urtware / inc / urt_topic.h @ 8378a78b
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/*
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µRtWare is a lightweight publish/subscribe middleware for real-time
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applications. It was developed as part of the software habitat for the
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Autonomous Mini Robot [1] (AMiRo) but can be used for other purposes as well.
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Copyright (C) 2018..2020 Thomas Schöpping et al.
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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#ifndef URTWARE_TOPIC_H
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#define URTWARE_TOPIC_H
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#include <urtware.h> |
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/******************************************************************************/
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/* CONSTANTS */
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/******************************************************************************/
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/******************************************************************************/
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/* SETTINGS */
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/******************************************************************************/
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/******************************************************************************/
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/* CHECKS */
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/******************************************************************************/
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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 topic
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*/
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typedef struct urt_topic |
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{
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struct urt_topic* next;
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urt_topicid_t id; |
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urt_osMutex_t lock; |
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urt_osEventSource_t evtSource; |
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unsigned int numHrtSubscribers; |
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urt_osCondvar_t hrtReleased; |
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urt_message_t mandatoryMessage; |
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urt_message_t* latestMessage; |
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#if (URT_CFG_PUBSUB_QOS_RATECHECKS)
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struct urt_hrtsubscriber* hrtSubscribers;
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urt_osTimer_t qosRateTimer; |
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#endif /* URT_CFG_PUBSUB_QOS_RATECHECKS */ |
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#if (URT_CFG_PUBSUB_PROFILING)
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uint64_t numMessagesPublished; |
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uint64_t numMessagesDiscarded; |
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unsigned int numSubscribers; |
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#endif /* URT_CFG_PUBSUB_PROFILING */ |
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}urt_topic_t; |
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/******************************************************************************/
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/* MACROS */
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/******************************************************************************/
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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 urtTopicInit(urt_topic_t* topic, urt_topicid_t id); |
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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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/******************************************************************************/
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#endif /* URTWARE_TOPIC_H */ |