t loops; |
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#endif /* URT_CFG_PUBSUB_PROFILING || URT_CFG_RPC_PROFILING */ |
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}urt_node_t; |
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/******************************************************************************/ |
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/* MACROS */ |
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/******************************************************************************/ |
| ... | ... | |
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/* EXTERN DECLARATIONS */ |
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/******************************************************************************/ |
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#if defined(__cplusplus) |
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extern "C" {
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#endif /* defined(__cplusplus) */ |
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void urtNodeInit(urt_node_t* node, urt_osThread_t* thread, urt_nodeSetupCallback_t* setupcallback, void* setupparams, urt_nodeLoopCallback_t* loopcallback, void* loopparams, urt_nodeShutdownCallback_t* shutdowncallback, void* shutodwnparams); |
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#if defined(__cplusplus) |
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} |
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#endif /* defined(__cplusplus) */ |
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/******************************************************************************/ |
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/* INLINE FUNCTIONS */ |
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/******************************************************************************/ |
| inc/urt_publisher.h | ||
|---|---|---|
| 22 | 22 |
#ifndef URTWARE_PUBLISHER_H |
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#define URTWARE_PUBLISHER_H |
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#include <urt_types.h> |
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#include <urtware.h> |
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|
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/******************************************************************************/ |
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/* CONSTANTS */ |
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/******************************************************************************/ |
| ... | ... | |
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/* DATA STRUCTURES AND TYPES */ |
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/******************************************************************************/ |
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/** |
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* @brief publisher |
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*/ |
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typedef struct urt_publisher |
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{
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urt_topic_t* topic; |
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#if (URT_CFG_PUBSUB_PROFILING) |
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uint64_t publishAttempts; |
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uint64_t publishFails; |
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#endif /* URT_CFG_PUBSUB_PROFILING */ |
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}urt_publisher_t; |
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|
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/******************************************************************************/ |
| 42 | 57 |
/* MACROS */ |
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/******************************************************************************/ |
| ... | ... | |
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/* EXTERN DECLARATIONS */ |
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/******************************************************************************/ |
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#if defined(__cplusplus) |
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extern "C" {
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#endif /* defined(__cplusplus) */ |
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void urtPublisherInit(urt_publisher_t* publisher, urt_topic_t* topic, urt_message_t* message); |
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urt_status_t urtPublisherPublish(urt_publisher_t* publisher, void* payload, size_t bytes, urt_osTime_t t, urt_delay_t timeout); |
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#if defined(__cplusplus) |
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} |
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#endif /* defined(__cplusplus) */ |
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/******************************************************************************/ |
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/* INLINE FUNCTIONS */ |
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/******************************************************************************/ |
| inc/urt_service.h | ||
|---|---|---|
| 22 | 22 |
#ifndef URTWARE_SERVICE_H |
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#define URTWARE_SERVICE_H |
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#include <urt_types.h> |
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#include <urtware.h> |
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|
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/******************************************************************************/ |
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/* CONSTANTS */ |
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/******************************************************************************/ |
| ... | ... | |
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/* DATA STRUCTURES AND TYPES */ |
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/******************************************************************************/ |
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/** |
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* @brief service |
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*/ |
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typedef struct urt_service |
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{
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urt_service_t* next; |
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urt_serviceid_t id; |
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urt_osMutex_t lock; |
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urt_servicefunc_t* callback; |
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#if (URT_CFG_RPC_PROFILING) |
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uint64_t sumDurations; |
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uint64_t numCalls; |
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uint64_t numTimeouts; |
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urt_delay_t minDuration; |
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urt_delay_t maxDuration; |
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#endif /* URT_CFG_RPC_PROFILING */ |
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}urt_service_t; |
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|
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/******************************************************************************/ |
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/* MACROS */ |
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/******************************************************************************/ |
| ... | ... | |
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/* EXTERN DECLARATIONS */ |
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/******************************************************************************/ |
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#if defined(__cplusplus) |
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extern "C" {
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#endif /* defined(__cplusplus) */ |
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urt_status_t urtServiceInit(urt_service_t* service, urt_serviceid_t id, urt_servicefunc_t* callback); |
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urt_status_t urtServiceCall(urt_service_t* service, void* arg, void* ret, urt_delay_t timeout); |
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#if defined(__cplusplus) |
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} |
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#endif /* defined(__cplusplus) */ |
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/******************************************************************************/ |
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/* INLINE FUNCTIONS */ |
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/******************************************************************************/ |
| inc/urt_subscriber.h | ||
|---|---|---|
| 23 | 23 |
#define URTWARE_SUBSCRIBER_H |
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|
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#include <urt_types.h> |
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#include <urtware.h> |
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|
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/******************************************************************************/ |
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/* CONSTANTS */ |
| ... | ... | |
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extern "C" {
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#endif /* defined(__cplusplus) */ |
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void urtNrtSubscriberInit(); |
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urt_status_t urtNrtSubscriberSubscribe(); |
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urt_status_t urtNrtSubscriberFetchNextMessage(); |
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urt_status_t urtNrtSubscriberFetchLatestMessage(); |
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urt_status_t urtNrtSubscriberUnsubscribe(); |
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void urtSrtSubscriberInit(); |
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urt_status_t urtSrtSubscriberSubscribe(); |
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urt_status_t urtSrtSubscriberFetchNextMessage(); |
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urt_status_t urtSrtSubscriberFetchLatestMessage(); |
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urt_status_t urtSrtSubscriberCalculateUsefulness(); |
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urt_status_t urtSrtSubscriberUnsubscribe(); |
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|
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void urtFrtSubscriberInit(); |
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urt_status_t urtFrtSubscriberSubscribe(); |
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urt_status_t urtFrtSubscriberFetchNextMessage(); |
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urt_status_t urtFrtSubscriberFetchLatestMessage(); |
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bool urtFrtSubscriberCalculateValidity(); |
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urt_status_t urtFrtSubscriberUnsubscribe(); |
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void urtHrtSubscriberInit(); |
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urt_status_t urtHrtSubscriberSubscribe(); |
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urt_status_t urtHrtSubscriberFetchNextMessage(); |
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urt_status_t urtHrtSubscriberFetchLatestMessage(); |
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urt_status_t urtHrtSubscriberUnsubscribe(); |
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|
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float urt_srtusefulnessfunc_t(); |
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void urtNrtSubscriberInit(urt_nrtsubscriber_t* subscriber); |
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urt_status_t urtNrtSubscriberSubscribe(urt_nrtsubscriber_t* subscriber, urt_topic_t* topic, urt_message_t* messages); |
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urt_status_t urtNrtSubscriberFetchNextMessage(urt_nrtsubscriber_t* subscriber, void* payload, size_t bytes, urt_delay_t* latency); |
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urt_status_t urtNrtSubscriberFetchLatestMessage(urt_nrtsubscriber_t* subscriber, void* payload, size_t bytes, urt_delay_t* latency); |
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urt_status_t urtNrtSubscriberUnsubscribe(urt_nrtsubscriber_t* subscriber); |
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|
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void urtSrtSubscriberInit(urt_srtsubscriber_t* subscriber); |
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urt_status_t urtSrtSubscriberSubscribe(urt_srtsubscriber_t* subscriber, urt_topic_t* topic, urt_message_t* message, urt_srtusefulnessfunc_t* usefulnesscb, void* cbparams); |
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urt_status_t urtSrtSubscriberFetchNextMessage(urt_srtsubscriber_t* subscriber, void* payload, size_t bytes, urt_delay_t* latency); |
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urt_status_t urtSrtSubscriberFetchLatestMessage(urt_srtsubscriber_t* subscriber, void* payload, size_t bytes, urt_delay_t* latency); |
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urt_status_t urtSrtSubscriberCalculateUsefulness(urt_srtsubscriber_t* subscriber, urt_delay_t latency); |
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urt_status_t urtSrtSubscriberUnsubscribe(urt_srtsubscriber_t* subscriber); |
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|
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void urtFrtSubscriberInit(urt_frtsubscriber_t* subscriber); |
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urt_status_t urtFrtSubscriberSubscribe(urt_frtsubscriber_t* subscriber, urt_topic_t* topic, urt_message_t* messages, urt_delay_t deadline, urt_delay_t jitter); |
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urt_status_t urtFrtSubscriberFetchNextMessage(urt_frtsubscriber_t* subscriber, void* payload, size_t bytes, urt_delay_t* latency); |
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urt_status_t urtFrtSubscriberFetchLatestMessage(urt_frtsubscriber_t* subscriber, void* payload, size_t bytes, urt_delay_t* latency); |
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bool urtFrtSubscriberCalculateValidity(urt_frtsubscriber_t* subscriber, urt_delay_t latency); |
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urt_status_t urtFrtSubscriberUnsubscribe(urt_frtsubscriber_t* subscriber); |
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| 157 |
|
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void urtHrtSubscriberInit(urt_hrtsubscriber_t* subscriber); |
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urt_status_t urtHrtSubscriberSubscribe(urt_hrtsubscriber_t* subscriber, urt_topic_t* topic, urt_message_t* message, urt_delay_t deadline, urt_delay_t rate, urt_delay_t jitter); |
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urt_status_t urtHrtSubscriberFetchNextMessage(urt_hrtsubscriber_t* subscriber, void* payload, size_t bytes, urt_delay_t* latency); |
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urt_status_t urtHrtSubscriberFetchLatestMessage(urt_hrtsubscriber_t* subscriber, void* payload, size_t bytes, urt_delay_t* latency); |
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urt_status_t urtHrtSubscriberUnsubscribe(urt_hrtsubscriber_t* subscriber); |
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| 164 | 163 |
#if defined(__cplusplus) |
| 165 | 164 |
} |
| 166 | 165 |
#endif /* defined(__cplusplus) */ |
| inc/urt_topic.h | ||
|---|---|---|
| 22 | 22 |
#ifndef URTWARE_TOPIC_H |
| 23 | 23 |
#define URTWARE_TOPIC_H |
| 24 | 24 |
|
| 25 |
#include <urt_types.h> |
|
| 26 |
#include <urtware.h> |
|
| 27 |
|
|
| 25 | 28 |
/******************************************************************************/ |
| 26 | 29 |
/* CONSTANTS */ |
| 27 | 30 |
/******************************************************************************/ |
| ... | ... | |
| 38 | 41 |
/* DATA STRUCTURES AND TYPES */ |
| 39 | 42 |
/******************************************************************************/ |
| 40 | 43 |
|
| 44 |
/** |
|
| 45 |
* @brief topic |
|
| 46 |
*/ |
|
| 47 |
typedef struct urt_topic |
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| 48 |
{
|
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| 49 |
urt_topic_t* next; |
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| 50 |
urt_topicid_t id; |
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| 51 |
urt_osMutex_t lock; |
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| 52 |
urt_osEventSource_t evtSource; |
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| 53 |
unsigned int numHrtSubscribers; |
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| 54 |
urt_osCondvar_t hrtReleased; |
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| 55 |
urt_message_t mandatoryMessage; |
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| 56 |
urt_message_t* latestMessage; |
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| 57 |
#if (URT_CFG_PUBSUB_QOS_RATECHECKS) |
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| 58 |
urt_hrtsubscriber_t* hrtSubscribers; |
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| 59 |
urt_osTimer_t qosRateTimer; |
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| 60 |
#endif /* URT_CFG_PUBSUB_QOS_RATECHECKS */ |
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| 61 |
#if (URT_CFG_PUBSUB_PROFILING) |
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| 62 |
uint64_t numMessagesPublished; |
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| 63 |
uint64_t numMessagesDiscarded; |
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| 64 |
unsigned int numSubscribers; |
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| 65 |
#endif /* URT_CFG_PUBSUB_PROFILING */ |
|
| 66 |
}urt_topic_t; |
|
| 67 |
|
|
| 41 | 68 |
/******************************************************************************/ |
| 42 | 69 |
/* MACROS */ |
| 43 | 70 |
/******************************************************************************/ |
| ... | ... | |
| 46 | 73 |
/* EXTERN DECLARATIONS */ |
| 47 | 74 |
/******************************************************************************/ |
| 48 | 75 |
|
| 76 |
#if defined(__cplusplus) |
|
| 77 |
extern "C" {
|
|
| 78 |
#endif /* defined(__cplusplus) */ |
|
| 79 |
|
|
| 80 |
urt_status_t urtTopicInit(urt_topic_t* topic, urt_topicid_t id); |
|
| 81 |
#if defined(__cplusplus) |
|
| 82 |
} |
|
| 83 |
#endif /* defined(__cplusplus) */ |
|
| 84 |
|
|
| 49 | 85 |
/******************************************************************************/ |
| 50 | 86 |
/* INLINE FUNCTIONS */ |
| 51 | 87 |
/******************************************************************************/ |
| src/urt_core.c | ||
|---|---|---|
| 19 | 19 |
along with this program. If not, see <http://www.gnu.org/licenses/>. |
| 20 | 20 |
*/ |
| 21 | 21 |
|
| 22 |
#include <urtware.h> |
|
| 23 |
|
|
| 22 | 24 |
/******************************************************************************/ |
| 23 | 25 |
/* LOCAL DEFINITIONS */ |
| 24 | 26 |
/******************************************************************************/ |
| ... | ... | |
| 42 | 44 |
/******************************************************************************/ |
| 43 | 45 |
/* EXPORTED FUNCTIONS */ |
| 44 | 46 |
/******************************************************************************/ |
| 47 |
|
|
| 48 |
/** |
|
| 49 |
* @brief Initialize the Core. |
|
| 50 |
*/ |
|
| 51 |
void urtCoreInit(void) {return;}
|
|
| 52 |
|
|
| 53 |
/** |
|
| 54 |
* @brief Get Core status. |
|
| 55 |
* |
|
| 56 |
* @return A status value. |
|
| 57 |
*/ |
|
| 58 |
urt_status_t urtCoreGetStatus(void) {return URT_STATUS_OK;}
|
|
| 59 |
|
|
| 60 |
/** |
|
| 61 |
* @brief Start Nodes... . |
|
| 62 |
*/ |
|
| 63 |
void urtCoreStartNodes(void) {return;}
|
|
| 64 |
|
|
| 65 |
/** |
|
| 66 |
* @brief Synchronize ... |
|
| 67 |
* |
|
| 68 |
* @param[in] node The node to... . |
|
| 69 |
* |
|
| 70 |
* @return A status value. |
|
| 71 |
*/ |
|
| 72 |
urt_status_t urtCoreSynchronize(urt_node_t* node) {return URT_STATUS_OK;}
|
|
| 73 |
|
|
| 74 |
/** |
|
| 75 |
* @brief Stop nodes... . |
|
| 76 |
* |
|
| 77 |
* @param[in] reason Reason why nodes should be stopped. |
|
| 78 |
* |
|
| 79 |
* @return A status value. |
|
| 80 |
*/ |
|
| 81 |
urt_status_t urtCoreStopNodes(urt_status_t reason) {return URT_STATUS_OK;}
|
|
| 82 |
|
|
| 83 |
/** |
|
| 84 |
* @brief Get the topic of the Core. |
|
| 85 |
* |
|
| 86 |
* @param[in] id The id of the topic. |
|
| 87 |
* |
|
| 88 |
* @return . |
|
| 89 |
*/ |
|
| 90 |
urt_topic_t* urtCoreGetTopic(urt_topicid_t id) {return urt_topic_t;}
|
|
| 91 |
|
|
| 92 |
/** |
|
| 93 |
* @brief Get the service of the Core. |
|
| 94 |
* |
|
| 95 |
* @param[in] id The id of the service. |
|
| 96 |
* |
|
| 97 |
* @return . |
|
| 98 |
*/ |
|
| 99 |
urt_service_t urtCoreGetService(urt_serviceid_t id) {return urt_service_t;}
|
|
| 100 |
|
|
| src/urt_message.c | ||
|---|---|---|
| 19 | 19 |
along with this program. If not, see <http://www.gnu.org/licenses/>. |
| 20 | 20 |
*/ |
| 21 | 21 |
|
| 22 |
#include <urtware.h> |
|
| 23 |
|
|
| 22 | 24 |
/******************************************************************************/ |
| 23 | 25 |
/* LOCAL DEFINITIONS */ |
| 24 | 26 |
/******************************************************************************/ |
| ... | ... | |
| 42 | 44 |
/******************************************************************************/ |
| 43 | 45 |
/* EXPORTED FUNCTIONS */ |
| 44 | 46 |
/******************************************************************************/ |
| 47 |
|
|
| 48 |
/** |
|
| 49 |
* @brief Initalize the messages. |
|
| 50 |
* |
|
| 51 |
* @param[in] message Message to initalize. |
|
| 52 |
* @param[in] payload . |
|
| 53 |
*/ |
|
| 54 |
void urtMessageInit(urt_message_t* message, void* payload) {return;}
|
|
| src/urt_node.c | ||
|---|---|---|
| 19 | 19 |
along with this program. If not, see <http://www.gnu.org/licenses/>. |
| 20 | 20 |
*/ |
| 21 | 21 |
|
| 22 |
#include <urtware.h> |
|
| 23 |
|
|
| 22 | 24 |
/******************************************************************************/ |
| 23 | 25 |
/* LOCAL DEFINITIONS */ |
| 24 | 26 |
/******************************************************************************/ |
| ... | ... | |
| 42 | 44 |
/******************************************************************************/ |
| 43 | 45 |
/* EXPORTED FUNCTIONS */ |
| 44 | 46 |
/******************************************************************************/ |
| 47 |
|
|
| 48 |
/** |
|
| 49 |
* @brief Initalize the node. |
|
| 50 |
* |
|
| 51 |
* @param[in] node Node to initalize. |
|
| 52 |
* @param[in] thread . |
|
| 53 |
* @param[in] setupcallback . |
|
| 54 |
* @param[in] setupparams . |
|
| 55 |
* @param[in] loopcallback . |
|
| 56 |
* @param[in] loopparams . |
|
| 57 |
* @param[in] shutdowncallback . |
|
| 58 |
* @param[in] shutdownparams . |
|
| 59 |
*/ |
|
| 60 |
void urtNodeInit(urt_node_t* node, urt_osThread_t* thread, urt_nodeSetupCallback_t* setupcallback, |
|
| 61 |
void* setupparams, urt_nodeLoopCallback_t* loopcallback, void* loopparams, |
|
| 62 |
urt_nodeShutdownCallback_t* shutdowncallback, void* shutdownparams) {return;}
|
|
| src/urt_publisher.c | ||
|---|---|---|
| 19 | 19 |
along with this program. If not, see <http://www.gnu.org/licenses/>. |
| 20 | 20 |
*/ |
| 21 | 21 |
|
| 22 |
#include <urtware.h> |
|
| 23 |
|
|
| 22 | 24 |
/******************************************************************************/ |
| 23 | 25 |
/* LOCAL DEFINITIONS */ |
| 24 | 26 |
/******************************************************************************/ |
| ... | ... | |
| 42 | 44 |
/******************************************************************************/ |
| 43 | 45 |
/* EXPORTED FUNCTIONS */ |
| 44 | 46 |
/******************************************************************************/ |
| 47 |
|
|
| 48 |
/** |
|
| 49 |
* @brief Initalize the publisher. |
|
| 50 |
* |
|
| 51 |
* @param[in] publisher Publisher to initalize. |
|
| 52 |
* @param[in] topic . |
|
| 53 |
* @param[in] message . |
|
| 54 |
*/ |
|
| 55 |
void urtPublisherInit(urt_publisher_t* publisher, urt_topic_t* topic, urt_message_t* message) {return;}
|
|
| 56 |
|
|
| 57 |
|
|
| 58 |
/** |
|
| 59 |
* @brief Initalize the node. |
|
| 60 |
* |
|
| 61 |
* @param[in] publisher Publisher to . |
|
| 62 |
* @param[in] payload . |
|
| 63 |
* @param[in] bytes . |
|
| 64 |
* @param[in] t . |
|
| 65 |
* @param[in] timeout . |
|
| 66 |
* |
|
| 67 |
* @return A status value. |
|
| 68 |
*/ |
|
| 69 |
urt_status_t urtPublisherPublish(urt_publisher_t* publisher, void* payload, size_t bytes, urt_osTime_t t, urt_delay_t timeout) {return URT_STATUS_OK;}
|
|
| src/urt_service.c | ||
|---|---|---|
| 19 | 19 |
along with this program. If not, see <http://www.gnu.org/licenses/>. |
| 20 | 20 |
*/ |
| 21 | 21 |
|
| 22 |
#include <urtware.h> |
|
| 23 |
|
|
| 22 | 24 |
/******************************************************************************/ |
| 23 | 25 |
/* LOCAL DEFINITIONS */ |
| 24 | 26 |
/******************************************************************************/ |
| ... | ... | |
| 42 | 44 |
/******************************************************************************/ |
| 43 | 45 |
/* EXPORTED FUNCTIONS */ |
| 44 | 46 |
/******************************************************************************/ |
| 47 |
|
|
| 48 |
/** |
|
| 49 |
* @brief Initalize the service. |
|
| 50 |
* |
|
| 51 |
* @param[in] service Service to intialize. |
|
| 52 |
* @param[in] id . |
|
| 53 |
* @param[in] callback . |
|
| 54 |
* |
|
| 55 |
* @return A status value. |
|
| 56 |
*/ |
|
| 57 |
urt_status_t urtServiceInit(urt_service_t* service, urt_serviceid_t id, urt_servicefunc_t* callback) {return URT_STATUS_OK;}
|
|
| 58 |
|
|
| 59 |
/** |
|
| 60 |
* @brief Call the Service . |
|
| 61 |
* |
|
| 62 |
* @param[in] service Service to . |
|
| 63 |
* @param[in] arg . |
|
| 64 |
* @param[in] ret . |
|
| 65 |
* @param[in] timeout . |
|
| 66 |
* |
|
| 67 |
* @return A status value. |
|
| 68 |
*/ |
|
| 69 |
urt_status_t urtServiceCall(urt_service_t* service, void* arg, void* ret, urt_delay_t timeout) {return URT_STATUS_OK;}
|
|
| src/urt_subscriber.c | ||
|---|---|---|
| 19 | 19 |
along with this program. If not, see <http://www.gnu.org/licenses/>. |
| 20 | 20 |
*/ |
| 21 | 21 |
|
| 22 |
#include <urtware.h> |
|
| 23 |
|
|
| 22 | 24 |
/******************************************************************************/ |
| 23 | 25 |
/* LOCAL DEFINITIONS */ |
| 24 | 26 |
/******************************************************************************/ |
| ... | ... | |
| 42 | 44 |
/******************************************************************************/ |
| 43 | 45 |
/* EXPORTED FUNCTIONS */ |
| 44 | 46 |
/******************************************************************************/ |
| 45 |
#include "subscriber.h" |
|
| 46 | 47 |
|
| 47 |
void urtNrtSubscriberInit (urt_nrtsubscriber_t* subscriber) {}
|
|
| 48 |
/** |
|
| 49 |
* @brief Initialize the nrt Subscriber. |
|
| 50 |
* |
|
| 51 |
* @param[in] subscriber Subscriber to initalize. |
|
| 52 |
*/ |
|
| 53 |
void urtNrtSubscriberInit (urt_nrtsubscriber_t* subscriber) {return;}
|
|
| 48 | 54 |
|
| 55 |
/** |
|
| 56 |
* @brief . |
|
| 57 |
* |
|
| 58 |
* @param[in] subscriber Subscriber to . |
|
| 59 |
* @param[in] topic . |
|
| 60 |
* @param[in] messages . |
|
| 61 |
* |
|
| 62 |
* @return A status value. |
|
| 63 |
*/ |
|
| 49 | 64 |
urt_status_t urtNrtSubscriberSubscribe (urt_nrtsubscriber_t* subscriber, urt_topic_t* topic, urt_message_t* messages) {
|
| 50 |
return 1;
|
|
| 65 |
return URT_STATUS_OK;
|
|
| 51 | 66 |
} |
| 52 | 67 |
|
| 68 |
/** |
|
| 69 |
* @brief . |
|
| 70 |
* |
|
| 71 |
* @param[in] subscriber . |
|
| 72 |
* @param[in] payload . |
|
| 73 |
* @param[in] bytes . |
|
| 74 |
* @param[in] latency . |
|
| 75 |
* |
|
| 76 |
* @return A status value. |
|
| 77 |
*/ |
|
| 53 | 78 |
urt_status_t urtNrtSubscriberFetchNextMessage (urt_nrtsubscriber_t* subscriber, void* payload, size_t bytes, urt_delay_t* latency) {
|
| 54 |
return 0;
|
|
| 79 |
return URT_STATUS_OK;
|
|
| 55 | 80 |
} |
| 56 | 81 |
|
| 82 |
/** |
|
| 83 |
* @brief . |
|
| 84 |
* |
|
| 85 |
* @param[in] subscriber . |
|
| 86 |
* @param[in] payload . |
|
| 87 |
* @param[in] bytes . |
|
| 88 |
* @param[in] latency . |
|
| 89 |
* |
|
| 90 |
* @return A status value. |
|
| 91 |
*/ |
|
| 57 | 92 |
urt_status_t urtNrtSubscriberFetchLatestMessage (urt_nrtsubscriber_t* subscriber, void* payload, size_t bytes, urt_delay_t* latency) {
|
| 58 |
return 0;
|
|
| 93 |
return URT_STATUS_OK;
|
|
| 59 | 94 |
} |
| 60 | 95 |
|
| 96 |
/** |
|
| 97 |
* @brief . |
|
| 98 |
* |
|
| 99 |
* @param[in] subscriber |
|
| 100 |
* |
|
| 101 |
* @return A status value. |
|
| 102 |
*/ |
|
| 61 | 103 |
urt_status_t urtNrtSubscriberUnsubscribe (urt_nrtsubscriber_t* subscriber) {
|
| 62 |
return 0;
|
|
| 104 |
return URT_STATUS_OK;
|
|
| 63 | 105 |
} |
| 64 | 106 |
|
| 65 |
int main () {
|
|
| 66 |
return 0; |
|
| 67 |
} |
|
| 107 |
|
|
| 108 |
/** |
|
| 109 |
* @brief . |
|
| 110 |
* |
|
| 111 |
* @param[in] subscriber . |
|
| 112 |
*/ |
|
| 113 |
void urtSrtSubscriberInit(urt_srtsubscriber_t* subscriber) {return;}
|
|
| 114 |
|
|
| 115 |
/** |
|
| 116 |
* @brief . |
|
| 117 |
* |
|
| 118 |
* @param[in] subscriber . |
|
| 119 |
* @param[in] topic . |
|
| 120 |
* @param[in] message . |
|
| 121 |
* @param[in] usefulnesscb . |
|
| 122 |
* @param[in] cbparams . |
|
| 123 |
* |
|
| 124 |
* @return A status value. |
|
| 125 |
*/ |
|
| 126 |
urt_status_t urtSrtSubscriberSubscribe(urt_srtsubscriber_t* subscriber, urt_topic_t* topic, |
|
| 127 |
urt_message_t* message, urt_srtusefulnessfunc_t* usefulnesscb, void* cbparams) {return URT_STATUS_OK;}
|
|
| 128 |
|
|
| 129 |
/** |
|
| 130 |
* @brief . |
|
| 131 |
* |
|
| 132 |
* @param[in] subscriber . |
|
| 133 |
* @param[in] payload . |
|
| 134 |
* @param[in] latency . |
|
| 135 |
* |
|
| 136 |
* @return A status value. |
|
| 137 |
*/ |
|
| 138 |
urt_status_t urtSrtSubscriberFetchNextMessage(urt_srtsubscriber_t* subscriber, void* payload, |
|
| 139 |
size_t bytes, urt_delay_t* latency){return URT_STATUS_OK;}
|
|
| 140 |
|
|
| 141 |
/** |
|
| 142 |
* @brief . |
|
| 143 |
* |
|
| 144 |
* @param[in] subscriber . |
|
| 145 |
* @param[in] payload . |
|
| 146 |
* @param[in] bytes . |
|
| 147 |
* @param[in] latency . |
|
| 148 |
* |
|
| 149 |
* @return A status value. |
|
| 150 |
*/ |
|
| 151 |
urt_status_t urtSrtSubscriberFetchLatestMessage(urt_srtsubscriber_t* subscriber, void* payload, |
|
| 152 |
size_t bytes, urt_delay_t* latency){return URT_STATUS_OK;}
|
|
| 153 |
|
|
| 154 |
/** |
|
| 155 |
* @brief . |
|
| 156 |
* |
|
| 157 |
* @param[in] subscriber . |
|
| 158 |
* @param[in] latency . |
|
| 159 |
* |
|
| 160 |
* @return A status value. |
|
| 161 |
*/ |
|
| 162 |
urt_status_t urtSrtSubscriberCalculateUsefulness(urt_srtsubscriber_t* subscriber, urt_delay_t latency){return URT_STATUS_OK;}
|
|
| 163 |
|
|
| 164 |
/** |
|
| 165 |
* @brief . |
|
| 166 |
* |
|
| 167 |
* @param[in] subscriber . |
|
| 168 |
* |
|
| 169 |
* @return A status value. |
|
| 170 |
*/ |
|
| 171 |
urt_status_t urtSrtSubscriberUnsubscribe(urt_srtsubscriber_t* subscriber){return URT_STATUS_OK;}
|
|
| 172 |
|
|
| 173 |
|
|
| 174 |
/** |
|
| 175 |
* @brief . |
|
| 176 |
* |
|
| 177 |
* @param[in] subscriber . |
|
| 178 |
* |
|
| 179 |
* @return A status value. |
|
| 180 |
*/ |
|
| 181 |
void urtFrtSubscriberInit(urt_frtsubscriber_t* subscriber){return URT_STATUS_OK;}
|
|
| 182 |
|
|
| 183 |
/** |
|
| 184 |
* @brief . |
|
| 185 |
* |
|
| 186 |
* @param[in] subscriber . |
|
| 187 |
* @param[in] topic . |
|
| 188 |
* @param[in] messages . |
|
| 189 |
* @param[in] deadline . |
|
| 190 |
* @param[in] jitter . |
|
| 191 |
* |
|
| 192 |
* @return A status value. |
|
| 193 |
*/ |
|
| 194 |
urt_status_t urtFrtSubscriberSubscribe(urt_frtsubscriber_t* subscriber, urt_topic_t* topic, |
|
| 195 |
urt_message_t* messages, urt_delay_t deadline, urt_delay_t jitter){return URT_STATUS_OK;}
|
|
| 196 |
|
|
| 197 |
/** |
|
| 198 |
* @brief . |
|
| 199 |
* |
|
| 200 |
* @param[in] subscriber . |
|
| 201 |
* @param[in] payload . |
|
| 202 |
* @param[in] bytes . |
|
| 203 |
* @param[in] latency . |
|
| 204 |
* |
|
| 205 |
* @return A status value. |
|
| 206 |
*/ |
|
| 207 |
urt_status_t urtFrtSubscriberFetchNextMessage(urt_frtsubscriber_t* subscriber, void* payload, |
|
| 208 |
size_t bytes, urt_delay_t* latency){return URT_STATUS_OK;}
|
|
| 209 |
|
|
| 210 |
/** |
|
| 211 |
* @brief . |
|
| 212 |
* |
|
| 213 |
* @param[in] subscriber . |
|
| 214 |
* @param[in] payload . |
|
| 215 |
* @param[in] bytes . |
|
| 216 |
* @param[in] latency . |
|
| 217 |
* |
|
| 218 |
* @return A status value. |
|
| 219 |
*/ |
|
| 220 |
urt_status_t urtFrtSubscriberFetchLatestMessage(urt_frtsubscriber_t* subscriber, void* payload, |
|
| 221 |
size_t bytes, urt_delay_t* latency){return URT_STATUS_OK;}
|
|
| 222 |
|
|
| 223 |
/** |
|
| 224 |
* @brief . |
|
| 225 |
* |
|
| 226 |
* @param[in] subscriber . |
|
| 227 |
* @param[in] latency . |
|
| 228 |
* |
|
| 229 |
* @return A status value. |
|
| 230 |
*/ |
|
| 231 |
bool urtFrtSubscriberCalculateValidity(urt_frtsubscriber_t* subscriber, urt_delay_t latency){return true;}
|
|
| 232 |
|
|
| 233 |
/** |
|
| 234 |
* @brief . |
|
| 235 |
* |
|
| 236 |
* @param[in] subscriber . |
|
| 237 |
* |
|
| 238 |
* @return A status value. |
|
| 239 |
*/ |
|
| 240 |
urt_status_t urtFrtSubscriberUnsubscribe(urt_frtsubscriber_t* subscriber){return URT_STATUS_OK;}
|
|
| 241 |
|
|
| 242 |
|
|
| 243 |
/** |
|
| 244 |
* @brief . |
|
| 245 |
* |
|
| 246 |
* @param[in] subscriber . |
|
| 247 |
*/ |
|
| 248 |
void urtHrtSubscriberInit(urt_hrtsubscriber_t* subscriber){return;}
|
|
| 249 |
|
|
| 250 |
/** |
|
| 251 |
* @brief . |
|
| 252 |
* |
|
| 253 |
* @param[in] subscriber . |
|
| 254 |
* @param[in] topic . |
|
| 255 |
* @param[in] message . |
|
| 256 |
* @param[in] deadline . |
|
| 257 |
* @param[in] rate . |
|
| 258 |
* @param[in] jitter . |
|
| 259 |
* |
|
| 260 |
* @return A status value. |
|
| 261 |
*/ |
|
| 262 |
urt_status_t urtHrtSubscriberSubscribe(urt_hrtsubscriber_t* subscriber, urt_topic_t* topic, |
|
| 263 |
urt_message_t* message, urt_delay_t deadline, urt_delay_t rate, urt_delay_t jitter){return URT_STATUS_OK;}
|
|
| 264 |
|
|
| 265 |
|
|
| 266 |
/** |
|
| 267 |
* @brief . |
|
| 268 |
* |
|
| 269 |
* @param[in] subscriber . |
|
| 270 |
* @param[in] payload . |
|
| 271 |
* @param[in] bytes . |
|
| 272 |
* @param[in] latency . |
|
| 273 |
* |
|
| 274 |
* @return A status value. |
|
| 275 |
*/ |
|
| 276 |
urt_status_t urtHrtSubscriberFetchNextMessage(urt_hrtsubscriber_t* subscriber, void* payload, |
|
| 277 |
size_t bytes, urt_delay_t* latency){return URT_STATUS_OK;}
|
|
| 278 |
|
|
| 279 |
|
|
| 280 |
/** |
|
| 281 |
* @brief . |
|
| 282 |
* |
|
| 283 |
* @param[in] subscriber . |
|
| 284 |
* @param[in] payload . |
|
| 285 |
* @param[in] bytes . |
|
| 286 |
* @param[in] latency . |
|
| 287 |
* |
|
| 288 |
* @return A status value. |
|
| 289 |
*/ |
|
| 290 |
urt_status_t urtHrtSubscriberFetchLatestMessage(urt_hrtsubscriber_t* subscriber, void* payload, |
|
| 291 |
size_t bytes, urt_delay_t* latency){return URT_STATUS_OK;}
|
|
| 292 |
|
|
| 293 |
/** |
|
| 294 |
* @brief . |
|
| 295 |
* |
|
| 296 |
* @param[in] subscriber . |
|
| 297 |
* |
|
| 298 |
* @return A status value. |
|
| 299 |
*/ |
|
| 300 |
urt_status_t urtHrtSubscriberUnsubscribe(urt_hrtsubscriber_t* subscriber){return URT_STATUS_OK;}
|
|
| src/urt_topic.c | ||
|---|---|---|
| 19 | 19 |
along with this program. If not, see <http://www.gnu.org/licenses/>. |
| 20 | 20 |
*/ |
| 21 | 21 |
|
| 22 |
#include <urtware.h> |
|
| 23 |
|
|
| 22 | 24 |
/******************************************************************************/ |
| 23 | 25 |
/* LOCAL DEFINITIONS */ |
| 24 | 26 |
/******************************************************************************/ |
| ... | ... | |
| 42 | 44 |
/******************************************************************************/ |
| 43 | 45 |
/* EXPORTED FUNCTIONS */ |
| 44 | 46 |
/******************************************************************************/ |
| 47 |
|
|
| 48 |
/** |
|
| 49 |
* @brief Initialize the topic. |
|
| 50 |
* |
|
| 51 |
* @param[in] topic Topic to initialize. |
|
| 52 |
* @param[in] id . |
|
| 53 |
* |
|
| 54 |
* @return A status value. |
|
| 55 |
*/ |
|
| 56 |
urt_status_t urtTopicInit(urt_topic_t* topic, urt_topicid_t id) {return URT_STATUS_OK;}
|
|
| urt_types.h | ||
|---|---|---|
| 3 | 3 |
applications. It was developed as part of the software habitat for the |
| 4 | 4 |
Autonomous Mini Robot [1] (AMiRo) but can be used for other purposes as well. |
| 5 | 5 |
|
| 6 |
Copyright (C) 2018..2019 Thomas Schöpping et al.
|
|
| 6 |
Copyright (C) 2018..2020 Thomas Schöpping et al.
|
|
| 7 | 7 |
|
| 8 | 8 |
This program is free software: you can redistribute it and/or modify |
| 9 | 9 |
it under the terms of the GNU General Public License as published by |
| urtware.h | ||
|---|---|---|
| 3 | 3 |
applications. It was developed as part of the software habitat for the |
| 4 | 4 |
Autonomous Mini Robot [1] (AMiRo) but can be used for other purposes as well. |
| 5 | 5 |
|
| 6 |
Copyright (C) 2018..2019 Thomas Schöpping et al.
|
|
| 6 |
Copyright (C) 2018..2020 Thomas Schöpping et al.
|
|
| 7 | 7 |
|
| 8 | 8 |
This program is free software: you can redistribute it and/or modify |
| 9 | 9 |
it under the terms of the GNU General Public License as published by |
| ... | ... | |
| 69 | 69 |
|
| 70 | 70 |
/** @} */ |
| 71 | 71 |
|
| 72 |
/******************************************************************************/ |
|
| 73 |
/* CONFIGURATION */ |
|
| 74 |
/******************************************************************************/ |
|
| 75 |
|
|
| 72 | 76 |
#include <urtwareconf.h> |
| 73 | 77 |
#if !defined(_URTWARE_CFG_) |
| 74 | 78 |
#error "invalid µRtWare configuration file" |
| ... | ... | |
| 86 | 90 |
#error "incompatible µRt-OSAL implementation" |
| 87 | 91 |
#endif |
| 88 | 92 |
|
| 93 |
/******************************************************************************/ |
|
| 94 |
/* AMiRo-OS.URTWARE INC */ |
|
| 95 |
/******************************************************************************/ |
|
| 96 |
|
|
| 97 |
#include "inc/urt_confcheck.h" |
|
| 98 |
|
|
| 99 |
#include "inc/urt_core.h" |
|
| 100 |
#include "inc/urt_message.h" |
|
| 101 |
#include "inc/urt_node.h" |
|
| 102 |
#include "inc/urt_publisher.h" |
|
| 103 |
#include "inc/urt_service.h" |
|
| 104 |
#include "inc/urt_subscriber.h" |
|
| 105 |
#include "inc/urt_topic.h" |
|
| 106 |
|
|
| 107 |
|
|
| 89 | 108 |
#endif /* _URTWARE_H_ */ |
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